TY - JOUR
T1 - Error assessment model for the inverse kinematics problem for stewart parallel mechanisms for accurate aerospace optical linkage
AU - Hernández-Gómez, J. J.
AU - Medina, I.
AU - Torres-San Miguel, C. R.
AU - Sol-S-Santomé, A.
AU - Couder-Castañeda, C.
AU - Ortiz-Alemán, J. C.
AU - Grageda-Arellano, J. I.
N1 - Publisher Copyright:
© 2018 J. J. Hernández-Gómez et al.
PY - 2018
Y1 - 2018
N2 - In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms. We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors. We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform. We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specifc attitude operations corresponding to performing a successful ground-LEO nanosatellite optical link. In such a case, we were able to provide the required tolerances for the actuators in order to guarantee an orientation precision requirement of the order of milliradians.
AB - In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms. We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors. We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform. We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specifc attitude operations corresponding to performing a successful ground-LEO nanosatellite optical link. In such a case, we were able to provide the required tolerances for the actuators in order to guarantee an orientation precision requirement of the order of milliradians.
UR - http://www.scopus.com/inward/record.url?scp=85054512274&partnerID=8YFLogxK
U2 - 10.1155/2018/9592623
DO - 10.1155/2018/9592623
M3 - Artículo
AN - SCOPUS:85054512274
SN - 1024-123X
VL - 2018
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 9592623
ER -