Table 5 Stiffness and position variables of the parallel mechanism for drilling each hole when the worktable locates at the optimal position
From: Improved Stiffness Modeling for An Exechon-Like Parallel Kinematic Machine (PKM) and Its Application
No. of holes | k m11 (107 N/m) | k m22 (107 N/m) | k m33 (108 N/m) | k m44 (105 N·m/rad) | k m55 (105 N·m/rad) | k m66 (105N·m/rad) | X0 (mm) | Z0 (mm) |
|---|---|---|---|---|---|---|---|---|
1 | 2.02 | 1.32 | 1.67 | 5.36 | 5.31 | 4.52 | − 307.38 | 363.45 |
2 | 2.02 | 1.30 | 1.64 | 4.77 | 4.85 | 4.48 | − 232.79 | 375.90 |
3 | 2.24 | 1.51 | 1.70 | 4.83 | 4.66 | 4.63 | − 263.39 | 315.72 |
4 | 2.26 | 1.52 | 1.73 | 5.55 | 5.25 | 4.67 | − 338.00 | 300.14 |
5 | 1.95 | 1.23 | 1.62 | 4.61 | 5.12 | 4.45 | − 156.24 | 433.25 |
6 | 2.03 | 1.29 | 1.65 | 4.69 | 5.43 | 4.53 | − 184.17 | 447.83 |
7 | 2.20 | 1.38 | 1.71 | 4.83 | 5.42 | 4.62 | − 206.45 | 458.46 |