Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

4.2.5 Results for the Actuation of All Inputs
In figures 4.15 & 4.16, the comparison of results for full-actuation is presented. The
average discrepancy between the MathCAD (optimization) and NASTRAN (numerical
integration) is found to be %Eavg = 1.6542 for position data and %Eavg = 1.1132 for
orientation data.
Platform Orientation (deg)
Platform Position (mm)
140
120
100
80
60
40
20
0
-20
1000
500
0
-500
-1000
-1500
Yaw (int.)
Pitch (int.)
Roll (int.)
Yaw (opt.)
Pitch (opt.)
Roll (opt.)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s)
Figure 4.15 - Comparison of results for full actuation,
ω = π , υ = 200 mm/s for motors and pistons respectively.
4
X Pos. (int.)
Y Pos. (int.)
Z Pos. (int.)
X Pos. (opt.)
Y Pos. (opt.)
Z Pos. (opt.)
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5
Time (s)
Figure 4.16 - Comparison of results for full actuation,
ω = π , υ = 200mm/s
for motors and pistons respectively.
4
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