Abstract:A lunar sampler plays the critical role and is of great importance in lunar explorations. In this paper, an error model was established for a novel flexible lunar sampler which has low weight, small volume, large workspace, and low power consumption. Based on its specific configuration, the forward and inverse kinematic models and the kinetostatic model are developed to formulate the volumetric error model of the mechanism. The error model is built by considering three classes of error sources: flexibility-ind… Show more
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