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

  • Zouhaier Affi
  • Lotfi Romdhane


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.


Parallel manipulator Orientation error 


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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • Zouhaier Affi
    • 1
  • Lotfi Romdhane
  1. 1.Laboratoire de Génie MécaniqueEcole Nationale d’Ingénieurs de MonastirUSA

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