A kinematic error model for a parallel Gantry-Tau manipulator

Abstract

A Kinematic Error Model for a Parallel Gantry-Tau ManipulatorDressler, Isolde; Brogårdh, Torgny; Robertsson, Anders General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal Take down policy If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. A Kinematic Error Model for a Parallel Gantry-Tau ManipulatorIsolde Dressler, Torgny Brogårdh and Anders Robertsson Abstract-Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evaluated. The sources of the remaining positioning errors (0.09 mm) are discussed.