Stiffness analysis for a 3-PUU parallel kinematic machine

This paper presents the stiffness characteristics of a three-prismatic-universal-universal (3-PUU) translational parallel kinematic machine (PKM). The stiffness matrix is derived intuitively based upon an alternative approach considering actuations and constraints, and the compliances subject to both actuators and legs are involved in the stiffness model. The stiffness performance of the manipulator is evaluated by utilizing the extremum stiffness values, and the influences of design parameters on the stiffness properties are presented, which will be valuable for the architecture design of a 3-PUU PKM. Moreover, the stiffness behavior of the PKM is investigated via the eigenscrew decomposition of the stiffness matrix, which provides a physical interpretation of the PKM stiffness and allows the identification of the stiffness center and compliant axis.