Analytic Model for Orientation Errors of the Translational Parallel Manipulator RAF

摘要

This paper deals with the analytical modeling and the analysis of the orientation error of the RAF translator due to the clearances in the joints. This model is presented in an analytical form, which allowed to the designer the influence of clearance in revolute and spherical joints on the orientation error in the whole workspace. Based on this model, we also developed an algorithm to map the pose error within the workspace of the manipulator.