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The paper is devoted to the compliance errors compensation for parallelmanipulators under external loading. Proposed approach is based on thenon-linear stiffness modeling and reduces to a proper adjusting of a targettrajectory. In contrast to previous works, in addition to compliance errorscaused by machining forces, the problem of assembling errors caused byinaccuracy in the kinematic chains is considered. The advantages and practicalsignificance of the proposed approach are illustrated by examples that dealwith groove milling with Orthoglide manipulator.

Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains