MOVEMENT ERROR CORRECTING METHOD OF PARALLEL MECHANISM, AND ITS APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a movement error correcting method of parallel mechanism and its apparatus which can correct precisely rotation error of joints with a small number of displacement sensors and improve the movement precision of mechanism. SOLUTION: In order to correct the movement error of a link mechanism which is caused by the rotation error of joints (contraposition) 3 in a parallel mechanism in which closed link mechanisms having at least 3 degrees of freedom are connected in parallel, an error in the driving direction of an actuator (strut 2) constituting the link mechanism is measured with a displacement sensor 6 when rotation error of each of the joints 3 is measured. Thereby movement error of the link mechanism is corrected.