Stiffness Analysis of Inverted Tripod Parallel Manipulator

The concept of parallel manipulator is becoming more popular in modern manufacturing processes due to its various inherent advantages like rigidity, less inertia and accuracy. This project focuses on modeling, simulation and dynamic analysis of inverted tripod parallel manipulator which has three degree of freedom (1 transverse in z axis and rotation motion in x and y axis). The Stewart Gough parallel manipulator consists of moving platform connected to fixed platform with six links (6 Degree of Freedom).This inverted tripod parallel manipulator consists of movable platform connected to the fixed platform with only three links so it has better rigidity compared to Stewart Gough platform. The Stewart Gough parallel manipulator is considered to be highly stable because moving platform size is smaller than the fixed platform. Inverted type parallel manipulator consists of moving platform bigger than the fixed platform. So to improve the stiffness and precision ball screw is used for the support of links. The design of parallel manipulator is done considering rigidity, strength and efficiency of the system. The modeling of the tripod manipulator is done using PRO-E software. Kinematic analysis has been carried out and the stiffness analysis will be done by using ANSYS and ADAMS software.