3차원 작업영역에서 링크 강성이 육면형 병렬 기구 오차에 미치는 영향

Effect of Link Stiffness on Error of Cubic Parallel Manipulator in 3D Workspace

An error analysis is very important for a precision machine to estimate its performances. This study deals with error of a new parallel device, cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the cubic parallel device vary depending on the stiffness of the manipulator. The stiffness of each link depends on the directions of the link and actuation force. In this paper, the stiffness of the manipulator is calculated by ARAQUS and the position and orlentation errors are predicted within a given workspace. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing parallel devices.