Preliminary design investigation of a rrprr parallel manipulator with cardan joint and direct drive actuation

Press Fit assembly of power electronic components is often performed with 3DOF machines which usually adopt a cartesian layout which is preferred to assure a stiff structure a precise control of high insertion forces. Parallel manipulators are often feasible as possible alternative solutions for this kind of application. In this work, authors investigate a parallel manipulator with cardan and prismatic joints. Proposed layout involves a relatively stiff and robust structure. Manipulator is supposed to be moved by direct-drive linear actuators. This choice is justified by the possibility of accurate control of heavy insertion losses simplifying or removing a large part of additional actuation and sensing systems that are normally installed on conventional machines.