Abstract
The forearm is a typical ball and socket joint which have three degrees of freedom rotation. In this case the study of a 3-DOF manipulators is very interesting. In this paper, a novel manipulators based on 3-DOF orthogonal spherical parallel mechanism is proposed. Error analysis play an important role on the design and applications of the manipulators. The error model is derived in closed forms by using differential theory. Error evaluation index is defined. Terminal platform error distribution is analyzed and discussed in detail by using the error model technique. The analytic results indicate error value is smallest in initial position of the manipulators,the bigger value of error distributes in the workspace edge. So, this paper could provide a theoretical foundation for design and application of the manipulators.
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