Abstract
Motion accuracy is one of the key point for parallel robots. In the paper, error modeling and motion error analysis of a 3-DOF parallel robot 3-PRS has been studied in this paper. First, the 3-PRS parallel robot and its kinematics has been introduced with its kinematics analysis. Based on the reverse kinematics analysis of 3-PRS, the motion error has been modeled. Then, motion error analysis has been performed for 3-PRS. The analysis results show the clear tendency of structural error effects on the motion errors.
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