Analysis on the influence of the position error of joint points in a 3-TPT Parallel Machine Tool

This paper took one kind of 3-TPT Parallel Machine Tool (PMT) as the object of research. It mainly analyzed the influences of the position error of joint points to the position error of movable platform in PMT. Firstly, on the basis of introducing the structure of PMT, the kinematics of this machine was analyzed, and the kinematics equation of the parallel mechanism was obtained. Then the influence situation of the position error of joint points to the position error of movable platform was studied based on the kinematics analysis results and the error independent function principle, and the mathematical expression of error influence was established, thus the theoretical foundation was laid for the comprehensive establishment of error model and the error compensation of this PMT.