In this paper, an NC interpolation algorithm for a tripod-based parallel kinematic machine is investigated. The algorithm can be implemented in two steps, the rough interpolation in the Cartesian space and the precise interpolation in the actuator space. The upper bound of the theoretical interpolation error due to the interpolation algorithm in the precise interpolation and nonlinear mapping is analyzed. The representation of the interpolation error distribution within the Cartesian space is depicted in terms of the variations of the interpolation period and the programming velocity. It was concluded that this error is sufficiently small and may be neglected.

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