Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

Abstract

This paper analyzes the precision of the dissymmetrical parallel mechanism of 3-RRRP(4R) with three translational degrees of freedom (DOF). The parallel mechanism has weakly-coupled, decoupled and real-time characteristics, thus error compensation can be done using control software. Based on topology structure analysis, the inverse and forward solutions are analyzed and the precision is studied using complete differential method. The influencing factors of the manipulator s precision are studied carefully and the means to enhance the precision are also discussed. It is found that the position errors of the moving platform have nonlinear relation with the position of the mechanism. The δθ'₃ error has the biggest influence on the nonlinear errors of the position. Otherwise, the original errors of the mechanism are the main reason leading to more errors. Thus enhancing machining and assembling precision is an important method to enhance the precision of the mechanism.

Keywords

parallel robot, mechanism, kinematic analysis, precision analysis