Errors modeling and sensitivity analysis for a novel parallel manipulator

Abstract

Error model is the basis for accuracy-related computations and analyses for parallel manipulator. In this paper, one novel 6-DOF Parallel manipulator is proposed and its errors model is obtained by setting up the relation of pose errors and structural parameters based on the closed-vectors differential method. Errors sensitivity index are defined by using of singular value of the matrix and are given to physical meanings. Errors synthetically sensitivity, direction sensitivity and maximum sensitivity are quantitatively analysed through simulation, which prove that errors sensitivity of some feature in the working space can be of evaluation scale for optimum structural design. Analysis of the structural parameters and the error sensitivity can describe the relationship of parallel manipulator configuration parameters on the terminal accuracy. The errors model set up can lay a solid foundation for structure design and errors compensation of the manipulators.