Abstract
Abstract Inverse and forward kinematic models were derived to analyze the performance of a parallel-chain hexapod machine in this paper. 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.
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