Research On The Accuracy Analysis And Synthesis Of 3-DOF Parallel Manipulator

This paper studies the Three-DOF parallel manipulator, and enters the kinematical equations based on the vector method. By calculating this body there are four anti-solutions in the inverse kinematics of each branched-chain.Based on the position analysis of the Three-DOF parallel manipulator, the paper solves the mathematical model of analyzing the pose error for the output end. Because parallel manipulator structure error is bound to affect their end of the input accuracy, so the analysis of their mutual influence is particularly important. Based on the mathematical model, the paper concludes that there is a linear relationship between pose error and structural error, when the parallel manipulator is not at the singular location and their error is minuteness. Based on the changes of scantling of structure and the pose, the influence on motion precision of the manipulator is discussed when the small changes occurs in structure error of the manipulator.The purpose of this paper is that converts the uncertain problem of multi-objective and non-linear to the most optimal combination of linear problem. The paper solves the problem by using the methods of Equivalent effect and independent effect. Then, the problem of accuracy synthesis of parallel manipulator becomes easy to understand and execute. The paper has played a positive guiding role on the practical application.