On the Error Modeling of a Novel Mobile Hybrid Parallel Robot

This paper presents a method for the kinematic analysis and error modeling of a newly developed hybrid redundant robot IWR (intersector welding robot), which possesses ten degrees of freedom (DOF) where 6-DOF in parallel and additional 4-DOF in serial. In this article, the problem of kinematic modeling and error modeling of the proposed IWR robot are discussed. Based on the vector arithmetic method, the kinematic model and the sensitivity model of the end-effector subject to the structure parameters is derived and analyzed. The relations between the pose (position and orientation) accuracy and manufacturing tolerances, actuation errors, and connection errors are formulated. Simulation is performed to examine the validity and effectiveness of the evolutionary algorithm for the application.