Kinematic Modeling and Error Analysis of the Six Pole Parallel Robot

The parallel manipulator has some advantages of high accuracy, high speed and high stiffness etc. It makes up for the shortcomings of serial robot. So the parallel mechanism becomes a potential motion platform with high speed and high accuracy. Six poles parallel robot improves these defects of more singularity, poor load capacity and low stiffness which exist in workspace of the classic plane five poles parallel mechanism. Inverse and forward kinematic models are established based on the structure of the robot. The influence of foundation beds' location error, driving angle error and rod processing error on control accuracy is systematically analyzed. The theoretical foundation has been provided for realizing the optimal design of the robot and control in high accuracy.