Singularity and Dexterity Analysis of the Test Tilter for the Optical Landing Aid System

H.D. Wang; Jing Sun; G. Ji; Y.Q. Bi

doi:10.4028/www.scientific.net/AMM.743.22

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 743Singularity and Dexterity Analysis of the Test...

Singularity and Dexterity Analysis of the Test Tilter for the Optical Landing Aid System

Abstract:

According to the kinematics equation of the test tilter for the optical landing aid system, the velocity Jacobi matrix of the tilter is established. The determinant and the condition number of Jacobi matrix based on the numeric analysis in the preset workspace, as the evaluating indicator of the singularity and the dexterity. Simulation result indicates that there is no singularity in the tilter workspace because the determinant of the matrix is not equal to zero, and the tilter has higher rotary dexterity due to the smaller condition number of the rotational velocity Jacobi matrix. At the same time, the tilter has isotropy and the best dexterity in the vertical motion direction due to the condition number of the linear velocity Jacobi matrix is equal to 1.

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Periodical:

Applied Mechanics and Materials (Volume 743)

Pages:

22-25

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.743.22

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Online since:

March 2015

Authors:

H.D. Wang*, Jing Sun, G. Ji, Y.Q. Bi

Keywords:

Condition Number, Determinant, Dexterity, Jacobi Matrix, Singularity

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* - Corresponding Author

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