The error modeling and accuracy synthesis of a 3-DOF parallel robot Delta-S

In this paper, some key issues of a 3-DOF parallel manipulator named Delta-S is developed, such as error modeling, sensitivity analysis, and accuracy synthesis. Firstly, the characteristics of Delta-S are analyzed and its error mapping function is formulated in the following. Secondly, the sensitivity analysis is carried out to find the source errors which affect the pose accuracy of the end-effecter in terms of the error model. Finally, the accuracy synthesis is implemented to obtain the geometry tolerance of the major parts affecting the uncompensable pose error. In order to finish these works, one method is proposed, which can also be used to handle the similar mechanism.