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Chinese Journal of Mechanical Engineering

Table 1 Selected candidates for architecture parameters

From: Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

No.

U

V

l1

l2

l3

r1 (mm)

r2 (mm)

r3 (mm)

r4 (mm)

#1

0.98

1.8

1.07

0.95

1.04

490

534

476

519

#2

0.94

1.8

1.09

0.97

1.12

470

544

486

562

#3

0.94

1.9

1.18

0.88

1.11

470

588

442

553

#4

0.90

1.8

1.11

0.99

1.22

450

554

496

611

#5

0.90

1.9

1.20

0.90

1.20

450

598

452

601

#6

0.90

2.0

1.28

0.82

1.17

450

641

409

583

#7

0.90

2.1

1.37

0.73

1.11

450

684

366

556

#8

0.90

2.2

1.46

0.64

1.04

450

728

322

521

#9

0.86

1.8

1.13

1.01

1.33

430

564

506

664

#10

0.82

1.8

1.15

1.03

1.44

410

574

516

722

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