Compliance model of Exechon manipulators with an offset wrist

The stiffness of the Exechon hybrid manipulator is a crucial performance indicator as used 5-axis machine tool. Normally, serial module not included in kinematic and analysis. In terms kinematics, parallel modules are said to be decoupled, i.e. can solved for position compensate parasitic orientation platform. This only possible when perfect spherical wrist. However, several models technology have an offset wrist rather than one. Such makes it impossible obtain decoupling. all publications available literature, considered Therefore, this paper presents inverse kinematics compliance model manipulators with wrists. unknown coefficients determined by optimizing against experimental data. resulting predictions then compared more results validate model.