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Full-Text Articles in Mechanical Engineering
Improving Hexapod Platform Pose Accuracy - A Photogrammetry-Based Approach, Sourabh Karmakar
Improving Hexapod Platform Pose Accuracy - A Photogrammetry-Based Approach, Sourabh Karmakar
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The aim of this research is to make a newly constructed Stewart-Gough Platform-based test frame Tiger 66.1 operational by developing control software and estimating the error in its pose accuracy. The accuracy of the platform is affected by one source or multiple sources. The typical error sources are kinematic and structural, some of them originate from manufacturing imperfections, assembly deviations, elastic deformations, thermal deformations, and joint clearances which change the expected kinematic behavior of the manipulator. Also, some non-mechanical errors like transmission error, sensor accuracy, algorithm error, and truncation error in calculation contribute significantly in some cases. Using pose deviations …
Prediction Of Discrete Element Parameters For Modeling The Strength Of Sandy Soils In Wheel/Soil Traction Applications, Timothy Reeves
Prediction Of Discrete Element Parameters For Modeling The Strength Of Sandy Soils In Wheel/Soil Traction Applications, Timothy Reeves
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The problem of wheel performance on deformable soil has been studied for many years, but prior to the rise of computational mechanics, such investigations have been limited to development of analytical and empirical models, as well as experimental research. Such models have merit but are necessarily highly idealized and are limited in their applications. Today, many computational models have been implemented for a wide variety of wheel/soil applications.
For the specific case of sandy (i.e. non-cohesive) soils, in terms of the soil's physics the Discrete Element Method (DEM) provides arguably the most realistic model. In DEM, each element represents a …