The kinematics solution and error analysis of a type of Mobile Parallel Robot (MPR)

The Mobile Parallel Robot (MPR) is a new type of robot which integrates the mechanical characteristics of Mobile Robot and Parallel Robot. It can adjust position and orientation to suit to many special situations. This paper firstly analyzes the kinematics characteristics of MPR, including the inverse kinematics and the forward kinematics using analytic method. A motion simulation based on COSMOSMotion is given to illustrate the kinematic solutions are right. After analyzing the main error sources, we set up a completed error model. Then, we give the error detecting and error compensating method to increase the precision of MPR. To certificate the result, an experiment with vision system is done to illustrate that the mechanical characteristics meet the precision and MPR is a good supporting body to integrate more useful functions.