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

A deep theoretical study on the accuracy analysis and synthesis of 3-RRRT parallel manipulator has been carried out in this dissertation.Based on the position analysis of the 3-RRRT parallel manipulator , the model for the pose error analysis method of the end executor 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 executor 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 executor in the theory. This modeling method can also be used to the accuracy analysis of other parallel manipulators and spatial mechanisms.The relationship between the structure error and the end executor error of the 3-RRRT parallel manipulator has been studied through differential equations, which are obtained from the position analysis .As long as the 3-RRRT parallel manipulator is not on the singular location ,the errors are contained in the linear mathematics model when they are minuteness. The inverse Jacobi matrix of the 3-RRRT parallel manipulator is obtained from differential equations. Effects of pose changes and the structure changes on the accuracy of the 3-RRRT parallel manipulator has also been studied in the paper .The independent and equal effect principle of error is applied to the accuracy synthesis of the 3-RRRT parallel manipulator, which changed the multivariable , multi-object and non-linear problem into the simple linear problem. The algorithm studied in this paper has practical value.