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Analysis and mapping of the orientation error of a 3-DOF translational parallel manipulator

Published online by Cambridge University Press:  01 May 2009

Zouhaier Affi  and
Lotfi Romdhane
Zouhaier Affi*
Affiliation:
Laboratoire de Génie Mécanique, Ecole Nationale d'Ingénieurs de Monastir, Monastir 5019, Tunisia
Lotfi Romdhane
Affiliation:
Laboratoire de Génie Mécanique, Ecole Nationale d'Ingénieurs de Sousse, Sousse 4000, Tunisia
*
*Corresponding author. zouhaier.affi@enim.rnu.tn
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Summary

This paper deals with the computation of the orientation error and the kinematic model of a 3-DOF translational 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. These models allowed us to map the orientation error on the workspace of the robot. We showed in particular that the minimum orientation error can be obtained when the platform is in a certain region of its workspace. Due to its analytical nature, the developed model can also be used for a sensitivity analysis in order to maximize the manipulator precision.

Keywords

Orientation errorParallel manipulatorKinematic modeling
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 367 - 377
Copyright
Copyright © Cambridge University Press 2008

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