SYMMETRICAL OBSERVABILITY OF KINEMATIC PARAMETERS IN SYMMETRICAL-PARALLEL MECHANISMS

SYMMETRICAL OBSERVABILITY OF KINEMATIC PARAMETERS IN SYMMETRICAL-PARALLEL MECHANISMS

Durango, S.; Restrepo, D.; Ruiz, O.; Restrepo-Giraldo, J.; Achiche, S.

Full Article:

This article presents an application of symmetry groups in symmetrical observability of kinematic parameters of parallel mechanisms. The devised concepts are used in the domain of Kinematic Identification (KI). The investigation takes advantage of the mechanism structural symmetries and presents the following contributions: (i) a conjecture that allows mapping the symmetries of the mechanism into the articular-variables space, (ii) the necessary conditions to express leg parameters in coordinate systems which allow symmetrical observability, and (iii) a procedure for exploiting symmetries in pose selection for KI that reduces the design-of-experiments costs to (1=nlegs) when compared to a KI procedure in which each leg configurations are selected independently. An application of the symmetrical observability is presented through the simulated KI of a 3RRR symmetrical parallel mechanism.

This article presents an application of symmetry groups in symmetrical observability of kinematic parameters of parallel mechanisms. The devised concepts are used in the domain of Kinematic Identification (KI). The investigation takes advantage of the mechanism structural symmetries and presents the following contributions: (i) a conjecture that allows mapping the symmetries of the mechanism into the articular-variables space, (ii) the necessary conditions to express leg parameters in coordinate systems which allow symmetrical observability, and (iii) a procedure for exploiting symmetries in pose selection for KI that reduces the design-of-experiments costs to (1=nlegs) when compared to a KI procedure in which each leg configurations are selected independently. An application of the symmetrical observability is presented through the simulated KI of a 3RRR symmetrical parallel mechanism.

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DOI: 10.5151/meceng-wccm2012-16714

Referências bibliográficas

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Como citar:

Durango, S.; Restrepo, D.; Ruiz, O.; Restrepo-Giraldo, J.; Achiche, S.; "SYMMETRICAL OBSERVABILITY OF KINEMATIC PARAMETERS IN SYMMETRICAL-PARALLEL MECHANISMS", p-254-272. In: In Proceedings of the 10th World Congress on Computational Mechanics [= Blucher Mechanical Engineering Proceedings, v. 1, n. 1]. São Paulo: Blucher, 2014.
ISSN 23580828, DOI 10.5151/meceng-wccm2012-16714