A Study On Error Enalysis Of Parallel Machine Tool

Recently the development of Parallel Machine Tool has become one of the hot topic in the Machine Tool researeh field,there are some advantages in the Parallel Machine Tool which Serial Machine Tool doesn't possess,therefore, it expands the range of Machine application. Because of the advantages, such as its high ratio of stiffness to mass, high speed, good parts-modularizing and low manufacturing cost, it has been an important development direction of new generation machine tool. The dissertation studies the structure, kinematics, error and simulation of 6-SPS parallel machine tool.The structure characters and kinematics problems of 6-SPS parallel machine tool were analyzed. The problems include analysis of structure, analysis of direct and inverse solution of position. On the basis of research on the forward kinematies of the 6-SPS Parallel manipulator, this paper present the numerieal solution to the forward kinematics of the manipulator with the successive approximation method.The forward kinematics error model for the pose error analysis of the end effector has been formulated in terms of the differential relationship of robot and close-loop vectors of a parallel manipulator.For 6-SPS Stewart platform and its relevant configurations,the pose errors of the end effector can be directly obtained when the structural parameters and errors are given. The effects of structure and pose parameters on the pose errors of the end effector are analyzed.The positions where uncertain configurations and the maximum deviations of the pose occur have been determined.Under the control of the maximum deviations,reasonable structure parameters,which are not sensitive to the pose errors, can be obtained.The 3-dimension kinetic simulation of the machine is studied by Pro/ENGINEER and ADAMS. The work principle of the machine, the size and shape of the workspace and kinematics models of the machine are verified by simulation. The interference of the mechanism is checked.