Accuracy analysis and calibration of 3-PUS/S parallel battery swapping robot

In this paper, a 3-PUS/S parallel battery swapping robot is introduced. The vector chain method and differential relations are used. The error model of the parallel robot is established. Then sensitivity analysis is achieved. According to the sensitivity analysis, the structures with higher sensitivity must be strictly controlled. Then the DBB-based calibration model is established and the simulation is carried out to verify the effectiveness of the proposed algorithm. The results show that through the calibration, the accuracy of the robot can be significantly improved. Finally the precision measurement experiments are achieved.