研究目的
To develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms, including manufacture, assembly, backlash, and sensing errors, and to apply this model in the context of aerospace optical linkage.
研究成果
The developed mathematical error assessment model for the inverse kinematics for Gough-Stewart parallel mechanisms is validated in a high-accuracy scenario of aerospace optical linkage. The model provides transmission error matrices for each leg length and is applicable to other configurations. The methodology is general and valid, with potential for numerical assessment in more complex scenarios.
研究不足
The model is intensely derived assuming a 6-6 Gough-Stewart platform, though it is extendable to other configurations. The graphical solution relies on posing the error in each leg's lengths as functions of the orientation angles, which may not be feasible in more general cases with higher-dimensional solution spaces.
1：Experimental Design and Method Selection:
The study involves the development of a mathematical error assessment model for the inverse kinematics of Gough-Stewart parallel mechanisms. The methodology includes the derivation of error transmission matrices for each leg length.
2：Sample Selection and Data Sources:
The model is validated in a scenario requiring high accuracy in orientation for establishing a ground-LEO satellite optical link.
3：List of Experimental Equipment and Materials:
A Gough-Stewart platform with specified dimensions and tolerances is considered for the study.
4：Experimental Procedures and Operational Workflow:
The model is applied to assess the required leg's tolerances for a specified accuracy in position and orientation for a typical PAT operation.
5：Data Analysis Methods:
The precision of each leg is determined by identifying critical points where the first derivative of the function (its gradient) is zero, and evaluating the second derivatives to identify global minima.
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