Precision Analysis for the 3-PRS Parallel Robot

Abstract

The precision analysis of a 3-PRS parallel robot with three DOFs has been studied in this paper. The 3-PRS parallel robot has been introduced with its kinematics analysis. The closed-loop vector model has been introduced. By the differential method, the mathematic error model of the position and orientation has been built. The forward error solution has been deduced including all the structural errors. Given the structural errors, the output errors of the parallel robot can be solved by the introduced model. The effect of the variation of the position and orientation of the 3-PRS on the output errors of the parallel robot have been analyzed