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

J J Hernández-Gómez,C Couder-Castañeda,I Medina,J C Ortiz-Alemán,J I Grageda-Arellano,C R Torres-San Miguel,A Solís-Santomé

doi:10.1155/2018/9592623

J J Hernández-Gómez, C Couder-Castañeda + Show 5 more

Open Access

https://doi.org/10.1155/2018/9592623

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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.

Highlights

Space-based laser communications (Lasercom) have the potential to transform scientific, defense, and commercial spacecraft communications platforms
We present numerical modelling in order to estimate the accuracy of the methodology proposed, for specific attitude operations corresponding to performing a successful ground-low Earth orbit (LEO) nanosatellite optical link
In this paper we have developed a mathematical error assessment model for the inverse kinematics for Gough-Stewart parallel mechanisms, which we apply in a case of aerospace optical linkage

Summary

Introduction

Space-based laser communications (Lasercom) have the potential to transform scientific, defense, and commercial spacecraft communications platforms. For a hexapod to provide such accuracy as that required for aerospace optical link from mobile ground station to LEO nanosatellites, the control of the error in the positioning and orientation of the mobile platform in the GoughStewart manipulator is fundamental. In this work we provide a methodology to calculate the error of position of each leg of the hexapod obtained by considering manufacture, assembly, backlash, and sensing errors, for a desired final position and orientation of the mobile platform with the required accuracy to perform attitude manoeuvres for optical aerospace linkage.

Mathematical Modelling of Gough-Stewart Platform

Conclusions