링크의 강성이 육면형 병렬 기구 오차에 미치는 영향

Effect of Link Stiffness on Error of Cubic Parallel Manipulator

An error analysis is very important for a precision machine to estimate its performances. This study proposes a new parallel device. cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the proposed cubic parallel vary with the stiffness of the manipulator. The stiffness of each leg depends on the direction of the actuation force and its direction. In this paper, the stiffness of the manipulator is calculated and the position errors and the orientation errors are predicted with the platform moving. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing a parallel manipulator.