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Title: Kinematic performance analysis of a parallel-chain hexapod machine

Abstract

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.

Authors:
; ;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
751144
Report Number(s):
SAND98-8579C
TRN: AH200018%%213
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: International Mechanical Engineering Congress and Exposition, Anaheim, CA (US), 11/15/1998--11/20/1998; Other Information: PBD: 18 May 1998
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; MATERIALS HANDLING EQUIPMENT; ROBOTS; MATHEMATICAL MODELS; COMPUTERIZED CONTROL SYSTEMS; PERFORMANCE TESTING; RELIABILITY; ACCURACY

Citation Formats

Song, Jing, Mou, Jong-I, and King, Calvin. Kinematic performance analysis of a parallel-chain hexapod machine. United States: N. p., 1998. Web.
Song, Jing, Mou, Jong-I, & King, Calvin. Kinematic performance analysis of a parallel-chain hexapod machine. United States.
Song, Jing, Mou, Jong-I, and King, Calvin. Mon . "Kinematic performance analysis of a parallel-chain hexapod machine". United States. https://www.osti.gov/servlets/purl/751144.
@article{osti_751144,
title = {Kinematic performance analysis of a parallel-chain hexapod machine},
author = {Song, Jing and Mou, Jong-I and King, Calvin},
abstractNote = {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.},
doi = {},
url = {https://www.osti.gov/biblio/751144}, journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {5}
}

Conference:
Other availability
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