Notice of RetractionThe error model of a 3-TPT Parallel Machine Tool based on the joint gap

Notice of Retraction

After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.

This paper takes a kind of 3-TPT Parallel Machine Tool (PMT) as the objective of research. First, the kinematic analysis is carried out to the machine and the kinematics equation is obtained. Then, the mathematical model on position error of movable platform of this machine is established in considering the joint gap based on the kinematics equation. According to the mathematical model expression, the position error of movable platform can be calculated when the specific values to the length error of the driving rod and the position error of the joint point are known. The establishment of error model has important theoretical significance to the design as well as the error analysis and compensation of this Parallel Machine Tool.