Kinematic performance analysis of a parallel-chain hexapod machine

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Description

Inverse and forward kinematic models were derived to analyze the performance of a parallel-chain hexapod machine. Analytical models were constructed for both ideal and real structures. Performance assessment and enhancement algorithms were developed to determine the strut lengths for both ideal and real structures. The strut lengths determined from both cases can be used to analyze the effect of structural imperfections on machine performance. In an open-architecture control environment, strut length errors can be fed back to the controller to compensate for the displacement errors and thus improve the machine's accuracy in production.

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15 p.

Creation Information

Song, Jing; Mou, Jong-I & King, Calvin May 18, 1998.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM, and Livermore, CA (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Inverse and forward kinematic models were derived to analyze the performance of a parallel-chain hexapod machine. Analytical models were constructed for both ideal and real structures. Performance assessment and enhancement algorithms were developed to determine the strut lengths for both ideal and real structures. The strut lengths determined from both cases can be used to analyze the effect of structural imperfections on machine performance. In an open-architecture control environment, strut length errors can be fed back to the controller to compensate for the displacement errors and thus improve the machine's accuracy in production.

Physical Description

15 p.

Notes

OSTI as DE00751144

Medium: P; Size: 15 pages

Source

  • International Mechanical Engineering Congress and Exposition, Anaheim, CA (US), 11/15/1998--11/20/1998

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  • Report No.: SAND98-8579C
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 751144
  • Archival Resource Key: ark:/67531/metadc709246

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Creation Date

  • May 18, 1998

Added to The UNT Digital Library

  • Sept. 12, 2015, 6:31 a.m.

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  • April 7, 2017, 3:03 p.m.

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Song, Jing; Mou, Jong-I & King, Calvin. Kinematic performance analysis of a parallel-chain hexapod machine, article, May 18, 1998; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc709246/: accessed September 21, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.