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...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
|
| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2011/393072 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849413466491715584 |
|---|---|
| author | Davoud Karimi Mohammad Javad Nategh |
| author_facet | Davoud Karimi Mohammad Javad Nategh |
| author_sort | Davoud Karimi |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-69bf4c13fc364686a6be5aa1cf1d4c3c |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-69bf4c13fc364686a6be5aa1cf1d4c3c2025-08-20T03:34:05ZengWileyJournal of Applied Mathematics1110-757X1687-00422011-01-01201110.1155/2011/393072393072A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart MechanismDavoud Karimi0Mohammad Javad Nategh1Tarbiat Modares University, Mechanical Engineering Department, Tehran 14115-143, IranTarbiat Modares University, Mechanical Engineering Department, Tehran 14115-143, IranBoth 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.http://dx.doi.org/10.1155/2011/393072 |
| spellingShingle | Davoud Karimi Mohammad Javad Nategh A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism Journal of Applied Mathematics |
| title | A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism |
| title_full | A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism |
| title_fullStr | A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism |
| title_full_unstemmed | A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism |
| title_short | A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism |
| title_sort | statistical approach to the forward kinematics nonlinearity analysis of gough stewart mechanism |
| url | http://dx.doi.org/10.1155/2011/393072 |
| work_keys_str_mv | AT davoudkarimi astatisticalapproachtotheforwardkinematicsnonlinearityanalysisofgoughstewartmechanism AT mohammadjavadnategh astatisticalapproachtotheforwardkinematicsnonlinearityanalysisofgoughstewartmechanism AT davoudkarimi statisticalapproachtotheforwardkinematicsnonlinearityanalysisofgoughstewartmechanism AT mohammadjavadnategh statisticalapproachtotheforwardkinematicsnonlinearityanalysisofgoughstewartmechanism |