Modelling of the orientation error of a 3-DOF translational parallel manipulator

Abstract

This paper deals with the computation of the orientation error and the kinematic model of a 3-translational DOF parallel manipulator called the RAF robot. We derived a simple analytical model allowing the computation of the orientation, generated by the deformation of the PKLs, when an external load is applied to the platform. Due to its analytical nature, the developed model can also be used for the mapping of the orientation error on the workspace of the robot. © Springer Science+Business Media B.V. 2009.