Research Article
A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix
Table 2
Translational principal direction measurement.
| | Translational joint | MSTMM | Experiment | | First | Second | Third | | 1 | 2 | Point 1 | Point 2 | Error | Point 1 | Point 2 | Error | Point 1 | Point 2 | Error |
| | μm | μm | rad | μm | μm | — | μm | μm | — | μm | μm | — | | 0 | 0 | 0 | 0 | 0 | — | 0 | 0 | — | 0 | 0 | — | | 1 | 1 | 1172.3 | 1161.8 | 1160.9 | -0.93% | 1161.1 | 1160.4 | -0.99% | 1161.4 | 1160.4 | -0.97% | | 2 | 2 | 2343.9 | 2310.9 | 2327 | -1.06% | 2321.9 | 2325.5 | -0.86% | 2316.3 | 2326 | -0.97% | | 3 | 3 | 3515 | 3458.6 | 3473.3 | -1.40% | 3468.8 | 3470.1 | -1.30% | 3462.1 | 3470.8 | -1.38% | | 4 | 4 | 4685.4 | 4599.1 | 4618.4 | -1.64% | 4608.2 | 4615.4 | -1.57% | 4600.3 | 4616.7 | -1.64% | | 5 | 5 | 5855.3 | 5730.6 | 5760.5 | -1.87% | 5744.9 | 5755.9 | -1.79% | 5736.4 | 5756.9 | -1.86% | | 4 | 4 | 4685.4 | 4596.5 | 4619 | -1.66% | 4605.2 | 4618.2 | -1.57% | 4596.7 | 4619.2 | -1.65% | | 3 | 3 | 3515 | 3456 | 3472.3 | -1.45% | 3463.9 | 3472.9 | -1.33% | 3456.7 | 3473.6 | -1.42% | | 2 | 2 | 2343.9 | 2308.9 | 2326.7 | -1.11% | 2316 | 2327.5 | -0.95% | 2328.3 | 2328.3 | -0.67% | | 1 | 1 | 1172.3 | 1159.2 | 1160.9 | -1.04% | 1163.2 | 1163.5 | -0.76% | 1164.5 | 1164.5 | -0.67% | | 0 | 0 | 0 | -1.2 | -0.6 | — | 2.3 | 0 | — | -5.1 | 0.5 | — | | -1 | -1 | -1173 | -1161.7 | -1175.6 | -0.37% | -1167.6 | -1170.7 | -0.33% | -1172 | -1173.5 | -0.02% | | -2 | -2 | -2346.6 | -2343.9 | -2354 | 0.10% | -2333.7 | -2350.9 | -0.18% | -2339.6 | -2352.2 | -0.03% | | -3 | -3 | -3521.1 | -3522 | -3541.3 | 0.30% | -3517 | -3538.7 | 0.19% | -3523.6 | -3540 | 0.30% | | -4 | -4 | -4696.3 | -4716.1 | -4738.6 | 0.66% | -4701.7 | -4736.5 | 0.49% | -4712.5 | -4736.8 | 0.60% | | -5 | -5 | -5872.4 | -5915.1 | -5948.5 | 1.01% | -5910.3 | -5945.4 | 0.94% | -5918.5 | -5945.6 | 1.02% | | -4 | -4 | -4696.3 | -4706.5 | -4740.4 | 0.58% | -4701.7 | -4739.1 | 0.51% | -4710.2 | -4738.8 | 0.60% | | -3 | -3 | -3521.1 | -3519.2 | -3543.3 | 0.29% | -3512.3 | -3542.5 | 0.18% | -3521.6 | -3542.3 | 0.31% | | -2 | -2 | -2346.6 | -2340.6 | -2356.3 | 0.08% | -2326.8 | -2355.7 | -0.23% | -2336 | -2355.2 | -0.04% | | -1 | -1 | -1173 | -1159.6 | -1175.9 | -0.45% | -1158.9 | -1176.8 | -0.44% | -1168.4 | -1175.8 | -0.08% | | 0 | 0 | 0 | 0.8 | -0.8 | — | 12.5 | -1.5 | — | 2 | -0.5 | — |
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