Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage. (3rd October 2018)

• Record Type: Journal Article
• Authors: Hernández-Gómez, J. J.; Medina, I.; Torres-San Miguel, C. R.; Solís-Santomé, A.; Couder-Castañeda, C.; Ortiz-Alemán, J. C.; Grageda-Arellano, J. I.
• Other Names: Borboni Alberto Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2018(2018)
• Publication Date: 2018-10-03
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2018/9592623
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : 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 specific 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.