Modelling of the Orientation Error of a 3-DOF Translational Parallel Manipulator

被引：0

作者：

Affi, Zouhaier ^{[1
]}

Romdhane, Lotfi ^{[1
]}

机构：

[1] Ecole Natl Ingenieurs Monastir, Lab Genie Mecan, Monastir, Tunisia

来源：

PROCEEDINGS OF EUCOMES 08, THE SECOND EUROPEAN CONFERENCE ON MECHANISM SCIENCE | 2009年

关键词：

Parallel manipulator; Orientation error; STIFFNESS ANALYSIS; MACHINE; DESIGN;

D O I：

10.1007/978-1-4020-8915-2_60

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

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.

引用

页码：495 / +

页数：3

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