육면형 병렬 기구에서의 조인트 오차의 영향

Effect of Joint Errors Analysis for a Cubic Parallel Device

There are many sources of errors in the parallel device. This study investigates the effect of a clearance error at a U-joint on the position and orientation errors of the platform of a new parallel device, cubic parallel manipulator. In this study, the limits of errors can be estimated for given conditions.