Sensitivity Analysis of Pose Error of a 3-PPPS Parallel Mechanism

Abstract

Pose error is one of the key performance factors for parallel mechanisms. This paper deals with sensitivity analysis of pose error of a 3-PPPS pose alignment for large components. First, the total differential method was taken to deduce the relationship between original errors and pose errors of the moving platform based on a parallel mechanism. Then, the sensitivity of original errors of the parallel mechanism to errors of the moving platform was expressed. Finally, the effects of the moving platform poses on the error sensitivities were studied. The results show that the sensitivity values of position errors are bigger than orientation errors’ and the pose of moving platform has little effect on the error sensitivity, and established a foundation for the accuracy analysis of the 3-PPPS parallel mechanism.