A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism
Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior. It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is straightforwar...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2011/393072 |
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| Summary: | Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear
behavior. It is critically important to take account of this nonlinearity in some applications such
as path control in parallel kinematics machine tools. The nonlinearity of inverse kinematics is
straightforward and has been first studied in this paper. However the nonlinearity of forward
kinematics is more challenging to be considered as there is no analytic solution to the forward
kinematic solution of the mechanism. A statistical approach including the Bates and Watts
measures of nonlinearity has been employed to investigate the nonlinearity of the forward
kinematics. The concept of standard sphere has been used to check the significance of the
nonlinearity of the mechanism. It is demonstrated that the length of the region, defined as the
linear approximation of the lifted line, has a significant impact on the nonlinearity of the
mechanism. |
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| ISSN: | 1110-757X 1687-0042 |