Accuracy Analysis of 3-UPU Translational Parallel Robot Mechanism

According to the inverse solutions of 3-UPU translational parallel robot mechanisms, in which both the base and the mobile platform are triangle and similar to each other, the accuracy model of parallel robot mechanisms is established by the differentiation of the kinematic. The effects of length error of driving poles, structure size change and posture change on the accuracy of robot are studied by simulations,which provided the foundation for practical error compensating and controlling of the mechanism.