Accuracy Synthesis of a 3-PRS Parallel Manipulator Based on Genetic Algorithms
The existence of the non-compensable errors in limited-degree-of-freedom (limited-DoF) parallel kinematic machines (PKMs) affects the accuracy of mechanism and decreases the location capability. A 3-PRS parallel manipulator as an example, this paper formulates the mathematical model of the accuracy synthesis of the manipulator and carries out the accuracy synthesis based on the genetic algorithms, and then obtains the tolerance range of the non-compensable errors in the manufacture and the assembly.
Zhengyi Jiang and Chunliang Zhang
T. Sun et al., "Accuracy Synthesis of a 3-PRS Parallel Manipulator Based on Genetic Algorithms", Advanced Materials Research, Vols. 97-101, pp. 3432-3435, 2010