旋转副
机制(生物学)
平面的
空格(标点符号)
计算机科学
采样(信号处理)
算法
控制理论(社会学)
人工智能
物理
计算机视觉
滤波器(信号处理)
机器人
操作系统
计算机图形学(图像)
量子力学
控制(管理)
作者
Jianzhong Ding,Yang Dong,Xueao Liu,Chunjie Wang
出处
期刊:Robotica
[Cambridge University Press]
日期:2022-02-22
卷期号:40 (9): 3254-3265
被引量:1
标识
DOI:10.1017/s0263574722000170
摘要
Abstract This paper presents a geometrical alternative to estimate the accuracy of a deployable mechanism equipped on the Synthetic Aperture Radar (SAR) space satellite. The deployable mechanism is simplified into a planar mechanism, and the error space of the outer panel in its deployed state is modeled concerning multiple revolute joint clearances and link length tolerances. Compared with the existing methods, the advance of the proposed geometrical approach lies in that it gives expressions of the complete error mobility that the outer panel may have. After deducing the expressions, the final error space is visualized and evaluated numerically with discrete sampling points. Finally, based on the error space and the computed maximum errors, effects of tolerances on accuracy are studied and the optimal accuracy design of tolerances is obtained. The result reveals that, for the deployable mechanism discussed in this paper, effects of tolerances on the final accuracy can be eliminated without increasing the manufacturing cost.
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