Force Analysis of Parallel Robot Machine tool with 4DoF

One of the principle design stages of the machine tools, especially based on parallel mechanisms is the deflection analysis of its structure under machining forces. In this paper a new four degrees of freedom parallel robot with three translational and one rotational degrees of freedom was investigated to find the best design configuration. At first the kinematics and force analysis of the mechanism as the base of design analysis considering the load distribution on its various components were implemented. Then, deflection of the different components of structure under external torque and forces on the moving platform was obtained. To confirm the force relations and static analysis of the mechanism, the structure of robot by the FEM in ANSYS environment was analyzed. At last, the results of theoretical relations calculated by the MATLAB were compared with the simulated results obtained by the FEM. It was found a good consequently, the agreement between these two of the proposed design method.