Abstract: A parallel kinematic robot including a base unit, a platform movable in relation to the base unit about a plurality of main axes, two independently movable actuating arms connected between the base unit and the movable platform for moving the platform in relation the base unit, a tool holder rotatably connected to the platform to allow rotation of the tool holder in relation to the platform about a first auxiliary axis, a motor for driving the first auxiliary axis, located in the base unit, and a gear unit. The gear unit includes a first gearbox located in the base unit and a second gearbox located in the platform.

Abstract: The present invention pertains to a process for refining of crude tall oil (CTO). The process comprises fractionation under vacuum of a refined CTO into at least one stream of refined tall diesel (RTD) or tall oil fatty acids (TOFA), the RTD or TOFA comprises from 2-30% by volume of resin acids and from 20-90% by volume of fatty acids, and at least one stream of resin acid(s) (RA) comprising less than 5% by volume of fatty acids. The stream of RTD or TOFA is deoxygenated forming hydrocarbon compounds in a subsequent step. This invention also relates to a refined tall diesel. Furthermore, a process for the production of a refined tall diesel (RTD) composition, wherein crude sulphate turpentine(s) (CST) is added to the refined tall diesel (RTD) composition, is described.