Simulation on actuating input-combinations of 5-UPS/PRPU Parallel Machine Tool

The actuating input selection is an important basic problem for the parallel mechanism. There are 5 kinds of reasonable actuating input-combinations in 5-UPS/PRPU Parallel Machine Tool. Three typical motion paths are planed in the workspace of the PMT in order to determine the optimum input-combinations. The dynamic simulation without working load is carried out by the ADMAS software when the moving platform moves along the typical paths. The curves of square sum of actuating forces of 5 input-combinations show that the actuating input-combination of the 5 UPS limbs is the best one, which curve is the most smooth, and the peak value is the lowest.