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A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism
Joint Authors
Nategh, Mohammad Javad
Karimi, Davoud
Source
Journal of Applied Mathematics
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-08-04
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
Both the forward and backward kinematics of the Gough-Stewart mechanism exhibit nonlinear behavior.
It is critically important to take account of this nonlinearity in some applications such as path control in parallel kinematics machine tools.
The nonlinearity of inverse kinematics is straightforward and has been first studied in this paper.
However the nonlinearity of forward kinematics is more challenging to be considered as there is no analytic solution to the forward kinematic solution of the mechanism.
A statistical approach including the Bates and Watts measures of nonlinearity has been employed to investigate the nonlinearity of the forward kinematics.
The concept of standard sphere has been used to check the significance of the nonlinearity of the mechanism.
It is demonstrated that the length of the region, defined as the linear approximation of the lifted line, has a significant impact on the nonlinearity of the mechanism.
American Psychological Association (APA)
Karimi, Davoud& Nategh, Mohammad Javad. 2011. A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism. Journal of Applied Mathematics،Vol. 2011, no. 2011, pp.1-17.
https://search.emarefa.net/detail/BIM-468586
Modern Language Association (MLA)
Karimi, Davoud& Nategh, Mohammad Javad. A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism. Journal of Applied Mathematics No. 2011 (2011), pp.1-17.
https://search.emarefa.net/detail/BIM-468586
American Medical Association (AMA)
Karimi, Davoud& Nategh, Mohammad Javad. A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism. Journal of Applied Mathematics. 2011. Vol. 2011, no. 2011, pp.1-17.
https://search.emarefa.net/detail/BIM-468586
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-468586