Motion Reliability Analysis of the Delta Parallel Robot considering Mechanism Errors

Table 4

Error transfer coefficient of each error source on each kinematic chain.

direction		1	–1	0.6889	–0.2080
		–0.5	0.5	–0.2883	0.1760
		–0.5	0.5	–0.3444	0.2434
direction		0	0	–0.7249	–0.9716
		0	0	–0.8171	–0.9360
		0	0	–0.7249	–0.9716
direction		0	0	0	0.1125
		–0.866	0.866	–0.4993	0.3048
		0.866	–0.866	0.5966	–0.1239
direction		45.0000	–144.9759	0.6889	–0.2080
		22.0829	81.7097	–0.2883	0.1760
		69.7518	72.4879	–0.3444	0.2434
direction		0	–137.7752	–0.7249	–0.9716
		0	115.3001	–0.8171	–0.9360
		0	–137.7752	–0.7249	–0.9716
direction		–54.5617	0	0	0.1125
		–12.7496	141.5253	–0.4993	0.3048
		–11.6903	–125.5528	0.5966	–0.1239