Error model and accuracy analysis of a six-DOF Stewart Platform

Shih Ming Wang*, Kornel F. Ehmann

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

94 Scopus citations


Precision machining operations necessitate highly accurate, rigid, and stable machine-tool structures. In response to this need, parallel architecture machines, based on the concepts of the Stewart Platform, are emerging. In this paper, considering major inaccuracy factors related to the manufacture, geometry, and kinematics, of such machines, first and second order error models are presented, and followed by a comparative assessment of these models in conjunction with illustrative examples. Furthermore, in order to understand the character and propagation of errors of 6-DOF Stewart Platform based machine tools, sensitivity analysis is adopted to describe the contribution of each error component to the total position and orientation error of the mechanism. An automated error analysis system that computes and graphically depicts the error distributions throughout the workspace along with the results of sensitivity analysis is developed and demonstrated.

Original languageEnglish (US)
Pages (from-to)286-295
Number of pages10
JournalJournal of Manufacturing Science and Engineering, Transactions of the ASME
Issue number2
StatePublished - May 2002

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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