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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