Error analysis of a 5-DOF hybrid mechanism

In order to improve the accuracy of a new type of hybrid mechanism, this paper analyzes the error of the new mechanism. In this paper, we use the vector chain method to establish the model of parallel part. The serial part is modeled by DH method, and the two parts are connected by moving the platform. And each error source of the parallel and serial parts is determined by first-order perturbation and parameter perturbation respectively. The error sources of the mechanism end errors are determined. The influence of the error sources on the end-position is confirmed by simulation, which makes sense for the design and manufacture of a mechanism. Based on the analysis of the parallel part of the error, it is found that the error of the single chain is not simply accumulated to the end of the parallel mechanism but decoupled to the end, and there is the difference between the error after coupling and the error of the single vector chain, which provides a valuable reference to analysis of the error of the parallel mechanism.