Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage

Abstract

In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms. We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors. We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform. We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specific attitude operations corresponding to performing a successful ground-LEO nanosatellite optical link. In such a case, we were able to provide the required tolerances for the actuators in order to guarantee an orientation precision requirement of the order of milliradians.

Design and simulation of a PK testbed for head impact evaluation

“…Reference [14] also mentions the Sprint Z3, a parallel kinematic machine with applications in the automotive industry. Reference [15] mentions the use of a parallel platform with applications in the aerospace area. These are examples of the most famous applications for parallel platforms.…”