Error correction method of 6-HTRT parallel mechanics

The method of error correction is one of key techniques of parallel robot. A new method of end error correction of 6-HTRT parallel robot is presented for engineering and researching on correlative theory of 6-HTRT parallel robot. The method need calculate many kinematics equations of parallel robot such as position back solution, velocity Jacobin, position forward solution and error Jacobin. New methods presented for solving these questions are simpler and fitter for programming and calculating, because former methods are too complex to use in engineering. These questions may be solved by iterative method of numerical value which has fast velocity of calculating. These new methods may be used in other mechanism of parallel robot too, and so have wider using value. The experimental results demonstrate that the system may satisfy entirely high technical request and fit for engineering in new measures.