Error Analysis and Experiment on a Three-Degree-of-Freedom Translational Parallel Mechanism

• Main Authors: Po-Wen Chen, 陳博文
• Other Authors: Jyh-Jone Lee
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/46669863406753105631

碩士 === 國立臺灣大學 === 機械工程學研究所 === 91 === This work studies the kinematic errors of a three-degree-of-freedom translational parallel mechanism. The error model for the mechanism is first established. Then, positions of the kinematic errors (position) are measured by a coordinate measurement machine (CMM). Forward error analysis as well as inverse error analysis are performed. In the first part, the measured positions are respectively compared with the theoretical positions with and without link errors. In the second part, the link length errors are first obtained by the least square method from the error analysis and further compare with the actual link lengths. It is hoped that results can be helpful for the design of such translational parallel mechanism.