Stiffness Analysis of 3-TPT Parallel Robot

In this paper, the 3-TPT parallel robot is studied. Firstly, the inverse position equation of the parallel robot is established by using the coordinate transformation method, and the Jacobi matrix reflecting the driving speed and the transmission ratio of the end-effector is derived. Then, Gossilin formula was used to get the overall static stiffness model, and the stiffness distribution in the workspace was obtained by analyzing the stiffness model. Finally, the three-dimensional solid model of the parallel robot is established, and the modal analysis, harmonic response analysis and transient dynamics analysis are carried out to obtain the dynamic stiffness curves of the parallel robot moving in the X, Y and Z directions respectively. The results show that the parallel robot has good stiffness performance and can meet the machining requirements under specific conditions.