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Performance evaluation of a special 6-PUS type parallel manipulator

Published online by Cambridge University Press:  14 June 2021

Xiaochu Liu
School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin150080, China
Yunfei Cai*
School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin150001, China
Weitian Liu
AECC Aero Engine Control System Institute, Aero Engine Corporation of China, Wuxi214000, China
Linlong Zhang
Institute of Large Tonnage, Sany Automobile Manufacturing Co. Ltd, Changsha410604, China
Chengxin Hu
Heilongjiang Mechanic Science Institute, Harbin150040, China
*Corresponding author. Email:


In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

© The Author(s), 2021. Published by Cambridge University Press

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