High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform

摘要

A parallel kinematic machine (PKM) with three active kinematic chains and a leg has improved precision and stiffness maps by: providing drive and actuation of each active kinematic chain by devices secured rigidly to a support structure so that only a fixed length leg of the chain is suspended; driving the fixed length leg of the active kinematic chain to move in a direction oblique to a direction of the fixed length leg; and providing a prismatically jointed leg that is rigidly secured to the base structure and coupled by an effectively universal joint to the motion platform.