Kinematic Modeling, Linearization and First-Order Error Analysis

Kinematic Modeling, Linearization and First-Order Error Analysis

by Andreas Pott

Type Book
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The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive kinematic analysis of these machines. Based on that model, a general method is proposed to compute the linearization of the transmission behaviour from geometric parameters to the endeffector motion of these machines. By applying the force transmissi…

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Title Statements

  • Full title :Kinematic Modeling, Linearization and First-Order Error Analysis.

Summary

The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive kinematic analysis of these machines. Based on that model, a general method is proposed to compute the linearization of the transmission behaviour from geometric parameters to the endeffector motion of these machines. By applying the force transmission method, one can perform a linearization with respect to all geometric parameters, for parallel kinematic machines. Especially in cases where no closed-form solution for the forward kinematics is available, the force-based approach provides an efficient procedure for obtaining the linear equations. The method can be directly applied to the presented kinetostatic models of the manipulator and permits also to study parameters that are canceled in the closure conditions. The linear model is used for error analysis and calculation of the stiffness matrix. The algorithm provides a good numerical performance and can be applied to practical examples.

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Edition Statements

  • Publication Date:2008.

Publication Statements

The Physical Object

  • Description:1 online resource

Edition Identifiers

  • ISBN:9783902613400, 3902613408
  • oclc:ocn884022420

Subjects

Open Access Collection

Writers

Andreas Pott Manfred Hiller

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