Theoretical Positioning Accuracy for Serial and Parallel Kinematic Structure

Modern production machines employ complex kinematic structures that shall enhance their performance. As those machines are very sophisticated electro-mechanical structures, their design is time consuming and financially demanding. Therefore, designers search for new possibilities how to estimate future properties of the machine as early as in the design phase. The paper gives a brief introduction to the adoption of methodology of measurement uncertainties into the design of production machines. The adapted methodology enables to estimate the theoretical positioning accuracy of the machine end effector that is one of the important indicators of machine performance. Both serial and parallel kinematic structures are considered in the paper. Methodology and sample calculations of theoretical positioning accuracy are presented for serial kinematic structure (represented by advanced plasma cutting head) and parallel kinematic structure, represented by one specific design named Tricept.