A Study of the Elastic Deformation Error of Parallel Kinematic Mechanism Machine Tool (2nd Report) - Analysis of the Influence of Passive Joint Resistance -

Abstract

As the factors in motion errors of parallel kinematic mechanism, there are kinematics parameter errors and elastic deformation caused by the gravity. Furthermore, in case that resistance of passive joints cannot be ignored, internal force generated by the joint resistance deforms the mechanical components. Therefore, in order to realize high accuracy motion control, it is necessary to analyze the influence of the joints resistance in the mechanism components.
In this paper, we propose the analysis model that describes the influence of the passive joints resistance in the mechanism components. The validity of the proposed method is proved by experiments.