Modeling and Analysis of Pose Accuracy Reliability of Parallel Mechanisms

Abstract This article investigates the modeling and analysis method for the pose accuracy reliability of parallel mechanisms. An error model for these parallel mechanisms was initially established. Sensitivity analysis was then employed to identify the primary error sources affecting end-effector accuracy, leading to construct a simplified accuracy model. Subsequently, the fourth-order moment estimation method was used to calculate the end pose accuracy reliability of the mechanism. This has enabled the analysis of the correlation between error sources, pose accuracy reliability, and allowable pose error. As such, the range of error sources was determined in conjunction with the manufacturing economy. Finally, the modeling and analysis process for pose accuracy reliability was demonstrated using the 3-RRS three-degree-of-freedom parallel mechanism as an example. This study has identified key factors influencing the reliability of end-effector pose accuracy and their values, providing crucial references for reasonable determination of manufacturing and assembly errors in such parallel mechanisms.