The Error Modeling and Accuracy Synthesis of a 3-DOF Parallel Robot Delta-S

The error modeling and precision synthesis of a 3-DOF translational parallel robot named Delta-S are presented. An error model of the system is achieved, ready for precision synthesis. The un-compensable pose error and the compensable pose error are classified according to the error modeling. Based on precision synthesis, the error-coefficient system was built. It indicated the relation between source errors and end errors. An example was taken to demonstrate how to finish above studies. The result shows that the error modeling and the precision-synthesis method have good performance. The work is available for all parallel robots with similar mechanism.