Semi-Analytical Approach for Stiffness Estimation of 3-DOF PKM

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Focusing on the stiffness formulation of a three prismatic-revolute-spherical parallel kinematic manipulator (3-PRS PKM), this book explores the inverse position analysis using vector approaches. It addresses the challenges of determining stiffness distributions due to complex geometries, employing ANSYS technology for computation at various configurations. The developed semi-analytical stiffness model allows for estimating system stiffness based on geometry parameters and load situations, solving stiffness in x, y, and z directions through a transformed stiffness matrix.