چکیده مقاله
Hexapod Machine Tool HMT is a parallel robot based on Stewart platform Configurations which are selected for calibration of the robot must have maximum observability of the kinematics parameter errors In this paper identification jacobian of HMT is formulated Then the Singular Value Decomposition SVD is studied and several observability indices are defined Selection of the best observability index is another outcome of this paper An optimal set of configurations is selected Calibration procedure is simulated over the selected configurations Simulation results confirm the validity of the selected configurations and indicate that the selected configurations and observability index are reliable
کلیدواژهها
نویسندگان
M.M Agheli
MSc student , Room ۴ ۳۰, faculty of Technical engineering Tarbiat Modares University
M.J Nategh
Assistant professor,head of mechanical engineering division Tarbiat Modares University
شیوه ارجاع
Agheli, M.M and Nategh, M.J,1387,Observability of Kinematics Parameter Errors for Calibration of Parallel Robots as Stewart Platform,9th Iranian Conference on Manufacturing Engineering,Birjand
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