Stiffness analysis of a tripod with a passive link

Z. M. Bi, S. Y.T. Lang, D. Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)


The system stiffness of a tripod parallel kinematic mechanism (PKM) with 3-DOF is investigated in this paper. The tripod PKM has rotations of a motion platform about the x and y axes and translation along the z axis. The motion on the other axes is constrained by a passive link. The stiffness model considers the compliances of three main components: the fixed-length links, the passive link, and the linear actuators. The modeling procedure for the kinetostatic stiffness model is introduced. A case study is provided to demonstrate evaluation of the stiffness of our prototype tripod machine. The developed model differs from the others in the sense that the stiffness on the motion axes is determined by both the active links and the passive link; but the stiffness on the constrained motion axes depends merely on the passive link.

Original languageEnglish
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division 2005
Number of pages7
Edition2 PART B
Publication statusPublished - 2005
Externally publishedYes
Event2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005 - Orlando, FL, United States
Duration: 5 Nov 200511 Nov 2005

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
Number2 PART B
Volume74 DSC


Conference2005 ASME International Mechanical Engineering Congress and Exposition, IMECE 2005
Country/TerritoryUnited States
CityOrlando, FL


  • Jacobian matrix
  • Kinetostatics
  • Parallel Kinematic Machine
  • Stiffness
  • Tripod

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software


Dive into the research topics of 'Stiffness analysis of a tripod with a passive link'. Together they form a unique fingerprint.

Cite this