Research Article
A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix
Table 3
Rotational 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 | 0.0173 | 680.9 | -511.3 | 1.33% | 678.1 | -512 | 1.15% | 677.6 | -512 | 1.11% | | 2 | -2 | 0.0346 | 1402.6 | -991.5 | 1.71% | 1395.7 | -990.7 | 1.39% | 1396.2 | -991 | 1.42% | | 3 | -3 | 0.0519 | 2130.9 | -1436.5 | 0.99% | 2124.5 | -1435.1 | 0.77% | 2124 | -1435.1 | 0.76% | | 4 | -4 | 0.0694 | 2900.2 | -1853.2 | 0.56% | 2892.8 | -1851.1 | 0.36% | 2892 | -1850.6 | 0.33% | | 5 | -5 | 0.0869 | 3702.3 | -2246.2 | 0.41% | 3694.8 | -2244.1 | 0.25% | 3694.3 | -2244.4 | 0.24% | | 4 | -4 | 0.0694 | 2887.7 | -1844.5 | 0.11% | 2880.7 | -1842.4 | -0.08% | 2880.7 | -1842.4 | -0.08% | | 3 | -3 | 0.0519 | 2109.4 | -1425.5 | 0.07% | 2102.7 | -1423.1 | -0.19% | 2103.5 | -1423.6 | -0.15% | | 2 | -2 | 0.0346 | 1371.9 | -976.7 | -0.22% | 1366 | -974.9 | -0.55% | 1366 | -974.9 | -0.55% | | 1 | -1 | 0.0173 | 662.3 | -499.5 | -1.25% | 655.8 | -497.9 | -1.94% | 656.3 | -498.2 | -1.87% | | 0 | 0 | 0 | -12 | 2.5 | — | 19.2 | 5.1 | — | -19 | 4.9 | — | | -1 | 1 | -0.0173 | -660.2 | 547 | 2.61% | -664.9 | 547.6 | 3.06% | -663.1 | 546.8 | 2.84% | | -2 | 2 | -0.0346 | -1273.4 | 1111 | 1.30% | -1279.8 | 1112.8 | 1.65% | -1280 | 1112.8 | 1.66% | | -3 | 3 | -0.0519 | -1862.9 | 1704.7 | 1.00% | -1870.6 | 1707 | 1.28% | -1869.9 | 1706.7 | 1.25% | | -4 | 4 | 0.0694 | -2279.7 | 2337 | -2.32% | -2436.4 | 2345.2 | 1.16% | -2436.1 | 2344.7 | 1.14% | | -5 | 5 | -0.0869 | -2963 | 3010.8 | 0.83% | -2972.7 | 3015.2 | 1.07% | -2972.5 | 3014.9 | 1.06% | | -4 | 4 | 0.0694 | -2417.2 | 2334.7 | 0.53% | -2424.9 | 2337.5 | 0.75% | -2425.9 | 2338 | 0.78% | | -3 | 3 | -0.0519 | -1850.6 | 1703.6 | 0.62% | -1858.4 | 1706.2 | 0.91% | -1858.4 | 1705.7 | 0.90% | | -2 | 2 | -0.0346 | -1257.5 | 1095.4 | -0.04% | -1264.9 | 1098 | 0.39% | -1266 | 1098.5 | 0.46% | | -1 | 1 | -0.0173 | -637.7 | 532.4 | -0.55% | -645.2 | 534.8 | 0.30% | -645.2 | 534.8 | 0.30% | | 0 | 0 | 0 | 8.9 | -2.9 | — | 1.2 | -0.5 | — | 1.5 | -0.8 | — |
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