Error analysis of a parallel mechanism considering link stiffness and joint clearances

Seung Reung Lim, Kyungwoo Kang, Sungchul Park, Woo Chun Choi, Jae Bok Song, Daehie Hong, Jae Kyung Shim

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


In order to utilize a parallel mechanism as a machine tool component, it is important to estimate the errors of its end-effector due to the uncertainties in parts. This study proposes an error analysis for a new parallel device, a cubic parallel mechanism. For the parallel device, we consider two kinds of errors. One is a static error due to link stiffness and the other is a dynamic error due to clearances in the parts. In this study, we propose a stiffness model for the cubic parallel mechanism under the assumption that the link stiffness is a linear function of the link length. Also, from the fact that the errors of u-joints and spherical joints are changed with the direction of force acting on the link, they are regarded as a part of link errors, and then the error model is derived using forward kinematics. Lastly, both the error models are integrated into the total error, which is analyzed with a test example that the platform moves along a circular path. This analysis can be used in predicting the accuracy of other parallel devices.

Original languageEnglish
Pages (from-to)799-809
Number of pages11
JournalKSME International Journal
Issue number6
Publication statusPublished - 2002 Jun

Bibliographical note

Funding Information:
This work wa supported by ~ am nm~be~ /999-/ ~304-003 -3 From 'he gasfc Research Program )/ the Korea Semnce and lmgmeerirm


  • Error Analysis
  • Orientation Error
  • Parallel Manipulator
  • Position Error
  • Stiffness

ASJC Scopus subject areas

  • Mechanical Engineering


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