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This paper presents a method for evaluating output errors of multiple degree-of-freedom mechanisms by forces applied to the output link in arbitrary direction. The output errors evaluated in this study result from elastic deformations of the driving parts. The evaluation values can be obtained by solving the eigenvalue problem of the matrix introduced from the compliance matrix which reveals the relations between the output error and force applied to a mechanism. The method will facilitate to improve the rigidity of a multiple degree-of-freedom mechanism such as a parallel mechanism in their design. Practically, the present paper designs a spatial 3-dof parallel mechanism by the proposed method. The spatial 3-dof parallel mechanism comprises 3-RPS chains and board-like links for suppressing bending deformation induced in the prismatic pairs. The paper describes the proposed method can consider elastic deformation induced in the structures partially as well as the driving parts and practically considers the shape of the board-like links for improving the output errors caused by the translational and rotational deformation in the prismatic pairs.

nihon kikai gakkai ronbunshū. c

Evaluation of Output Errors of Multiple Degree-of-Freedom Mechanisms to the Forces in Arbitrary Direction (Proposal of an Evaluation Method and Improvement of Rigidity of a Spatial 3-Dof Parallel Mechanism)