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Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy

Vladimir T. Portman
Vladimir T. Portman
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ASME Press
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Consideration of the position error problem uses the models entered for solution of inverse kinematics for parallel-kinematics machines. Obviously, an actual motion of the moving platform of the li-DOF mechanism (li = 2 ÷ 6) is accompanied with the same sextet of position-orientation errors δxi, δyi, δzi, δθi, δψi, δφi, composing the twist δ for 1-DOF body. Since the set of drives of the moving platform is simultaneously served as a movement issue and as a suspension system, the moving platform can be modelled...

Position accuracy
Singularity problem
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