Table 2 Comparison of the intensity of constraint wrenches and actuator forces of the 3RPS PM in the analytical and FEA methods
From: Gravity-Based Kinetostatic Modeling of Parallel Manipulators Using Screw Theory
Configuration | Method | f11 | f12 | f1a | f21 | f22 | f2a | f31 | f32 | f3a |
|---|---|---|---|---|---|---|---|---|---|---|
1 | Analytical | 70.855 | 5.418 × 10−15 | 396.381 | – | – | – | – | – | – |
FEA | 71.136 | 2.144 × 10−12 | 397.88 | – | – | – | – | – | – | |
Error (%) | 0.40 | – | 0.38 | – | – | – | – | – | – | |
2 | Analytical | 63.900 | 1.005 | 385.435 | 77.270 | 0.538 | 364.782 | 74.033 | 1.512 | 367.832 |
FEA | 63.483 | 1.003 | 386.220 | 76.863 | 0.535 | 365.450 | 73.625 | 1.506 | 368.520 | |
Error (%) | 0.66 | 0.20 | 0.20 | 0.53 | 0.56 | 0.18 | 0.55 | 0.40 | 0.19 |