The Accuracy Of A New 6-the Thrt Parallel Institutions And Its Position And Attitude Measurement Model

Position analysis and control is important question for study and apply of parallel manipulator.This paper proposed a new form of parallel manipulator 6-THRT parallel manipulator of six degree of free and designed its structure. Analysed the operating accuracy of the modified platform manipulator. Infered a kinematic model and proposed an index for evaluating the operating accuracy of the modified platform manipulator Based on the kinematic model simulating error distribution in wordspace.This paper also proposed a measure mold of six DOF for measure position of the modified manipulator.