Error analysis in parallel robot using Edgeworth series and information entropy

In this paper, a new error analysis method in parallel robot using Edgeworth series and information entropy is proposed to address the accuracy issue in parallel robot. The pose error model of parallel robot is developed to quantify the pose error by using the mechanism error. Furthermore, the probability distribution function of the mechanism error and the pose error are obtained by using Edgeworth series, and an error information entropy model is developed to quantify the uncertainty of the pose error. The proposed analysis method is illustrated by implementing it to the pose error model of Stewart parallel robot in simulation. The simulation results show that the uncertainty relationship between the output pose error and the mechanism error.