Abstract:This paper takes the 3-UPU parallel manipulator which possesses 3-D pure translational motion as a studying case. The sensitivity of degree of freedom (DOF) characteristics and kinematic errors resulting from various kinds of assembly errors is observed. Kinematic model of the manipulator is established , therefore, typical assembly errors are enumerated. Based on the model and particular probability distribution, forward solutions are solved and discussed in two cases by numerical method. Firstly, the positio… Show more
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