Abstract
A new mechanism based on composite ball hinge is introduced. Since the structure of composite ball hinge is inconvenient to consider the attitude of moving platform, the ball center is set as the reference point to simplify the kinematics solution. The Jacobian matrix and error analysis model are derived. The effect of the bar length error and the initial position error of the moving platform are analyzed emphatically, and the distribution law of different plane errors is basically consistent, and the bar length error direction has certain influence on the position error. Through simulation analysis and numerical calculation, the rules are analyzed, which lays a foundation for improving the mechanism performance and further research.
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