For high-precision parallel mechanisms that have already completed machining and assembly,when the operational accuracy does not meet design requirements,it is necessary to trace the sources of error and only repair specific components to improve the mechanism's accuracy.The mapping between the single-point laser rangefinder detection method and the random error model of the 6 degrees of freedom revolute-universal-spherical(6Dof-RUS)parallel mechanism is studied.Firstly,the weighted deviation transfer network of 6Dof-RUS parallel mechanism is constructed.Secondly,the mapping equation between light spots and the constraints of planes in the camera coordinate system is established,and the structural parameter error is mapped to the observable pose error of the moving platform by the Jacobian matrix of structural error.Finally,experimental verification is carried out,and the experimental results show that the random errors can be quickly traced with a limited number of measurements,which verifies the effectiveness and reliability of the proposed method.The proposed method provides a reference for improving the accuracy of other topological configurations of parallel mechanisms.
parallel mechanismrandom errorerror traceability6 degrees of freedom parallel mechanism
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