Kinematics Modeling and Geometric Error Sensitivity Analysis of the 3-SPS+PS Parallel Mechanism for Packaging Pose Adjustment Operations

SHEN Bo; GUO Wenxiao

doi:10.19554/j.cnki.1001-3563.2026.15.024

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (15) : 232-239. DOI: 10.19554/j.cnki.1001-3563.2026.15.024

Kinematics Modeling and Geometric Error Sensitivity Analysis of the 3-SPS+PS Parallel Mechanism for Packaging Pose Adjustment Operations

SHEN Bo^1,*, GUO Wenxiao^2,3

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Abstract

To address precision pose-adjustment tasks in packaging automation, the work aims to propose a 3-SPS+PS parallel mechanism with three rotational and one translational (3R1T) degrees of freedom and conduct kinematic and error analyses. The screw theory combined with the modified Grübler-Kutzbach criterion was adopted to verify the mechanism's mobility, while the closed-loop vector equations were used to establish the kinematic model and derive the forward and inverse position solutions. The first-order perturbation method was employed to construct the geometric error mapping model and reveal the effect law of geometric parameter errors on the end-effector pose. Numerical simulations were performed to verify the correctness of the theoretical models. This mechanism possessed 3R1T degrees of freedom, and its inverse solutions could be expressed analytically. The sensitivity of the platform's vertical positional accuracy to rod-length errors was 0.36 mm/mm. The effect coefficients for the vertical-direction position errors of the hinge points on the fixed platform and moving platform were -0.33 mm/mm and +0.33 mm/mm, respectively. The sensitivity of the pitch-oriented attitude error to the vertical error of hinge points on the fixed platform was 0.25°/mm. The kinematic model of the mechanism is valid. The error analysis results provide a theoretical basis for precision design and error compensation. The research indicates that this mechanism is suitable for high-precision pose-adjustment operations in packaging engineering.

Key words

parallel mechanism / pose adjustment in packaging engineering / kinematics / error modeling / pose accuracy

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SHEN Bo, GUO Wenxiao. Kinematics Modeling and Geometric Error Sensitivity Analysis of the 3-SPS+PS Parallel Mechanism for Packaging Pose Adjustment Operations[J]. Packaging Engineering. 2026, 47(15): 232-239 https://doi.org/10.19554/j.cnki.1001-3563.2026.15.024

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