Zhang Jianjun  Wang Xiaohui

(Parallel Robot Research Center, Hebei University of Technology, Tianjin 300130)

Gao Feng

(School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030)

Li Weimin

(Parallel Robot Research Center, Hebei University of Technology, Tianjin 300130)

Abstract: Parameters error transformation method to constructing geometry error models for parallel micro-manipulators is proposed, and a geometry error model of 6-PSS parallel micro-manipulator with vertical structure is built. Constructing Lagrange conditional extremum equation of its geometry error model, its error sensitivity is analyzed. Finally, the relationship between all kinds of parameter error in the geometry error model is discussed. It is concluded that the former method is simple and effective.

Key words: Parallel micro-manipulator  Geometry error model  Error sensitivity  Parameters error transformation method

CLC No: TH112

国家杰出青年基金(50125516)和天津市科技发展计划(043801811)资助项目. Received 20041223, received in revised form 20050315