Recent Advances in Mechanism Design for Robotics pp 357-364 | Cite as
Accuracy Analysis of a Tripod Parallel Grinder
Conference paper
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Abstract
This paper presents the accuracy analysis of a tripod parallel grinder. The manipulator structure was introduced and its inverse geometric problem was studied. The inverse Jacobian matrix of the tripod parallel grinder was obtained upon the differentiation of the loop-closure displacement equations. The influence of the geometric parameters to the accuracy of the tripod parallel grinder was investigated. Through simulation, the influences of link length error to accuracy were analyzed, which is the basis of error compensation and control for the machine tool.
Keywords
Parallel machine tool Inverse position solution Accuracy analysis SimulationReferences
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