On Accuracy of a Three DOF Parallel Wire Driven Robot

Accuracy analysis and synthesis of a 3 DOF parallel wire driven robot(PWDR)are studied.Major factors influencing the pose accuracy of the robot are analyzed,and models of joint errors and wire errors are established.An accuracy synthesis algorithm is presented,and with allowable error of robot joint given,maximums of the assemblage error and the wire error are analyzed synthetically.The error models are validated by simulation.Experiments on the prototype indicate that kinematics accuracy of the robot can be improved with the wire error model.