This paper provides an efficient way to estimate the accuracy performance of the Tricept machine tool under load. Both joint clearances and link flexibility are considered. Clearances of the spherical joints and universal joint are considered, and the small change in link length arisen from clearances and deformation is modeled with the hyperbolic function. The kinetostatic model for accuracy analysis is obtained by balancing the employed load and the elastic forces provided by limbs. Moreover, an error compensation method for the Tricept machine tool under load is presented. The proposed methods are further illustrated and validated using a study case, and the feasibility of the error compensation method is discussed. This paper gives a deep insight into the effects of clearances, flexibility and loads on the accuracy performance of the Tricept-like mechanisms and instructive conclusions are drawn for accuracy improvement.

本文提供了一种有效的方法来估计 Tricept 机床在负载下的精度性能。关节间隙和连杆柔性都被考虑在内。考虑了球节和万向节的间隙，并用双曲线函数模拟了由间隙和变形引起的连杆长度的微小变化。用于精度分析的动静力学模型是通过平衡使用的载荷和肢体提供的弹性力而获得的。此外，还提出了Tricept机床负载下的误差补偿方法。使用研究案例进一步说明和验证了所提出的方法，并讨论了误差补偿方法的可行性。这篇论文深入了解了间隙的影响，