Error modeling of 3-RSR parallel robot based on D-H transformation matrix

摘要

By selecting any one limb of 3-RSR parallel robot as a research object,the paper establishes a position and orientation relationship matrix between the moving platform and the base by means of Denavit-Hartenberg( D-H) transformation matrix. The error mapping model is derived from original error to the error of the platform by using matrix differential method. This model contains all geometric original errors of the robot. The nonlinear implicit function relation between position and orientation error of the platform and the original geometric errors is simplified as a linear explicit function relation. The results provide a basis for further studying error analysis and error compensation.