Naslov
Error Analysis of a Stewart Platform Based Manipulators

Autori
Jelenković, Leonardo ; Budin, Leo

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002 / Rudas, Imre; Lovrenčić, Alen - Opatija : Fakultet organizacije i informatike Sveučilišta u Zagrebu, 2002, 155-159

Skup
6th Int. Conf. on Intelligent Engineering Systems (INES 2002)

Mjesto i datum
Opatija, Hrvatska, 26.05.2002. - 28.05.2002

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
stewart parallel manipulator; hexapod; inverse kinematics; error analysis

Sažetak
Hexapod characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. If all error values are known or can be calculated then they can be included in a model which will eliminate their defective effect. In practice there are very few error elements that are known in advance. For all others their values can just be assumed. What can be done now is to find a way to approximate value for maximal end effector displacement. The method we propose is a numerical method which is based on differential equations of close loop vector chains. The method can be used to calculate maximal end effector error for specific position and also for validation of entire hexapod workspace area, as shown in this paper.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA