Error modelling and experimental validation of a planar 3-PPR parallel manipulator with joint clearances

Guanglei Wu, Shaoping Bai, Jørgen Asbøl Kepler, Stephane Caro

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29 Citations (Scopus)


This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are established. The results are compared with experimental measurements and show the effectiveness of the error prediction model.
Original languageEnglish
JournalJournal of Mechanisms and Robotics
Issue number4
Pages (from-to)041008-1-041008-12
Number of pages12
Publication statusPublished - 2012


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