Calibration of a 6-PRRS parallel manipulator using D-H method combined with vector chain

Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than IS percent of the original by this method.