Error modeling and simulation of a novel parallel robot coordinate measuring machine

Abstract

A novel 5-degree of freedom Parallel Robot Coordinate Measuring Machine(PRCMM) consisting of five actuating limbs and one passive constraint limb was proposed,which could realize 3D 2D movements.To provide an essential theoretical basis for practical error compensation and control of the PRCMM,enhance its measuring precision and improve its performance,according to its inverse position model,relationships among the input parameter errors,which consisted of the position errors of the joints,the kinetic errors of the actuators and the length error of probe,and the output errors at the probe of the PRCMM,were derived.Consequently,error model was constructed.Correctness of this error model was verified by computer simulation.