Table 4 Comparison of intensity of constraint screw system and actuator forces of the 2PRU-UPR 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 | 117.06 | 31.42 | 247.56 | 117.06 | 31.42 | 247.56 | 98.14 | 0 | 228.65 |
FEA | 117.05 | 31.42 | 247.56 | 117.05 | 31.42 | 247.56 | 98.14 | 0 | 228.65 | |
Error (%) | 0.09 | 0 | 0 | 0.09 | 0 | 0 | 0 | 0 | 0 | |
2 | Analytical | 123.34 | 33.83 | 249.12 | 119.88 | 24.97 | 255.12 | 90.22 | 14.48 | 226.39 |
FEA | 127.55 | 34.08 | 253.32 | 116.36 | 24.72 | 251.61 | 90.22 | 14.87 | 226.39 | |
Error (%) | 3.30 | 0.73 | 1.66 | 3.03 | 1.01 | 1.40 | 0 | 2.62 | 0 |