Repeatability Analysis of an Overconstrained Kinematic Coupling Using a Parallel- Mechanism-Equivalent Model

A parallel-mechanism-equivalent model for repeatability analysis of an overconstrained kinematic coupling is proposed. An Kelvin-type with one additional support introduced and used method illustration. Contact forces the under a preload are computed Moore-Penrose inverse, deformations obtained using Hertz theory. The equivalently modeled as 7-SPS parallel mechanism, spherical joints which represent centers supporting balls contact points, prismatic to simulate deformations. Therefore, pose error due analyzed well-appraised incremental forward kinematics mechanisms. uncertainties discussed boundary-sampling proposed analysis. main contribution this study lies in greatly simplified couplings by method. Finally, methods validated case study.