TRIFLEX U - Kinematic and Error Analysis of a Self-aligned Translational Parallel Manipulator PRRU

  • Elias Renã Maletz
  • Luan Meneghini
  • Marcel Tômas Grando
  • Daniel Martins
  • Roberto Simoni
  • Henrique SimasEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In some applications, a parallel manipulator with fewer than 6 DoF is enough. Better accuracy due to less cumulative joint errors is the most common feature in parallel manipulators than serial ones. In this work is presented a new conception and the direct kinematic of an isotropic translational parallel manipulator denominated as Triex U, that has three identical PRRU legs being that prismatic joints actuated, and its remain joints contribute to the self-alignment property. This work applies a technique developed to select which region inside its workspace is less affected by geometric and constructive errors. With this in mind the workspace was identified and a graphical analysis inside an useful volume shows the best regions for more precise applications or that suffer less influences of geometric and constructive errors.


translational self-aligned manipulators error analysis parallel manipulator screw theory 


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The authors would like to thank UFSC, CAPES and CNPQ


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Elias Renã Maletz
    • 1
  • Luan Meneghini
    • 1
  • Marcel Tômas Grando
    • 1
  • Daniel Martins
    • 1
  • Roberto Simoni
    • 2
  • Henrique Simas
    • 1
    Email author
  1. 1.Department of Mechanical Engineering, Robotics LaboratoryFederal University of Santa CatarinaFlorianópolisBrazil
  2. 2.Department of Mobility EngineeringFederal University of Santa CatarinaJoinvilleBrazil

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