Compliance Analysis, Optimization and Comparison for A NEW 3PUS-PU Mechanism

Abstract

This paper investigates the compliance of a new 3PUS-PU hybrid mechanism with three degrees of freedom, including translation along the Z axis and rotations about the X and Y axes. Firstly, the kinematic analysis of the mechanism is analysed and the compliance model of the mechanism derived. Secondly, the effects the geometric parameters and position and orientation parameters on the compliance of the mechanism in each direction are investigated, and the genetic algorithm is used to optimise the global compliance by simultaneously adjusting design variables. Finally, the compliance of two similar kinds of 3PUS-PU mechanism in each direction is reviewed.