The space distribution and transfer of positioning errors from actuators to the TCP point of parallel mechanism

Abstract

The article deals with the analysis of the transfer and distribution of inaccuracies from actuators to the position of the point TCP on one of these machines. The real functional model of the mechanism was developed at the authors’ workplace. The analyses of the workspace were carried out on CAD model. The results should be used for simulation of mechanism’s behaviour, structural optimization as well as for generating of control algorithms for real functional prototype.

Keywords

• parallel kinematic structure
• hybrid kinematic structure
• simulation and modelling
• inaccuracies distribution in workspace