Linear motion analysis for a novel 4-DOF parallel kinematic machine

  • Sina Akhbari
  • Mehran MahboubkhahEmail author
  • Ali Gadimzadeh
Technical Paper


Motion accuracy is significantly influenced by nonlinear behavior of parallel mechanisms. In this paper, an interpolation algorithm suitable for linear motions of a novel 4-DOF parallel kinematic machine is developed. In this interpolation scheme, velocity and orientation deviations are realized along with path nonlinearity of mechanism. Simulations showed that this algorithm has the capability of sustaining the kinematical constraints and maintaining the nonlinear error below the specified tolerances. Furthermore, to evaluate the linear motion capability of presented 4-DOF parallel mechanism, two digital data loggers recorded the nonlinear error during motion of end effector with pre-defined paths having various lengths and locations in workspace. Results indicated that the developed algorithm based on reducing the kinematic nonlinearity produces more accurate motions.


Parallel kinematic machines Nonlinearity Motion error Linear interpolation 



This research received no specific grant from any funding agency in the public, commercial or nonprofit organizations, and there are no conflicts of interest to the authors’ recollection. Moreover, authors assure that there were no human participants involved in this research and the whole research was the result of the research and work done by the authors listed in the title page. In addition, no animals were used or involved while conducting the experiments for this research.


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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringUniversity of TabrizTabrizIran

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