Abstract
This purpose of the monographic study is to analyzing the rigidity of a 3-PRS parallel manipulator. The capability of a structure defending itself from deformation during any loading conditions can be defined as the rigidity of the structure. So the rigidity of the structure is an important role on the machine tools. In this thesis, fundamental analyses on the 3-PRS mechanism such position analysis, inverse kinematics and forward kinematics problems are performed first. And then, derive the deformation equation of revolute joint and spherical joint according to Hertz theory. Calculate the load of all joints when machine tools received the external force, then calculate the deformation of each joints receiving the external force, to solve the rigidity of the structure. Because there are two kinds of feeding system: linear motor and whirling-servo motor, we discuss rigidity of two feeding systems individually, accomplishing the design consultation of 3-PRS mechanism.