Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators

This paper presents a volumetric error analysis and an architecture optimization method for accuracy of parallel manipulators. A comprehensive volumetric kinematic error model that relates all kinematic error sources in the manipulator's architecture to the pose errors of the end-effector is derived for HexaSlide ((P) under bar US) type parallel manipulators. The error model results in the total error transformation matrix from which three error amplification factors are derived and used as design criteria for accuracy in the optimum design formulation with constraints on workspace and design variable limits. Then, design optimization for accuracy has been performed by using a nonlinear optimization technique. Optimization results have been validated by Monte Carlo statistical simulation technique. (C) 2003 Elsevier Science Ltd. All rights reserved.