A forward kinematics based statistical method for the pose errors of a 6-dof parallel manipulator

The pose (position and orientation) errors joint-clearance-due influences the accuracy of 6- dof parallel manipulator significantly. In this sense the error modeling approach becomes imperative. In this paper, a new statistical model which based on forward kinematics is presented. Firstly, the structure of joint clearance and 6-dof parallel manipulator is analyzed and simplified. The forward kinematics process is applied to identify the pose of the manipulator for sample set of link lengths and corresponding pose error can be obtained subsequently, then the statistical method is used to investigate the characters of pose errors. Finally the contributions of the research are highlightened by means of comparative simulations.