A Kinematic Error Model for a Parallel Gantry-Tau Manipulator

In English 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.