Error modeling and sensitivity analysis of a hybrid-driven based cable parallel manipulator

This paper deals with the error modeling and sensitivity analysis of a hybrid-driven based cable parallel manipulator (HDCPM). The HDCPM has the advantages of both cable parallel manipulator and hybrid-driven planar five-bar mechanism. Kinematics analysis and error modeling are performed based on closed loop vector conditions and direct differential method. The error model derived for the proposed HDCPM has the ability to account for the original errors from kinematics parameters. In addition, the sensitivity analysis is also carried out to investigate the effects of 36 error sources of kinematics parameters on the end-effector of the HDCPM. A detailed example of the sensitivity of the end-effectorʹs position coordinates for the HDCPM is presented in order to demonstrate the validity of the error modeling and sensitivity analysis developed.