The Vibration Response Analysis on a 6-UPS PKM

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Jinquan Li
Zhenxing Luan


In this paper, a finite element full-scale entity model for 6-UPS PKM and its accessories were established based on substructure method and were further confirmed through a modal experiment and a finite element modal analysis. The displacements on response curves of the nodes along the virtual x, y and z axes of PKM were obtained through a random vibration response analysis on PKM performed with a finite element method. Based on these resultant curves, the law of vibration response on the PKM was investigated, and the resultant parameters clearly demonstrated the vibration response characteristic of PKM and its response scope magnitude, which can provide an important theoretical base for the optimal structure design of PKM.


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Li, J., & Luan, Z. (2012). The Vibration Response Analysis on a 6-UPS PKM. Advances in Systems Science and Applications, 12(1), 38-45. Retrieved from