Kinematic Accuracy Analysis of a 3-DOF Parallel Kinematic Machine

A novel 3-RPS parallel kinematic machine is presented. Combination of the 3-dof parallel kinematic mechanism with a gantry system forms a five-axis machine with large workspace and dexterity. The geometric structure is presented first. Then the error model is derived from the kinematic equation. A effective method to establish error model is introduced. It helps the designer to understand the error distribution in the workspace and sensitivity to input error. The error analysis will be further used in real-time control of the 3-axis machine tool