An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory

Qingsong Xu, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

67 Citations (Scopus)


This paper analyzes the mobility and stiffness of a three-prismatic-revolute-cylindrical (3-PRC) translational parallel manipulator (TPM). Firstly, the original 3-PRC TPM is converted into a non-overconstrained manipulator since there exist some practical problems for the overconstrained mechanism. By resorting to the screw theory, it is demonstrated that the conversion brings no influences to the mobility and kinematics of the manipulator. Secondly, the stiffness matrix is derived intuitively via an alternative approach based upon screw theory with the consideration of actuations and constraints, and the compliances subject to both actuators and legs are taken into account to establish the stiffness model. Furthermore, the stiffness performance of the manipulator is evaluated by utilizing the extremum stiffness values over the usable workspace, and the influences of design parameters on stiffness properties are presented, which will be helpful for the architecture design of the TPM.
Original languageEnglish
Pages (from-to)402-414
Number of pages13
JournalRobotics and Computer-Integrated Manufacturing
Issue number3
Publication statusPublished - 1 Jun 2008
Externally publishedYes


  • Analysis
  • Mechanism design
  • Mobility
  • Parallel manipulators
  • Screw theory
  • Stiffness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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