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

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.