Nonlinear Dynamics

, Volume 74, Issue 1–2, pp 227–235 | Cite as

A study on the effect of structure parameters on the dynamic characteristics of a PRRRP parallel manipulator

  • Jun Wu
  • Liping Wang
  • Liwen Guan
Original Paper


This paper studies the effect of structure parameters on the dynamic characteristics of a planar PRRRP parallel manipulator. The stiffness model is derived by considering the effect of joint. Based on the stiffness matrix, the vibration equation of this parallel manipulator is investigated to study the dynamic characteristics. The natural frequency is computed, and the effect of Y and Z coordinate on the natural frequency is discussed. Moreover, the sensitivity model of the dynamic characteristic to critical structure parameters is proposed. The thickness of column and leg, the radial stiffness of bearing, and the lumped mass on the end-effector are determined based on the natural frequency and sensitivity index. The results are useful to the structure design of parallel manipulators.


Dynamic characteristics Parallel manipulator Natural frequency Sensitivity 



This work is supported by the National Natural Science Foundation of China (Grant No. 51105225, 51225503) and a Foundation for the Author of National Excellent Doctoral Dissertation of PR China (201137), the National Science and Technology Specific Projects (2013ZX04004021), and the Fund of State Key Laboratory of Tribology (No. SKLT11C01).


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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  1. 1.State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical EngineeringTsinghua UniversityBeijingChina
  2. 2.Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and ControlBeijingChina

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