Abstract：Dynamic modeling was used to evaluate a 3-PRRU parallel manipulator in a high-speed hybrid machine tool. The virtual work principle was used to develop the dynamic model of the 3-PRRU parallel mechanism with two new indices defined to evaluate the isotropy of dynamics from a kinetic energy viewpoint. The indices were then used in an atlas method for a five dimensions image. The results show that these indices accurately describe the isotropic performance of the 3-PRRU parallel manipulator. The two indices have uniform dimensions, clear physical meaning, and can accurately describe the dynamics of parallel manipulators.
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