Applied Mathematical Modelling 114 (2023) 1–22

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Applied Mathematical Modelling

journal homepage: www.elsevier.com/locate/apm

A universal modelling approach and a response index to the

vibration analysis for space parallel robots by means of screw
theory
Shuai Fan a,c,∗, Guanyu Shen a, Tao Liu a, Weibin Lan b, Guangkui Song c
a
School of mechanical and electrical Engineering, Chengdu University of Technology, Chengdu, Sichuan, 610059, People’s Republic of
China
b
School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan, 611731,
People’s Republic of China
c
Center for Robotics, University of Electronic Science and Technology of China, Chengdu, Sichuan, 611731, People’s Republic of China

a r t i c l e i n f o a b s t r a c t

Article history: Vibration analysis is very important for evaluating the vibration performance of some
Received 28 April 2022 space parallel robots (SPRs), but most of the matrix analysis methods are case-by-case
Revised 22 September 2022
treatment and the vibration response is difficult to estimate accurately in the design phase.
Accepted 26 September 2022
In order to enrich this field, a universal vibration modelling approach and a vibration re-
Available online 30 September 2022
sponse index are proposed in this paper. Utilizing the strong universality of the screw the-
Keywords: ory, a universal dynamic modelling method is proposed, in which the complicated Lie alge-
Vibration modelling bra terms are appear explicitly and the Coriolis acceleration term is intentionally indepen-
Space parallel robot dent of each other. Based on the Rayleigh quotient and considering the effects of gravity
Response index and joint clearances, a vibration response index is presented to reflect the vibration ampli-
Screw theory tude of SPRs under the unit initial conditions. Based on the built experimental prototype
Rayleigh quotient and some applications, numerical examples are presented and some performances of the
vibration index have been fully discussed, and the results show that the mean error be-
tween the mathematical models and experimental results is about 5.4%. When researchers
are engaged in vibration research on different SPRs, we expect that the proposed mathe-
matical model and the proposed index will provide a convenient way for vibration mod-
elling and optimization.
© 2022 Elsevier Inc. All rights reserved.

1. Introduction

Vibration research is one of the research hotspots of space parallel robots (SPRs) in recent years, especially when parallel
robots are used as machine tools [1,2], high-speed pick-and-place positioning mechanisms [3,4], machine tool tables [5],
vibration isolation manipulators [6,7], and others [8–13]. Although many excellent vibration analysis methods have been
proposed and applied to practical applications, the case-by-case treatment of vibration modelling for different SPRs and a
relatively single performance index are great challenges to the configuration synthesis and optimal design of SPRs. Thus, the
main purpose of this article is to present a universal vibration modelling method and a vibration response index (VRI) for
SPRs.

∗
Corresponding author.
E-mail address: fansuai12345@163.com (S. Fan).

https://doi.org/10.1016/j.apm.2022.09.031
0307-904X/© 2022 Elsevier Inc. All rights reserved.
S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

In general, two vibration models are used in the vibration analysis of SPRs. One is a simplified vibration model that
only involves the mass matrix and the stiffness matrix, and another is a standard vibration model that involves the mass
matrix, the damping matrix, the stiffness matrix and the excitation term [14–16]. In the simplified vibration model, the
mass matrix and the stiffness matrix can be solved by some simple and direct ways. For example, the mass matrix and
the stiffness matrix can be obtained by differentiating the total kinetic energy and potential energy to generalized velocity
and position vector of the system, respectively [17–19]. If only the natural frequency of SPRs is concerned, it is appropriate
to use a simplified vibration model. However, if the vibration response characteristics of the vibration system need to be
explored and some non-linear factors such as external load, joint clearances and base excitation are considered [20–23], the
construction of the standard vibration model is inevitable.
In order to building the standard vibration model, many scholars have proposed excellent methods, and some theoretical
results have been applied to practical applications [24–26]. However, most of methods are proposed based on the Gough-
Stewart platform, which are difficult to apply to some SPRs with few degrees of freedom (DOFs) due to the irreversibility of
the Jacobian matrix and still require some case-by-case treatment. Although some approaches to overcome the irreversibility
of the Jacobian matrix are adopted for some SPRs with few DOFs, such as the direct derivation of the geometric constraint
equation with respect to time [27,28], the pseudo-inverse technique [29,30] and the reciprocal screw [31–33], these methods
are applied in kinematic analysis. Since the standard vibration model of SPRs is often derived on the basis of dynamic
equations, a universal dynamic model is very important to the universal vibration modelling method [34,35]. In standard
vibration differential equations, the vibration displacement and its first and second order reciprocals are expected to be
independent. Therefore, how to build a universal dynamic equation that decouples driving force, generalized acceleration,
generalized velocity, generalized displacement and external excitation is a critical problem.
Utilizing the universal feature, screw theory has been successfully applied to many design stages for different parallel
robots, such as type synthesis, singular configuration, motion and force analysis, optimal design [36,37]. Although some
excellent dynamic modelling methods for SPRs with few DOFs have been proposed based on the the screw theory and the
the principle of virtual work [38–43], the active forces are appearing explicitly, which are good for solving the active forces.
However, the remaining forces (including the constraint forces) and the Lie terms that are coupled with the velocities and
the position vectors are involved in the results of active forces. In the vibration modeling, the active forces and the constraint
forces need to be represented by the product of stiffness and deformation, which leads to the coupling between force,
velocity and acceleration and leads to the immature application of screw theory in standard vibration model analysis of SPRs.
Since the inertial forces of all components including the active and passive limbs need to be given in the dynamic model,
the Lie terms are involved in the expression of the active force, so how to deal with Lie algebra terms is the key problem to
the universal vibration modelling method. Moreover, based on the building vibration models, most vibration performance is
determined by the index of nature frequencies, which does not reflect the response performance of vibrations, so a vibration
response index for SPRs is also studied.
The remainder of this paper is organized as follows. In Section 2, a dynamic model method with the independent Coriolis
acceleration term is proposed. Then, in Section 3, the vibration modelling approach and a new vibration response index are
given. Next, some numerical examples, comparisons and results are presented in Section 4. Finally, the study’s conclusions
are drawn.

2. Dynamic modelling based on the screw theory

In order to build a standard vibration model, a dynamic analysis method based on the screw theory and the Kane’s
equation is proposed in this section, where the generalized driving force, the first term of the generalized velocity, the
quadratic term of the generalized velocity and the generalized acceleration are independent of each other. As shown in
Fig. 1, a SPR consists of a fixed platform, a mobile platform, and multiple chains between two platforms, and six independent
generalized velocities can be established in the Cartesian coordinate system. Based on the Kane’s equation, the dynamic
model can be expressed as

F ( h ) + F ∗ ( h ) = 0, (1)
where
 T  T
F (h ) = F (1 ) , F (2 ) , · · · , F (6 ) , F ∗ (h ) = F ∗ (1 ) , F ∗ (2 ) , · · · , F ∗ (6 ) ,

F(h) is the hth generalized active force, and F∗(h) is the hth generalized inertial force. The core idea of the Kane’s Equation
is to express the generalized forces by partial velocities, but the coupling status between different kinetics parameters is not
concerned in the traditional method. In order to achieve the decoupling of dynamic equations, the angular velocity denoted
by ω and the liner velocity of mass center denoted by vc are uniformly expressed by generalized velocities as

ω = J ω q˙ , vc = J v q˙ , (2)
and the angular acceleration denoted by α and the liner acceleration accelerations denoted by ac are uniformly expressed
as a linear combination of the generalized acceleration and generalized velocity terms:
   
α = J ω q̈ + f α q˙ , ac = J v q̈ + f a q˙ , (3)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 1. Vibration system of SPRs

where Jω and Jv are called the mapping matrixes of the angular and liner velocity of the mass center of a body, f α (q˙ ) and
f a (q˙ ) are the generalized velocity quadratic equations of the angular acceleration and the liner acceleration, and q˙ and q̈ are
the generalized velocities and generalized accelerations, respectively. According to the deliberately deduced expressions of
the velocities and accelerations in the mathematics derivation, the purpose of parameter decoupling in the dynamic model
can be achieved. The main steps of the presented dynamic modelling approach can be summarized as:

a) Expressing the velocity at the mass centroid of all components with a form of multiplying the velocity matrix and the
generalized velocity;
b) Expressing the corresponding accelerations with a form of a linear combination of the generalized velocity primary term
and the generalized velocity quadratic term;
c) Substituting the external force and partial velocities into the Kane’s equation to obtain the dynamic equation.

2.1. Velocity analysis of SPRs

In order to solve the partial velocities corresponding to gravity, inertial force, external load, driving force, and others, the
velocities of mass center of all components need to be solved. In general, the orientation and position of mass center of
the mobile platform of SPRs can be expressed by three Euler angles denoted by α , β and γ , which means three rotational
motions around three coordinate axes, and three position coordinates denoted by X, Y and Z, which means three transna-
tional motions along three coordinate axes, respectively. If all driving elements are clocked and an external load is given,
the orientation and position of mass center of the mobile platform can be expressed in a tiny vibration workspace by

P = [α + q1 , β + q2 , γ + q3 , X + q4 , Y + q5 , Z + q6] .
T
(4)
Thus, the vibration displacement of mass center of the mobile platform is P = [q1 ,q2 ,, q6 = q. In the tiny vibration
]T
workspace, selecting the vibration displacement of mass center of the mobile platform as the generalized coordinate and
T
differentiating it with respect to time yields the generalized velocities as q˙ = [q˙ 1 , q˙ 2 , · · · , q˙ f ] = P˙ .
For the mobile platform, if the motion law is given, the motion can be expressed in the screw system by
$VP = J p q˙ = [ω p , v p ]T , (5)
where
  
0 r p,z −r p,y
E3 × 3 03 × 3
Jp = , [×r p ] = −r p,z 0 r p,x ,
−[×r p ] E3 × 3
r p,y −r p,x 0
ωp is the angular velocity of the mobile platform, vp is the liner velocity of the representation body point that is co-
incident with the origin of the absolute coordinate system, and rp is the location vector of the mass center of the mobile
platform. The three components of each three-dimensional vector are denoted by symbols with the x, y, and z, and these
notations are also used in the later discussion. Thus, the angular velocity and the liner velocity of the mass center of the
mobile platform can be expressed by the generalized velocities as
ω p = Jpω q˙ , vcp = v p + ω p × r p = Jpv q˙ , (6)
where
J pω = [e6,1 , e6,2 , e6,3 ]T J p , J pv = [e6,4 , e6,5 , e6,6 ]T J p + [×r p ]J pω ,

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e6,t (t = 1, 2, 6) is a six-dimensional unit row vector, which has a 1 in the tth position and 0s in all other positions:
e6,t = [0, , 0, 1, 0, , 0].
On the other hand, the velocity screw of mobile platform can be expressed by a screw system of the ith chain as

$Vp = ωi1 $i1 + ωi2 $i2 + · · · + ωi j $i j + · · · + ωis $is , (7)

where $i1 , $i2 ,, $ij ,, $is are all unit motion screws of the ith chain, ωi1 , ωi2 ,, ωij ,, ωis are corresponding velocity
amplitude of each screw, and the value of s is different for different chains [44]. By rearranging Eq. (7) in matrix form and
substituting Eq. (5) into it, each velocity amplitudes can also be expressed by

ωi j = es, j Ji−1 Jp q˙ , (8)

where Ji = [$i1 ,$i2 ,, $ij ,, $is ]T , es,j (j = 1, 2, s) is a s-dimensional unit row vector, which has a 1 in the jth position and
0s in all other positions: es,j = [0, , 0, 1, 0, , 0]. Meanwhile, the velocity screw of the kth component of the ith chain
can be expressed by

$Vik = ωi1 $i1 + ωi2 $i2 + · · · + ωik $ik = [ωik , vik ]T , (9)
where ωik is the angular velocity of the ikth
component, and vik is the liner velocity of the representation body point that
is coincident with the origin of the absolute coordinate system. Substituting Eq. (8) into Eq. (9), the velocity screw of the
kth component of the ith chain can be expressed, and the angular velocity and the liner velocity of the mass center can be
expressed by generalized velocities as

ωik = Jikω q˙ , vcik = Jikv q˙ . (10)

where
k
Jikω = [e6,1 , e6,2 , e6,3 ]T Jik , Jikv = [e6,4 , e6,5 , e6,6 ]T Jik + [×rik ]Jikω , Jik = $i j es, j Ji−1 J p .
j=1

As a result, all velocity screws of all components can be obtained referring to the derivation process of Eq. (10), and
then the angular velocity and the liner velocity of mass center of all components can be determined. Similarly, all line
velocity and angular velocity on the component can be obtained, and the relative movement between adjacent components
corresponding to any generalized force can be solved.

2.2. Acceleration analysis of SPRs

In the dynamic analysis of SPRs, the acceleration at the center of mass of all components needs to be solved for express-
ing the inertial forces. Since a velocity coupling in the acceleration is inevitable, how to independent of velocity coupling is
also the main idea of the presented acceleration analysis. Differentiating generalized velocities with respect to time yields
T
the generalized acceleration as q̈ = [q̈1 , q̈2 , · · · , q̈6 ] . Since the acceleration of the mass center of a rigid body can be ex-
pressed by the angular acceleration and the liner acceleration of the representation body point, the acceleration screw of
the mobile platform can be expressed by
 
$AP = [α p , a p − ω p × v p ]T = J p q̈ + f p q˙ , (11)
where f p (q˙ ) is given in Appendix A and is the quadratic equations for the generalized velocities. Thus, the angular accel-
eration and the liner acceleration of the mass center can be expressed by the generalized velocities and the generalized
accelerations as
   
α p = Jpω q̈ + f pα q˙ , acp = Jpv q̈ + f pa q˙ . (12)
where
         
f pα q˙ = [e6,1 , e6,2 , e6,3 ]T f p q˙ , f pa q˙ = [e6,4 , e6,5 , e6,6 ]T f p q˙ + J pω q˙ × J pv q˙ + [×r p ] f pα q˙ .

On the other hand, the acceleration screw of the mobile platform can be expressed by a screw system of the ith chain as

$Ap = αi1 $i1 + αi2 $i2 + · · · + αi j $i j + · · · + αis $is + $L,is . (13)

where α i1 , α i2 ,, α ij ,, α is are corresponding acceleration amplitudes of each screw, and $L,is is the Lie screw term [44],
which can be expressed by
   
$L,is = LT ωi1 $i1 ; ωi2 $i2 + · · · + ωi j $is + LT [ωi2 $i2 ; ωi3 $i3 + · · · + ωis $is] + · · · + LT ωi(s−1) $i(s−1) ; ωis $is . (14)
where LT[] denote the Lie product of two screws. By rearranging Eq. (13) in matrix form and substituting Eq. (11) into it, the
result is
 
$Ap = Ji Ai + $L,is = J p q̈ + f p q˙ , (15)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

where Ai = [α i1 ,α i2 ,, α ij ,, α is ]T . Thus, each acceleration amplitude can be expressed by

   
αi j = es, j Ji−1 Jp q̈ + es, j Ji−1 f p q˙ − $L,i (16)

The acceleration screw of the kth component of the ith chain can be expressed as [44,45]

$Aik = αi1 $i1 + αi2 $i2 + · · · + αik $ik + $L,ik = [αik , aik − ωik × vik ]T , (17)
where
 
$L,ik = LT [ωi1 $i1 ; ωi2 $i2 + · · · + ωik $ik ] + LT [ωi2 $i2 ; ωi3 $i3 + · · · + ωik $ik ] + · · · + LT ωi(k−1) $i(k−1) ; ωik $ik .
Substituting Eq. (16) into Eq. (17) yields

k k      
$Aik = $i j es, j Ji−1 J p q̈ + es, j Ji−1 f p q˙ − $L,is $i j + $L,ik = [αik , aik − ωik × vik ]T . (18)
j=1 j=1

Since the screw term of $L,is and $L,ik are the quadratic equations for the generalized velocities, which is proved by two
k
propositions given in Appendixes B, the term of (es, j Ji−1 ( f p (q˙ ) − $L,is )$i j ) + $L,ik is also the quadratic equations for the
j=1
generalized velocities. Thus, Eq. (17) can be re-expressed as
 
$Aik = Jik q̈ + fik q˙ = [αik , aik − ωik × vik ]T , (19)
k
where fik (q˙ ) = (e j Ji−1 ( f p (q˙ ) − $L,is )$i j ) + $L,ik . Therefore, the angular acceleration and the liner acceleration of the mass
j=1
center of the kth component of the ith chain can be expressed by the generalized velocities and generalized accelerations as
   
αik = Jikω q̈ + fikα q˙ , acik = Jikv q̈ + fika q˙ , (20)

where
         
fikα q˙ = [e6,1 , e6,2 , e6,3 ]T fik q˙ , fika q˙ = [e6,4 , e6,5 , e6,6 ]T fik q˙ + Jikω q˙ × Jikv q˙ + [×rik ] fikα q˙ .
As a result, the accelerations of all components of a SPR can be expressed as the linear superposition of the generalized
acceleration term and the generalized velocity quadratic term. Obviously, in acceleration analysis, the generalized velocity is
independent of the general acceleration, and it providing a strong support for the decoupling of subsequent analysis.

2.3. Expressions of dynamic equation

In the Kane’s equation, the generalized force is the product of the force and the corresponding partial velocity. If the
velocities and accelerations of all components are solved, the hth generalized active force and the hth generalized inertial
force can be expressed as
w
m
f loa · v p ( ) + τ loa · ω (p ) + m p g · v p ( ) + g · vik( ) + fncon fncon · vn ( )
c, h h c, h c, h c, h
ik
n=1
6
+ τncon τncon · ωnc,(h) (h = 1, 2, · · · , 6),
n=w+1

F ∗ (h ) = −m p acp · v p ( ) − (I p α p + ω p × I p ω p ) · ω (p )
c, h h

mik acik · vik( ) + (Iik αik + ωik × Iik ωik ) · ωik

(h )
c, h
− ( h = 1 , 2 , · · · , 6 ), (21)

where floa is the external force that acts on the mass center of the mobile platform, τ loa is the external torque that acts on
the mobile platform, fncon is the nth constraint force along the unit vector fncon , τncon is the nth constraint torque around the
unit vector τncon , m is the mass, g is the gravitational acceleration, I is the centroidal body inertial matrix, vc,(h) is the hth
linear velocity of the mass center, ω(h) is the hth partial angular velocity, and the subscripts of each symbol denote different
components. For the different SPRs, the constraint type of each chain is different, so that the value of w is different. Although
the constraints between the mobile platform and chains are different, but six independent generalized constraints can be
reduced. Based on Eq. (6), the hth partial angular velocity and the hth linear velocity of the mobile platform can be expressed
by

ω (ph) = Jp,ω:h , vc,p (h) = Jp,v :h , (22)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

ω is the hth column of matrix J ω , and J v is the hth column of matrix J v . Based on Eq. (13), the hth partial angular
where J p, :h p p,:h p
velocity and the hth linear velocity of the kth component of the ith chain can be expressed by

ωik(h) = Jik,
ω , vc,(h ) = J v ,
:h ik ik,:h (23)
ω is the hth column of matrix J ω , and J v
where Jik, v . Moreover, the hth partial linear velocity
is the hth column of matrix Jik
:h ik ik,:h
and angular velocity of the driving elements can also be expressed by

ωn(h) = Jn,con,
:h
ω
, vn ( ) = Jn,
c, h con,v
:h
(24)
con,ω
where Jn, :h
is the hth column of matrix Jncon,ω , Jn,
con,v
:h
is the hth column of matrix Jncon,v , and Jncon,ω and Jncon,v can be deduced
ω v
by utilizing the same procedures of Jik and Jik .
Substituting the partial velocities into Eq. (21), the hth generalized active forces and the hth generalized inertial forces
are
⎧
⎨F (h) = f loa · J v + τ loa · J ω + m g · J v + m g · J v + w  f con f con · J con,v  + 6 τ con τ con · J con,ω 
p,:h p,:h p p,:h ik ik,:h n n n,:h n n n,:h
(25)
⎩F ∗(h) = −m ac · J v − I α + ω × I ω · J ω  + (−mik acik ·Jik,v :h −(Iik αik +ωik ×Iik ωik )·Jik,ω :h )
n=1 n=w+1

p p p,:h (p p p p p) p,:h

Expressing it with matrix form, the dynamic equation for a SPR is solved by substituting velocities and accelerations of
all components into Eq. (25) as

  w  T 6  
(Jp )T F loa + Gg + M q̈ + f q˙ + fncon Jncon,v fncon + τncon (Jncon,ω )T τncon = 0 (26)
n=1 n=w+1

where
 T  T  T
F loa = τ loa , f loa , G = m p Jpv + mik Jikv ,

 T  T  T  T
M = −m p J pv J pv − J pω I p J pω − −mik Jikv Jikv − Jikω Iik Jikω ,

   T    T     (  T    T    
f q˙ = −m p J pv f pa q˙ − J pω I p f pα q˙ + J pω q˙ × I p J pω q˙ − −mik Jikv fika q˙ − Jikω Iik fikα q˙ + Jikω q˙ × Iik Jikω q˙ .

It is note that f (q˙ ) is called the independent Coriolis acceleration term, it is the sum of the quadratic equations for the
generalized velocities of all components, and the Lie term $L,i of each acceleration screw is a part of the independent Coriolis
acceleration based on the Eq. (19).

3. Vibration modelling approach and response index based on the Rayleigh quotient

When all driving elements of a SPR are locked, the position and posture of the mobile platform should be unchanged,
but the mobile platform will vibrate slightly under the external excitation. For SPRs with fewer DOFs, if only the stiffness
and damping along directions of DOFs are considered, the vibration system has the same DOFs with the motion DOFs. If the
stiffness and damping in all constrain directions are considered, the robot vibration system has six DOFs. For the SPR with
six DOFs, these two situations are same. The first is called the ideal standard model with fewer DOFs, and the second is
called the overall standard vibration model with six DOFs. It is noted that the overall standard vibration model is considered
in this paper, and two models that consider the joint clearances and ignore the joint clearances are discussed in this section.

3.1. Overall standard vibration model ignored joint clearances

Since the elastic deformation of the links or structure is inevitable, six independent constraint forces between the mobile
platform and chains can be expressed by the equivalent stiffness and the equivalent damping in the vibration modeling
process, and the nth constraint force can be expressed by
fncon = kn ln + cn l˙n (n = 1, 2, · · · , w), τncon = kn θn + cn θ˙ n (n = w + 1, · · · , 6), (27)

where ln and θ n are the tiny deformations along and around the nth constraint force, l˙n and θ˙ n are the reciprocal
of the tiny deformations ln and θ n , and kn and cn are corresponding equivalent stiffness and equivalent damping, re-
spectively. If the nth branched is connected in series by j members, the equivalent stiffness coefficient and the equivalent
damping coefficient of the branched chain can be expressed as
1 1 1 1
= , = . (28)
kn k j cn cj

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If the nth chain is connected in parallel by j members, the equivalent stiffness coefficient and the equivalent damping
coefficient can be expressed as

kn = k j , cn = c j. (29)

Substituting the new expressions into Eq. (25), six generalized active forces can be re-expressed as
 T  T  T ( )
mik Jikv
T
g
F (h ) = J pv f loa + J pω τ loa + m p Jpv g + +JKcon l + JCcon l˙, (30)

where
 T
l = [l1 , · · · , lw , θw+1 , · · · , θ6 ]T , l˙ = l˙1 , · · · , l˙w , θ˙ w+1 , · · · , θ˙ 6 ,

⎡  T ⎤T ⎡  T ⎤T
k1 J1con,v f1con c1 J1con,v f1con
⎢ .. ⎥ ⎢ ⎥ ..
⎢ ⎥ ⎢ ⎥
⎢ .
 con,v T con ⎥⎥ ⎢  con,v T con ⎥
.
⎢ ⎢ ⎥
⎢ kw Jw f ⎥ ⎢ cw Jw f ⎥
JKcon = ⎢  con,ω T wcon ⎥ , JCcon = ⎢  con,ω T wcon ⎥ .
⎢kw+1 Jw+1 τw+1 ⎥ ⎢cw+1 Jw+1 τw+1 ⎥
⎢ ⎥ ⎢ ⎥
⎢ .. ⎥ ⎢ .. ⎥
⎣ . ⎦ ⎣ . ⎦
 con,ω T con  con,ω T con
k6 J6 τ6 c6 J6 τ6
Substituting Eq. (30) into Eq. (26), the dynamic equation can be expressed as
 
(Jp )T F loa + Gg + Jkcon l + Jccon l˙ + M q̈ + f q˙ = 0. (31)

Since the displacement of the vibration is very small, we set l˙ = J P˙ and q̈ = P̈ . Thus, based on the physical meaning
of the velocity Jacobian matrix, the vibration equation can be expressed by
 
(Jp )T F loa + Gg + Jkcon J P + Jccon J P˙ + M P̈ + f q˙ = 0. (32)
Since the term of f (q˙ ) is the quadratic equation for generalized velocities which are very small, the term of f (q˙ ) can be
ignored in the vibration analysis [11,46]. Therefore, the standard vibration model of the SPR is obtained as
M P̈ + C P˙ + K P + (J p )T F loa + Gg = 0. (33)
where
C = JCcon J, K = JKcon J.
Obviously, the mass matrix denoted by M is affected by the mass of components and the position of mobile platform, the
stiffness matrix denoted by K is related to the stiffness of driving elements, the stiffness of links, the stiffness of joints and
the position of mobile platform, and the damping matrix denoted by C is determined by the damping of driving elements,
the damping of links, the damping of joints and the position of mobile platform.

3.2. Overall standard vibration model considering the joint clearances

Since the relative movement of the joint is inevitable, the joint clearances are considered in this vibration model. In
general, the joint clearance consists of a joint gap and a joint contact deformation. The joint gap is a random value, while
the relationships between the joint contact deformation and the contact force are non-linear (referring the Hertz contact
principle). Since the direction of the joint gap is always consistent with the direction of constraint, the nth constraint force
can be expressed by
 
fncon = kn ln − lncle + cn l˙n (n = 1, 2, · · · , w), τncon = kn θn + cn θ˙ n (n = w + 1, · · · , 6), (34)
It is assumed that the joint contact deformation is approximately satisfied with Hooke’s deformation law (it is included
in the parameter kn .) and the equivalent joint gap is a value denoted by ln_cle . If the nth branched is connected in series
by j members, the equivalent stiffness coefficient and the equivalent damping coefficient are same with Eq. (27), and the
equivalent joint gap can be expressed as

ln_cle = k j_cle . (35)

If the nth branched is connected in parallel by j members, the equivalent stiffness coefficient and the equivalent damping
coefficient are same with Eq. (29), and the of the equivalent joint gap can be expressed as
 
ln_cle = min k j_cle . (36)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Substituting the new expressions of six constraints into six generalized active forces and rearranged the result, the dy-
namic equation can be expressed as
 
(Jp )T F loa + Gg + Jkcon l − Jkcon lcle + Jccon l˙ + M q̈ + f q˙ = 0. (37)
where
lcle = [l1_cle , · · · , lw_cle , θw+1_cle , · · · , θ6_cle]T .
Similarly, based on the physical meaning of the velocity Jacobian matrix and ignoring the quadratic equation for gener-
alized velocities, the standard vibration model of the SPR is obtained as
M P̈ + C P˙ + K P − Jkcon lcle + (J p )T F loa + Gg = 0, (38)
where the mass matrix, the stiffness matrix and the damping matrix are same with the expressions given in Eq (33). Ob-
viously, the joint gap is as an excitation as an external load and gravity, and the effects of the joint contact deformation is
embodied in the stiffness matrix in the obtained standard vibration model.

3.3. Response analysis and index based on the Rayleigh quotient

Based on the overall standard vibration model, the vibration characteristics of the parallel robot can be obtained by
the response analysis. As a main vibration performance index, the nature frequency reflects the system inherent vibration
characteristics, which is only related to the position, stiffness and mass. However, the nature frequency cannot reveal the
vibration response performance of the mobile platform in the six directions of Cartesian coordinates, which is very impor-
tant for the SPR as machining tools, so a more intuitive VRI on the basis of vibration response amplitude is proposed in this
section. Due to the serious coupling of vibration system that has six DOFs, the modal superposition method is used for the
response analysis. According to the solved mass matrix and stiffness matrix, six nature frequencies denoted by ω i (i = 1, 2,
, 6) and six modal shapes denoted by ui (i = 1, 2, , 6) can be solved, and the modal matrix denoted by  = [u1 ,u2 ,,
u6 ]T can be obtained. Multiply by the modal matrix  at the same line on the Eq. (38), the result is
T M P̈ + T C P˙ + T K P − T Jkcon lcle + T (Jp )T F loa + T Gg = 0. (39)
Since the time parameters are not included in the modal matrix, the tiny vibration of the mobile platform can be con-
verted to the modal coordinate system. Let P = p, P˙ =  p˙ and P̈ =  p̈, the vibration equation can be ex-
pressed in the modal coordinate system by
T M  p̈ + T C  p˙ + T K  p − T Jkcon lcle + T (Jp )T F loa + T Gg = 0. (40)
Since the six modal shapes are orthogonal, the modal mass matrix denoted by modal damping matrix denoted T M ,
by T C and modal stiffness matrix denoted by T K are diagonal matrices, respectively. Thus, the vibration model can
be written in the modal coordinate system as
Mii  p̈i + Cii  p˙ i + Kii  pi − li_cle + F̄i + Gi = 0, (i = 1, 2, · · · , 6), (41)
where Mii is the ith
diagonal element of the modal mass matrix, Cii is the ith
diagonal element of the modal damping
matrix, Kii is the ith diagonal element of the modal stiffness, pi is the modal coordinate, li_cle is the ith element of vector
T Jkcon lcle , and Gi is the ith element of vector T Gg.
a) Local VRI of the free vibration
In the obtained standard vibration model, gravity, external load and joint gap can be considered as external excita-
2
tions. Since the stiffness of the SPR is large: 0 < 4Mii Kii − (Cii ) < 1, the vibration response of the free vibration model of
Eq. (33) is
 pi = e−st ai1 cos (ωit − θi1 ), (i = 1, 2, · · · , 6), (42)
where
Cii    2
s= , ωi = 1/ 2Mii 4Mii Kii − Cii ,
2Mii

 2  2
ai1 =  p2i0 + 2Mii  p˙ i0 + Cii  pi0 / 4Mii Kii − Cii ,

  
   2
θi1 = arctan 2Mii  p˙ i0 + Cii  pi0 / 4Mii Kii − Cii  pi0 .

pi0 and  p˙ i0 are initial velocity and initial displacement of the mobile platform in the direction of modal coordinate
pi , respectively. Similarly, the relationship of the initial conditions in the Cartesian coordinate system and the modal co-
ordinate system can be expressed by P0 = p0 and P˙0 =  p˙ 0 . Meanwhile, since the component li_cle and Gi are

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

constant that is not related to time and the external load can be regarded as a harmonious excitation, the vibration response
of the parallel robot in the modal coordinate system can be solved as
 
 pi = e−st ai1 cos (ωit − θi1 ) + ai2 cos ( t − θi2 ) + licle − Gi /Kii , (i = 1, 2, · · · , 6), (43)
where
 2  2
ai2 = −Mii F̄ii / Kii − Mii − Cii ,
 2  2
θi2 = arctan(Mii Cii / Kii − Mii .
Giving the initial condition and the external excitation, the vibration response can be obtained based on the Eq. (43) in
the modal coordinate system. Then, based on the relationship of P = p, the vibration response of SPR in the Cartesian
coordinate system can be solved. Furthermore, the vibration response amplitude can be expressed as

|Pi | =  pT (e6,i )T (e6,i ) p, (i = 1, 2, · · · , 6), (44)
and the initial conditions can be expressed by
  T  
 pi0 = PiT0 e6,i −1 e6,i −1 Pi0
{   T   , (i = 1, 2, · · · , 6). (45)
 p˙ i0 = P˙iT0 e6,i −1 e6,i −1 P˙i0
Let PiT0 Pi0 = c12 and P˙iT0 P˙i0 = c22 , based on the Rayleigh quotient, the range of values of the initial conditions in the
modal coordinate system can be obtained by
c12 λmin ≤ ( pi0 )2 ≤ c12 λmax
{ −i
( )
−i , i = 1, 2, · · · , 6 . (46)
c22 λmin ≤ ( p˙ i0 ) ≤ c22 λmax
2
−i −i

where λmin
−i
and λmax
−i
are the minimum and maximum eigenvalues of matrix (e6,i −1 )T (e6,i −1 ), respectively. If the effects of
damping, gravity, joint gap and external load are ignored, the range of vibration response amplitude in the modal coordinate
system is
 
c12 λmin
−i
+ c22 λmin
−i
/ωi2 ≤ | pi | ≤ c12 λmax
−i
+ c22 λmax
−i
/ωi2 , (i = 1, 2, · · · , 6). (47)

Expressing the previous equation in matrix form, the result is

6   6  
c12 λmin
−i + c2 λ−i /ωi ≤  p  p ≤
2 min 2 T
c12 λmax
−i + c2 λ−i /ωi
2 max 2
. (48)
i=1 i=1

Based on the Rayleigh quotient, the range of values of the response amplitude in the Cartesian coordinate system can be
solved as
 
6   6  
λ min
i
c12 λ
min
−i
+ c22 λ
min
−i
/ ω 2
i
≤ |Pi | ≤ λmax
i
c12 λmax
−i
+ c22 λmax
−i
/ωi2 , (i = 1, 2, · · · , 6). (49)
i i

where λmin
i
and λmax
i
are the minimum and maximum eigenvalues of matrix (e6,i )T (e6,i ), respectively.
Since the damping plays a role of energy consumption and considering the effects of the joint gap and gravity, the
vibration response amplitude of a vibration system can be expressed as
     
c22 λmin  licle − Gi   l − G i 
 ≤ | pi | ≤ c2 λmax + c2 λ−i −  icle
2 max
c12 λmin
+ −i
−   
, (i = 1, 2, · · · , 6).
 (50)
−i
ωi2 K ii
1 −i
ωi2
Kii
At this time, the vibration amplitude range of the parallel robot along the six directions in the Cartesian coordinate
system can be expressed as
 ⎛ ⎞ 
   2    
  licle − Gi    licle − Gi 
2
 min 6
λ c22 min
⎠ ≤ |Pi | ≤ λmax
6
c22 λmax
λi ⎝ c12 λmin + −i
−   c12 λmax + −i
−  
 (51)
i=1
−i
ω 2
i
K ii
i
i=1
−i
ωi2 Kii

If the amplitudes of initial displacement and initial velocity is ignored, the LVRI of the free vibration can be determined
by

    2
 6
λmax  licle − Gi 
v ib 
Ki = λmax λ max
+ −i
−   , (i = 1, 2, · · · , 6). (52)
i −i
ωi
2
Kii 
i=1

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Obviously, the proposed index is determined by the natural frequency, the eigenvalues of the modal matrix, the posture
of the SPR, joint gaps and the gravity. As a result, the proposed vibration index is only related to the structural parameters
of the SPR, and its physical meaning is the maximum vibration amplitude of the mobile platform in different directions in
the Cartesian coordinate system under the unit initial conditions.

a) Local VRI of the forced vibration

For the forced vibration, its vibration form is composed of transient vibration and steady-state vibration, where transient
vibration tends to disappear due to the existence of system damping. For the ideal forced vibration model, if the external
load is simple harmonic force and only the steady-state vibration is considered, the vibration amplitude range of the end
platform of the SPR in six directions in the Cartesian coordinate system can be expressed as
 ⎛ ⎞2  ⎛ ⎞2
     
  licle − Gi    licle − Gi 
 min 6
⎝ 
Mii F̄ii
⎠ ≤ |Pi | ≤ 
6
⎝ 
Mii F̄ii
⎠ ,
λi   2 |+|  λmax
i   2 |+| 
i  K −M Kii  i  K −M Kii 
ii ii ii ii

(53)
where is the excitation frequency of the external load. Thus, the LVRI of the forced vibration can be determined by
 ⎛ ⎞2
  
  licle − Gi 
 max 6
⎝ 
Mii F̄ii
⎠ , (i = 1, 2, · · · , 6).
Kloc
i = λi   2 |+|  (54)
i  K −M Kii 
ii ii

Besides the posture and the structural parameters of the SPR, the LVRI of the forced vibration is determined by the
excitation frequency of the external load, and its physical meaning is the maximum vibration amplitude of the mobile
platform in different directions in the Cartesian coordinate system.

a) Global VRI

In the given workspace of the SPR, p pose points are sampled on average, and the global index of the vibration response
of the SPR in the Cartesian coordinate system can be expressed as
     
Kglo
i
= max Kloc
i , Kloc
i , · · · , Kloc
i , ( i = 1 , 2 , · · · , 6 ). (55)
1 2 p

In addition to specific occasions, the size and excitation frequency of the external load are often unknown, so the index
of the free vibration is used as the VRI. As same with the nature frequency, the proposed vibration index only related to the
posture and the structural parameters of the parallel robot, but it has more intuitive physical meaning.

4. Applications and comparisons

To make the performance clear and to verify the correctness of the proposed vibration analysis approach, some applica-
tions, numerical examples and comparisons are presented in this section.

4.1. Applications in four parallel robots

Using the proposed approach, the standard vibration models of Gough-Stewart platform (with six DOFs), 2RPS+2UPS
parallel robot (with four DOFs), A3 head (with three DOFs) and Tricept based parallel robot (with three DOFs and a passive
chain) are presented.

a) Application I: Gough-Stewart platform as an autopilot simulator

As shown in Fig. 2, a 6UPS parallel robot called Gough-Stewart platform is utilized as an autopilot simulator by installing
a car on the mobile platform, where the mobile platform is connected to the fixed platform by six identical UPS chains.
This classic parallel robot has six DOFs and its theoretical research is relatively mature. If the motion screws of universal,
prismatic and spherical joints of ith chain are denoted by $iU1 , $iU2 , $iP , $iS1 , $iS2 and $iS3 , respectively, the motion screw of
mobile platform can be expressed by

$Vp = ωi1 $iU1 + ωi2 $iU2 + ω3 $iP + ωi4 $iS1 + ωi5 $iS2 + ωi6 $iS3 , (i = 1, 2 · · · , 6). (56)

According to the Eq. (9), the velocity mapping matrixed of the i1th and i2th links can be obtained as
"
Ji1 = $iU1 e6,1 Ji−1 J p + $iU2 e6,2 Ji−1 J p , (i = 1, 2, · · · , 6)
(57)
Ji2 = $iU1 e6,1 Ji−1 J p + $iU2 e6,2 Ji−1 J p + $iP e6,3 Ji−1 J p , (i = 1, 2, · · · , 6)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 2. Application I: (a) Gough-Stewart platform as an autopilot simulator, (b) Kinematic model of the Gough-Stewart platform

where
T
Ji = [$iU1 , $iU2 , $iP , $iS1 , $iS2 , $iS3] ,
and Jp is given in Eq. (5). Substituting Eq. (57) into Eq. (10), the linear and angular velocity mapping matrices of the i1th
and i2th links (Jiv1 , Jiω1 , Jiv2 and Jiω2 ) can be obtained. Meanwhile, the constraint force directions of each chain can be solved by
the reciprocal product of each screw system, and the results are fncon = $nP , (n = 1, 2, · · · , 6). Since the constraint force of
each chain is along the direction of the axis of the prismatic joint, the velocity mapping matrices of the constraint force are
Jncon,v = e6,3 Jn−1 J p , (n = 1, 2, · · · , 6). Moreover, the Jacobi matrix can be solved based on the relationship between ωi3 and q˙
as
 
J = diag e6,3 J1−1 J p , e6,3 J2−1 J p , · · · , e6,3 J6−1 J p . (58)
Therefore, if the mass and centroidal body inertia matrices of all components are given, the standard vibration models of
the Gough-Stewart platform can be obtained with the expression of Eq. (33) and Eq. (38), but the different elements are
⎧  T  T
⎪ −mik (Jikv ) Jikv − (Jikω ) Iik Jiω
T T

⎪
⎪M = −m p J pv J pv − J pω I p J pω −
⎪
⎪ $  T  T  T %T
⎪
⎪
⎨JKcon = k1 J1con,v f1con , k2 J2con,v f2con , · · · , k6 J6con,v f6con
$  T  T  T %T (59)
⎪
⎪JCcon = c1 J1con,v f1con , c2 J2con,v f2con , · · · , c6 J6con,v f6con
⎪
⎪
⎪
⎪    T  T
⎪
⎩G = m p Jpv T +
6
mi1 Jiv1 + mi2 Jiv2
i=1

a) Application II: 2RPS+2UPS robot as an Antenna alignment

As shown in Fig. 3, a 2RPS+2UPS parallel robot is utilized as an antenna alignment mechanism by installing an antenna
at the center of the mobile platform. The mobile platform and the fixed platform of the 2RPS+2UPS parallel robot are
connected by two RPS chains and two UPS chains, and the two RPS chains and the two UPS chains are alternately distributed
on two platforms with 90 degrees. This parallel robot has four DOFs, where two are rotation DOFs and two are translation
DOFs. For the given six generalized coordinates, four generalized coordinates are corresponding the directions of four DOFs,
and others are corresponding the directions of constraints. In the screw system, the motion screw of the mobile platform
can be expressed by
"
$Vp = ωi1 $iR + ωi2 $iP + ωi3 $iS1 + ωi4 $iS2 + ωi5 $iS3 , (i = 1, 3)
, (60)
$Vp = ωi1 $iU1 + ωi2 $iU2 + ω3 $iP + ωi4 $iS1 + ωi5 $iS2 + ωi6 $iS3 , (i = 2, 4)

and the screw matrixes corresponding to each chain can be expressed as

" T
Ji = [$iR , $iP , $iS1 , $iS2 , $iS3 ] , (i = 1, 3)
T . (61)
Ji = [$iU1 , $iU2 , $iP , $iS1 , $iS2 , $iS3] , (i = 2, 4)

For the UPS chain, the inverse matrix of Ji is easy to obtain. For the RPS chain, Ji is a 6 × 5 matrix and is a full-column
rank matrix. Due to the linearly independent between five motion screws of RPS chain, the generalized Moore-Penrose

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 3. Application II: (a) 2RPS+2UPS robot as an Antenna alignment, (b) Kinematic model of the 2RPS+2UPS parallel robot

−1 T
inverse matrix of Ji is Ji = (JiT Ji ) Ji [28,30,]. Thus, the velocity mapping matrixes of the i1th and i2th links can be obtained
as
⎧
⎪J = $iR e5,1 Ji−1 J p , (i = 1, 3)
⎨ i1 −1 −1
Ji2 = $iR e5,1 Ji J p + $iP e5,2 Ji J p , (i = 1, 3)
−1 −1 . (62)
⎩Ji1 = $iU1 e6,1 Ji−1 Jp + $iU2 e6,2 Ji−1 Jp , (i = 2, 4)−1
⎪
Ji2 = $iU1 e6,1 Ji J p + $iU2 e6,2 Ji J p + $iP e6,3 Ji J p , (i = 2, 4)
Substituting Eq. (62) into Eq. (10), the linear and angular velocity mapping matrices of all components can be obtained.
For the RPS chain, one constraint force fncon , (n = 1, 3) is along the axis of the prismatic joint, and another constraint
force fncon , (n = 5, 6) is along the rotation axis of the revolute joint. For the UPS chain, the constraint force directions
fncon , (n = 2, 4) is along the axis of the prismatic joint. Thus, the velocity mapping matrices of constraint forces are
⎧ con,v
⎪
⎪J = [e6,4 , e6,5 , e6,6 ]T $np e5,2 Jn−1 J p , (n = 1, 3)
⎨ ncon,v
 np e6,3 Jn Jp , (n−1= 2, 4)
= [e 6 , 4 , e 6 , 5 , e 6 , 6 ]T $ −1
Jn 
con,v T −1 . (63)
⎪J
⎪n = e , e
[ 6,4 6,5 6,6 ] p ,
e
 J − $ iR e5,1 Ji J p + $iP e5,2 Ji J p

⎩ T −1
+[e6,1 , e6,2 , e6,3 ] J p − $iR e5,1 Ji J p + $iP e5,2 Ji J p −1
× ris , (i = 1, 3; n = 5, 6)

According to the solved results of velocity amplitudes, the Jacobi matrix can be solved as
 
J = diag e5,2 J1−1 J p , e6,3 J2−1 J p , e5,2 J3−1 J p , e6,3 J4−1 J p , f5con J5con,v , f6con J6con,v . (64)
Therefore, the standard vibration model of the 2RPS+2UPS parallel robot can be obtained with the expression of
Eq. (33) and Eq. (38), and the different elements with Eq. (59) are
⎧
⎪  T  T 4 2  T  T
⎪
⎨M = −m p Jpv Jpv − Jpω Ip Jpω − mi j Jivj Jivj + Jiωj Ii j Jiωj
i=1 j=1
 v T 4 2  v T . (65)
⎪
⎪
⎩G = m p Jp + mi j Ji j
i=1 j=1

a) Application III: A3 head as a machine tool

For the third application, a 3RPS parallel robot called A3 head is presented in Fig. 4, and the mobile platform is con-
nected to the fixed platform by three identical RPS chains [47]. As a machine tool for the machining of irregular surfaces
of aircraft parts, a tool head is installed on the mobile platform that has two rotation DOFs and one translation DOF. For
given six generalized coordinates, three generalized coordinates are corresponding the directions of three DOFs, and three
are corresponding the directions of constraints. Similarly, the motion screw system of each chain is

$Vp = ωi1 $iR + ωi2 $iP + ωi3 $iS1 + ωi4 $iS2 + ωi5 $iS3 , (i = 1, 2, 3), (66)

and the velocity mapping matrixes of the i1th and i2th links can be obtained as
"
Ji1 = $iR e5,1 Ji−1 J p , (i = 1, 2, 3)
. (67)
Ji2 = $iR e5,1 Ji−1 J p + $iP e5,2 Ji−1 J p , (i = 1, 2, 3)

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 4. Application III: (a) A3 head as an Antenna alignment, (b) Kinematic model of the A3 head

For the RPS chain, one constraint force fncon , (n = 1, 2, 3) is along the axis of the prismatic joint, and another constraint
force fncon , (n = 4, 5, 6) is along the rotation axis of the revolute joint. Referring to the RPS chain of 2RPS+2UPS parallel
robot, the velocity mapping matrixes can be obtained as
⎧ con,v
 np e5,2 Jn Jp , (n−1= 1, 2, 3) −1 
= [e 6 , 4 , e 6 , 5 , e 6 , 6 ]T $ −1
⎪J
⎨ ncon,v T
Jn = [e6,4 , e6,5 , e6,6 ] J p − $iR e5,1 Ji J p + $iP e5,2 Ji J p
   , (68)
⎪
⎩+ [ e 6 , 1 , e6,2 , e6,3 ]T J p − $iR e5,1 Ji−1 J p + $iP e5,2 Ji−1 J p
×ris , (i = 1, 2, 3; n = 4, 5, 6)
and the Jacobian matrix is
 
J = diag e5,2 J1−1 J p , e5,2 J2−1 J p , e5,2 J3−1 J p , f4con J4con,v , f5con J5con,v , f6con J6con,v . (69)
Therefore, the standard vibration model of the A3 head can be obtained with the expression of Eq. (38), and the different
elements with Eq. (59) are
⎧
⎪  T  T 3 2  T  T
⎪
⎨M = −m p Jpv Jpv − Jpω Ip Jpω − mi j Jivj Jivj + Jiωj Ii j Jiωj
i=1 j=1
 v T 3 2  v T . (70)
⎪
⎪ = +
⎩G m J
p p m J
ij ij
i=1 j=1

a) Application IV: A Tricept based parallel robot as an experimental prototype

As shown in Fig. 5, after replacing the UP chain with the PU chain for the Tricept parallel robot, a prototype of the
1PU+3UPS parallel robot called Tricept based is built in our laboratory for experimental vibration. The mobile platform is
connected to the fixed platform by three identical UPS chains and one passive chain. This parallel robot has two rotation
DOFs and one translation DOF that are the same with the A3 head, but the Tricept based has a passive branch that is
different from the A3 head [52-55]. This parallel robot will be used in the discussion given in Section 4, and the physical
and geometric parameters will also be given. Based on the screw theory, the motion screw system of each branch is
"
$Vp = ωi1 $iU1 + ωi2 $iU2 + ωi3 $iP + ωi4 $iS1 + ωi5 $iS2 + ωi6 $iS3 , (i = 1, 2, 3)
, (71)
$Vp = ω41 $4P + ω42 $iU1 + ω43 $4U2

and the velocity mapping matrixes of the i1th and i12th links can be obtained as
&
Ji1 = $iU1 e6,1 Ji−1 J p + $iU2 e6,2 Ji−1 J p , (i = 1, 2, 3)
Ji2 = $iU1 e6,1 Ji−1 J p + $iU2 e6,2 Ji−1 J p + $iP e6,3 Ji−1 J p , (i = 1, 2, 3) . (72)
J42 = $4P e3,1 J4−1 J p
For the UPS chain, the constraint force directions fncon , (n = 1, 2, 3) is along the axis of the prismatic joint. For the PU
chain, two constraint forces fncon , (n = 4, 5) are along the axis of the cross axis of the universal joint, and another constraint

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 5. Application IV: (a) Tricept based as an experimental prototype, (b) Kinematic model of the Tricept based

Table 1
Physical parameters of the experimental prototype

r/(m) R/(m) li1 /(m) li2 /(m) ri1 /(m) ri2 /(m) l41 /(m) l42 /(m)

0.128 0.37 0.61 0.38 0.03 0.017 0.5 0.45

r41 /(m) r42 /(m) E/(Gpa) G/(Gpa) u mp /(kg) mi1 /(kg) mi2 /(kg)
0.035 0.02 72 26.5 0.28 4.19 4.91 1.08
m41 /(kg) m42 /(kg) k1 /(N/m) k2 /(N/m) k3 /(N/m) k4 /(N/m) k5 /(N/m) k6 /(N.m/rad)
8.80 3.60 5 × 107 5 × 107 5 × 107 8.31 × 107 8.31 × 107 2.54 × 106

torque τ6con is around the axis of the prismatic joint. Referring to the previous parallel robots, the velocity mapping matrixes
can be obtained as
⎧ con,v
⎪
⎪J = [e , e , e ]T $np e J −1 J p , (n = 1, 2, 3)
⎨Jncon,v = e6T,4 , 06,,50, 06,,60, 0 6,3 n
4  3,1  (73)
⎪J5con,v = 0, eT3,2 , 0, 0, 0, 0
⎪
⎩ con,ω  
J6 = 0 , 0 , 0 , 0 , 0 , e3,3
T

and the Jacobian matrix is

 
J = diag e6,3 J1−1 J p , e6,3 J2−1 J p , e6,3 J3−1 J p , f4con J4con,v , f5con J5con,v , τ6con J6con,ω . (74)
Thus, the standard vibration models of the Tricept based can be obtained with the expression of Eq. (33) and Eq. (38),
and the different elements with above three parallel robots are
⎧  T  T 3 2  T  T  v  T v  ω T ω
⎪
⎪M = −m p J pv J pv − J pω I p J pω − mi j Jivj Jivj + Jiωj Ii j Jiωj − m42 J42 J42 + J42 I42 J42
⎪
⎪
⎪
⎪ $ i=1 j=1
%
⎪
⎪         T
⎨JKcon = k1 J con,v T f1con , k2 J con,v T f2con , · · · , k5 J con,v T f5con , k6 J con,ω T τ6con
1 2 5 6
$    con,v T con  con,v T con  con,ω T con%T (75)
⎪
⎪ con
= con,v T con
, , · · · , f5 , c6 J6 τ6
⎪
⎪JC c 1 J1
f 1 c 2 J2
f 2 c 5 J5
⎪
⎪      
⎪
⎪ T 3 2 T T
⎩G = m p J v + p mi j J v + m42 J v
ij 42
i=1 j=1

4.2. Experimental analysis at a typical parallel robot

The experimental analysis is presented based on an experimental prototype. As shown in Fig 6, the experimental bench
consists of a hammer, the Tricept based parallel robot and the VibraQuest system, where the VibraQuest system is com-
posed of three acceleration sensors, a data acquisition module and the corresponding calculation software. The physical and
geometric parameters of the experimental prototype are measured and given in Table. 1, where R is the radius of the fixed
platform, r and mp is the radius and mass of the mobile platform, respectively, li1 , ri1 , and mi1 are the length, radius and
mass of the bottom link of the ith UPS chains, respectively, li2 , ri2 , and mi2 are the length, radius and mass of the upper
link of the ith UPS chains, respectively, l41 , r41 , and m41 are the length, radius and mass of the bottom link of the PU chains,

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 6. The experimental bench and the experimental method

Fig. 7. Four data by VibraQuest system: (a) data 1, (b) data 2, (c) data 3, (d) data 4

respectively, and l42 , r42 , and m42 are the length, radius and mass of the upper link of the PU chain, respectively. The equiv-
alent stiffness denoted by ki (i=1,2,...,6) is calculated by the proposed method given in Ref. [43], where E, G and u are the
elastic modulus, the shear modulus and the Poisson’s ratio of aluminum alloy, respectively.
Firstly, the natural frequency of the experimental prototype is estimated by the frequency response function (FRF). Choos-
ing a typical configuration of the Tricept, where the mobile platform is parallel to the fixed platform and the length of the
passive chain is 0.888m, the experimental data is collected by three acceleration sensors which are installed in the X, Y,
and Z directions of the mobile platform. In the experimental cases, the hitting direction of hammer is controlled within the
horizontal plane and along the diagonal direction as much as possible. Due to the randomness of the experimental results,
the appropriate results are selected by multiple times, and four test data and its FRF are presented as shown in Figs. 7 and
8, respectively. According to the physical meaning of the FRF, the low natural frequencies of four data can be estimated as

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 8. FRF of four data by VibraQuest system: (a) data 1, (b) data 2, (c) data 3, (d) data 4

65 Hz, 67Hz, 63Hz, and 63Hz, respectively. Since the vibration response mainly depends on the mode shape corresponding
to the lowest natural frequency, the first and second order natural frequencies can be approximated.
Secondly, the equivalent damping is fitted based on the experimental data. Since the accurate value of structural damping
is difficult to solve and the action force given by the hammer is difficult to accurately measure, the equivalent damping is
approximated based on the physical meaning of the vibration response function. If the filtered experimental data is given,
the corresponding ideal vibration system model can be approximated by the selected two points, and the approximate
damping coefficient and initial conditions of the vibration system can be obtained based on the amplitude of the collected
data and the direction of the hammer action. After fitting multiple sets of experimental data with the principle of minimum
error, the approximate damping coefficient of each chain is 20 0 0.
Finally, the comparison between the experimental results and the theoretical results based on the proposed method is
given. Since the hitting direction of hammer is controlled within the horizontal plane and along the diagonal direction as
much as possible, the initial displacement and velocity of the free vibration can be estimated, where the initial displacement
and velocity around three axes are zero, the initial velocities along three axes are zero, and the initial displacement along
the Z-axis direction is zero. Selected two experimental cases, the estimated initial displacements along X-axis or Y-axis are
2.4 × 10−7 m and 1.5 × 10−8 m, respectively. Substituting the geometrical, mass, stiffness, damping and estimated initial
condition into the built vibration model given in Section 4.1, the comparison results are presented. As shown in Fig. 9, the
maximum acceleration and period error between the experimental data and the theoretical data of two comparison cases
are 0.51m/s2 , 0.044m/s2 , 1.1 × 10−3 s and 9.34 × 10−4 s, respectively. Based on two comparison results, the experimental
data and theoretical data are basically consistent in the free vibration stage, and the mean errors of the vibration period and
the amplitude are about 12.5% and 5.5%, respectively, which are caused by factors such as system noise, parameter errors,
and others.

4.3. Vibration response analysis

Based on the proposed vibration model and response index, the vibration characteristics of the prototype are analyzed
in this section. Since the VRI of the forced vibration is greatly affected by external excitation, the VRI of the free vibration is

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 9. Comparison cases of the response performance: (a) results of the case 1, (b) results of the case 2, (c) time errors of the case 1, (d) time errors of
the case 2, (e) acceleration errors of the case 1, (f) acceleration errors of the case 2

discussed in this section. As shown in Fig. 10, the solved response vibration indexes along (or around) three coordinate axes
in the absolute Cartesian coordinate system are presented, and the global response index along and around three axes are
3.7, 3.8, 2.4, 11.6, 9.7, and 7.2, respectively. In three translational directions and three rotational directions, the ranges of the
VRI are between 1 to 4 and 5 to14, respectively, and the larger value means the larger amplitude of the vibration response
in this direction under unit initial conditions. It is noted that the given workspace is a space square with a side length of
0.05m and a height of 1.2m, and the workspace is determined by a virtual point that is fixed to the mobile platform and
the vertical distance from the center position is 0.312m. Based on the distribution characteristics of the response index, the
vibration response characteristics along (or around) the X-axis and the Y-axis are similar, but they are significant different

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 10. Distributions of the response index: (a) along the X-axis, (b) along the Y-axis, (c) along the Z-axis, (d) around the X-axis, (e) around the Y-axis, (f)
around the Z-axis

Fig. 11. Indexes of the Tricept based: (a) Tricept based as an experimental prototype, (b) Kinematic model of the Tricept based

along (or around) Z-axis, and the vibration response characteristics is approximate to the Y-axis symmetry referring the
position characteristics in the given workspace.
On the other hand, two numerical cases are discussed based on a space motion trajectory is given: X = Y = Z − 0.8 = t,
where one is considering the effects of the gravity and the joint clearance and another is ignoring the effects. As shown
in Fig. 11, the VRI has a significant difference after considering the joint clearance and gravity, where X denote the VRI
along the X-axis after ignoring the gravity and the joint clearance, X-cle denote the vibration index along the X-axis after
considering the gravity and the joint clearance, α denote the vibration index around the X-axis after ignoring the gravity and
the joint clearance, α -cle denote the vibration index around the X-axis after considering the gravity and the joint clearance,
and symbols of Y, Y-cle, Z, Z-cle, β , β -cle, γ ,and γ -cle have the same meanings. The larger difference between two cases
is about 3.92, and the smaller difference is about 0.31. The effects of the gravity and the joint clearance are different in
different spatial postures and in different Cartesian coordinate directions, and the maximum error is about 39% compared
with the ideal results. Thus, if the influence of the gravity and the joint clearance is ignored in the vibration response
analysis, there will be a large deviation between the theoretical result and the actual result.
In addition, comparison between the nature frequency and the proposed index is also given. As shown in Fig.12, the
value and distribution of the proposed VRI are different from the minimum nature frequencies due to the combined effects
of eigenvalues of modal matrix and the nature frequencies. Moreover, VRI in the directions of X-axis with the change of the
radius of the mobile platform are given in Fig. 13. When the radius of mobile platform increases from 0.125m to 0.135m, the

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Fig. 12. Comparison with natural frequency: (a) response index along the X-axis, (b) response index along the Y-axis, (c) first natural frequency

Fig. 13. Indexes of the Tricept based: (a) proposed response index, (b) nature frequency

natural frequency of step 0 changes from 72.8 to 73.27, and the response index changes from 9.192 to 10.17. The sensitivity of
the natural frequency and the response index to the radius parameter is 0.62% and 5.05%, respectively, so the proposed index
have better parameter sensitivity characteristics than the natural frequencies.The results reveal the relationship between
the VRI and the structural parameters, and it means that the proposed VRI has potential applications in the dimensional
synthesis and the multi-objective optimization.

4.4. Results

Based on the comparison results between the experimental and numerical methods, the deviation of the results is about
10%, so the correctness of the modelling approach proposed in this paper is guaranteed. Moreover, the differences between
the common modelling methods and traditional index are summarized, and the merits and demerits of the proposed ap-
proach are listed as follows:

a) The proposed method to analyze the vibration response performance of SPRs has the advantages of short time-
consuming, good universality, and including some factors such as joint clearances, gravity and others;
b) The screw theory and Lie algebraic operations need to be mastered by designers;
c) The modeling method is not practical for scenes with large motions of mobile platform due to the ignored effects of
Coriolis accelerations.
d) This vibration modelling method can be used for modelling research on dynamics, inherent characteristics, and vibra-
tion response, but for complex SPRs, this method is relatively complicated when only dynamic modelling or inherent
characteristics are studied.
e) The proposed index can clearly reflect the inherent response characteristics of the system.
f) The response index has more intuitive physical meaning and better parameter sensitivity characteristics than the natural
frequencies.

5. Conclusions

Utilizing the strong universality of the screw theory and avoiding the complicated Lie algebra terms, this paper success-
fully applies the screw theory to the analysis of the standard vibration model of the SPR. It is note that the Lie terms are
expressed but not used in the calculation of the final result of vibration analysis. The proposed approach is suitable for the

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

analysis of the vibration response characteristics of the mobile platform of SPR in six directions. Considering the effects of
the joint clearance and gravity, a vibration response index derived by the natural frequency and modal matrix under the unit
initial condition and the Rayleigh quotient is presented. The response index is only related to the posture and the structural
parameters of the SPR, and it can be used as a vibration performance optimization index in the early design stage. Using
this modelling method and response index will improve the research efficiency of researchers for a comprehensive study
of the previous type synthesis, where vibration models and the vibration response characteristics of different configurations
positions can be quickly established and compared. Moreover, since the value of the joint clearances under different po-
sitions is difficult to determine, the nonlinear vibration characteristics considering the joint clearances is solved difficulty,
which has potential value for occasions with higher accuracy requirements and will be studied in the future.

Funding

This work was supported by the National Natural Science Foundation of China [grant numbers: 51875086] and the
Sichuan Science and Technology Program [2021YFS0305].

Authors’ contributions

Shuai Fan were in charge of the whole trial; Shuai Fan and Xu Luo wrote the manuscript; Guanyu Shen, Weibin and
Guangkui Song participated in the experiment process; All authors read and approved the final manuscript.

Declaration of Competing Interest

The authors declare no competing financial interests.

Data Availability

No data was used for the research described in the article.

Acknowledgement

Thanks to Luo Xu for his support in English expression.

Appendix A

The quadratic equations for the generalized velocities of the mobile platform is
             T
f p = f p,1 q˙ , f p,2 q˙ , f p,3 q˙ , f p,4 q˙ , f p,5 q˙ , f p,6 q˙
where
 
f p,1 q˙ = q˙ T C p,i q˙ , (i = 1, 2, · · · 6), C p,1 = C p,1 = C p,1 = 06 × 6,

⎛ ⎞ ⎛ ⎞ ⎛ ⎞
0 0 0 0 0 0 0 0 0 0 0 −1 0 0 0 0 1 0
⎜0 0 0 0 0 1 ⎟ ⎜0 0 0 0 0 0 ⎟ ⎜0 0 0 −1 0 0 ⎟
⎜0 0 0 0 −1 0 ⎟ ⎜0 0 0 0 0 0 ⎟ ⎜0 0 0 0 0 0 ⎟
C p,4 =⎜
⎜0
⎟, Cp,5
⎟ =⎜
⎜0
⎟, Cp,6
⎟ =⎜
⎜0
⎟.
⎟
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
⎝ ⎠ ⎝ ⎠ ⎝ ⎠
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Appendix B

Proposition 1. The Lie product between compound screw can be split:

LT [ω1 $1 ; ω2 $2 + · · · + ωn $n ] = ω1 ω2 LT [$1 ; $2 ] + · · · + ω1 ωn LT [$1 ; $n ], (1)

Proof: Expanding the left side of Eq. (1) with Lie product, it can be expressed as
) *
 ω1 S1 × (ω2 S2 + · · · + ωn Sn )
LT [ω1 $1 ; ω2 $2 + · · · + ωn $n ] = . (2)
ω1 S1 × ω2 S20 + · · · + ωn Sn0 − (ω2 S2 + · · · + ωn Sn ) × ω1 S10
Expanding the right side of Eq. (2) yields
) * ) *
ω1 S1 × ω2 S2 ω1 S1 × ωn Sn
LT [ω1 $1 ; ω2 $2 + · · · + ωn $n ] = + ··· + . (3)
ω1 S1 × ω2 S20 − ω2 S2 × ω1 S10 ω1 S1 × ωn Sn0 − ωn Sn × ω1 S10

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S. Fan, G. Shen, T. Liu et al. Applied Mathematical Modelling 114 (2023) 1–22

Writing the coefficients of each item of the right side of Eq. (3) separately, a new expression can be obtained as
) * ) *
S1 × S2 S1 × Sn
LT [ω1 $1 ; ω2 $2 + · · · + ωn $n ] = ω1 ω2 + · · · + ω1 ωn . (4)
S1 × S20 − S2 × S10 S1 × Sn0 − Sn × S10

Expressing the right side of Eq. (4) with the Lie product, the proof is complete.

Proposition 2. The screw term of $L,is and $L,ik are the quadratic equation for the generalized velocities.

Proof: According to the Proposition 1 and Eq. (2), the screw term of $L,is can be re-expressed by
$L,is = ωi1 ωi2 LT [$i1 ; $i2 ] + · · · + ωi1 ωis LT [$i1 ; $is ] + · · · + ωis−1 ωis LT [$is−1 ; $is ]. (5)
Substituting velocity amplitudes into Eq. (5), the result is
s−1 s
T
$L,is = (q˙ T (eu Ji−1 ) ev Ji−1 q˙ LT [$iu ; $iv ] ). (6)
u=1 v=2

Similarly, the screw term of $L,ik can be expressed by

k−1 k
T
$L,ik = (q˙ T (eu Ji−1 ) ev Ji−1 q˙ LT [$iu ; $iv ] ). (7)
u=1 v=2

Thus, the proof is complete.

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