Error Modeling and Analysis of 6-UPS Micro Parallel Mechanism

Parallel Mechanisms are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for 6-UPS robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the error model of Parallel Mechanism is established, and the relationship between structural Parameter error and output Pose error is analyze. According to the established error model, MATLAB software is used to draw the change curve of the output Pose error when the structure and Pose Parameters change. The influence of structure and Pose Parameters on the output Pose error of Parallel robot is analyzed.