Research on Error Model for a Novel Parallel Robot Coordinate Measuring Machine

A novel 5-degree of freedom fully PRCMM (parallel robot coordinate measuring machine) consisting of five actuating limbs and one passive constraint limb is proposed, and its inverse position model is established. Based on the matrix complete differential coefficient theory, the relation between the input parameter errors, which consist of the position errors of the joints, the kinematic errors of the actuators and the length error of probe, and the output errors at the probe of the novel PRCMM, is derived, thereby the error model is presented. The correctness of error model is verified by computer simulation. These provide an essential theoretical basis for practical error compensation and control for the novel PRCMM.