The structure of the base platform and the links were optimized in order to reduce the mass and increase the stiffness of the 3-RPS parallel kinematic machine(PKM). The static stiffness of the PKM was analyzed with finite element method, using connector in the simulation of kinematic pair. From the analysis, the parts of base platform with low stiffness were identified; the deformations of the links and how they affected the deformation of the PKM were obtained. Ribs largely resisting the deformation were added, and the frame size was reduced to optimize the base platform. Deformation of the link was calculated by using cantilever model, and the dimensions of the link were optimized by minimizing the product of mass and the deformation. After the optimization, the mass and deformation of PKM were significantly reduced. The result can greatly improve the dynamic response and accuracy of the PKM.
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