Error Modeling and Sensitivity Analysis of a 3-axis Parallel Machining Head—Sprint Z3

The error modeling and sensitivity analysis of a 3-axis parallel machining head-Sprint Z3 were studied which had a mix of translational and rotational degrees of freedom.By taking small perturbation of the inverse kinematic equation,the mapping model between the position and attitude error of the platform and the geometric source errors was established.The sensitivity analysis was carried out in order to find the key factors affecting the pose error of the mechanism,which provided guideline for further tolerance design.