... a new
Type Design of Decoupled Parallel Manipulators with Lower Mobility
487
x
y
z
z
A
y
A
x
A
a
01
a
02
a
03
A
1
M
11
M
11
'
M
12 M
12
'
M
13
M
14
l
11
l
12
θ
1
θ
2
θ
3
M
21
M
21
'
M
22
M
22
'
l
21
l
22
M
23
M
24
M
34
A
2
A
3
M
31
M
31
'
M
32
'
M
32
M
33
l
31
l
32
z
B
x
B
p
y
B
o
...
-0 .1
0
0 .1
-0 .1
0
0 .1
-0...
... 0.85 0.9 0.95 1 1.05 1. 1 1. 15 1. 2
0
10
20
30
40
50
Fig. 3. Effect of damping on the modal approximation of the attachment point FRF (case
shown is for the tuned condition, eq. (1) , with
0.02
μ
=
... its point of attachment to the structure is:
()
() () () ()
()
{}
()
{}
2
2
1
22
22
2
2
1
22 2
22
3,5,
1
11
1
11
A
AA
b
AA BB BA AB
k
K
B
B
k
k
Y
r
F
m
ω
ω
ω
βω σσωβω...