Accuracy Analysis Of 3-RRRT Parallel Manipulator Based On Inverse Position Analysis

A deep theoretical study on the accuracy analysis of 3-RRRT parallel manipulator has been carried out in this dissertation.Based on the inverse position analysis of the 3-RRRT parallel manipulator, the model for the pose error analysis of the end effector of 3-RRRT parallel manipulator has been formulated and the analysis method of the pose error of the 3-RRRT parallel manipulator has been proposed. As for the 3-RRRT parallel manipulator and its relevant configuration, the pose errors of the end effector can be directly obtained when the structural parameters are given. It provides the precondition of the quantitative analysis of the influence of errors of the structural parameters laid on the pose error of the end effector in theory. This modeling method can also be used to the accuracy analysis of other parallel manipulators and spatial mechanisms.This dissertation deals systematically with the effect of structural parameters on the pose error of the end efferctor, ranging from single structural parameter error of one chain to multi-structural parameter errors of multi-chains. The correctness of this accuracy analysis method has been proved through simulation by applying the MATLAB language and its optimized toolbox. Finally, the structural parameter which influences the pose error of the end effector of the 3-RRRT parallel manipulator the most is analyzed based on the results of the simulation.