Table 3 Comparison of infinitesimal twist of point o of the 2PRU-UPR PM in the analytical and FEA methods
From: Gravity-Based Kinetostatic Modeling of Parallel Manipulators Using Screw Theory
Configuration | Method | Δdx | Δdy | Δdz | Δrx | Δry | Δrz |
|---|---|---|---|---|---|---|---|
1 | Analytical | 2.373 × 10−5 | 0 | 2.633 × 10−7 | 0 | − 3.932 × 10−5 | 0 |
FEA | 2.380 × 10−5 | 2.477 × 10−13 | 2.638 × 10−7 | 5.927 × 10−13 | − 3.943 × 10−5 | − 9.168 × 10−13 | |
Error (%) | 0.29 | / | 0.18 | / | 0.28 | / | |
2 | Analytical | 2.132 × 10−5 | 3.643 × 10−6 | 6.786 × 10−7 | 8.876 × 10−6 | − 3.021 × 10−5 | − 2.980 × 10−7 |
FEA | 2.157 × 10−5 | 3.534 × 10−6 | 6.605 × 10−7 | 8.660 × 10−6 | − 3.079 × 10−5 | − 3.161 × 10−7 | |
Error (%) | 1.16 | 3.08 | 2.74 | 2.49 | 1.88 | 5.72 |