Title :
Kinematic and dynamic sensitivity analysis of a three-axis rotary table
Author :
Alasty, Aria ; Abedi, Hasan
Author_Institution :
Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran
Abstract :
Three-axis rotary table is a flight motion simulator (FMS) used in the hardware in the loop (HWIL) simulation. Geometrical modeling of 3-axis rotary tables is described and then three possible geometrical layouts are driven. Kinematic and dynamic modelings of a 3-axis rotary table are developed in this paper. Denavit-Hartenberg (D-H) method, recursive Newton-Euler (RNE) and Lagrange methods are used, respectively, in kinematic and dynamic modeling. A kinematic error analysis is applied to determine the orientation and position accuracy of the table. Dynamic sensitivity analysis is also performed and the first-order sensitivity functions are derived corresponding several dynamic and control system parameters.
Keywords :
Newton method; aerospace simulation; error analysis; geometry; robot dynamics; robot kinematics; sensitivity analysis; Denavit-Hartenberg method; HWIL; Lagrange method; dynamic sensitivity analysis; first-order sensitivity function; flight motion simulator; geometrical layouts; geometrical modeling; hardware in the loop simulator; kinematic error analysis; kinematic sensitivity analysis; orientation determination; position accuracy determination; recursive Newton-Euler; three-axis rotary table; Aerodynamics; Aerospace simulation; Atmospheric modeling; Computational modeling; Computer simulation; Flexible manufacturing systems; Hardware; Kinematics; Sensitivity analysis; Software testing;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223172
