The Analysis of Flexibility and Shape Change of a Two Degree of Freedom Planar Parallel Machine Tool

In this paper,the velocity and relationship between the applied force and the deflection are analyzed.The velocity,and force Jacobian matrix are obtained.Base on it,the flexibility matrix is obtained.The flexibility indices of the parallel machine tool are proposed and the distributions of the indices in the workspace are presented.The analysis presented in this paper can be of great help in the design and application of the device.