Analysis on Mechanical Errors of 3-PTT Parallel Connection Micromanipulator

The vector analysis method is employed to discuss the error modeling of 3-PTT parallel connection mechanism and two series 3-PTT series and parallel micromanipulator mechanism, and respectivey study the relationships between the articulation errors and the manipulator output errors and between the actuation input errors and the manipulator output errors. Thus the errors model equation of manipulator mechanism is obtained, which provides the theoretical guidance for the error compensation of micromanipulator.