Compliance analysis of a horizontal arrangement parallel mechanism considering gravitational effect

Peng Xu, Chi Fai Cheung, Bing Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)


J. Mech. Eng. Rob. Res. A novel polishing machine with serial-parallel mechanism is presented. Since the machine make use of horizontal layout, the gravity of the moving part causes deformation of the end-effector and affects the machining accuracy. As a result, it is essential to analyze the deformation due to gravitational effect. Firstly, the structure and working principle of the serial-parallel polishing machine is introduced. Secondly, the compliance model of the parallel mechanism is formulated based upon the virtual work principle and the deformation superposition principle. The compliance model is established by taking both the deformations of leg system and drive system into account. Hence, the gravity of all moving components and the corresponding deformations are calculated. The results show that gravity has a greater effect on the positional accuracy of the machine. This investigation will provide informative guidelines for optimal stiffness design and gravity compensation of the polishing machine.
Original languageEnglish
Pages (from-to)255-259
Number of pages5
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number4
Publication statusPublished - 1 Jan 2016


  • Compliance analysis
  • Gravitational effect
  • Parallel mechanism
  • Polishing machine

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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