Error modeling and compensation for parallel kinematic machines

In this paper, inverse and forward kinematic models were derived to analyze and enhance the performance of a hexapod machine with parallel kinematic structure. Analytical models were constructed for both ideal and real structures. Performance assessment and enhancement algorithms were developed to determine the strut lengths for both ideal and real structures. The strut lengths determined from both cases can be used to analyze the effect of structural imperfections on machine performance. Experiment and simulation results show that the performance of a parallel kinematic machine can be enhanced through error modeling and compensation.