Please note, due to essential maintenance online transactions will not be possible between 02:30 and 04:00 BST, on Tuesday 17th September 2019 (22:30-00:00 EDT, 17 Sep, 2019). We apologise for any inconvenience.
To send content items to your account,
please confirm that you agree to abide by our usage policies.
If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account.
Find out more about sending content to .
To send content items to your Kindle, first ensure email@example.com
is added to your Approved Personal Document E-mail List under your Personal Document Settings
on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part
of your Kindle email address below.
Find out more about sending to your Kindle.
Note you can select to send to either the @free.kindle.com or @kindle.com variations.
‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi.
‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.
This paper deals with the analytical modeling and the analysis of the orientation error of the RAF translator due to the clearances in the joints. This model presents the orientation error as a function of the nominal pose, the external load applied to the platform, the manipulator structural parameters, and the joints clearances. Based on this model, an algorithm is developed in order to map the pose error within a desired workspace of the manipulator. It is shown that the orientation error variation depends essentially on the parallelogram configuration of the passive legs out of its plane. The orientation error magnitude is mainly caused by the parallelogram revolute joints radial clearances. Moreover, the orientation error around the z-axis presents some discontinuities due to the contact mode change of the parallelogram revolute joints.
Email your librarian or administrator to recommend adding this to your organisation's collection.