A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism

<table>Interaction plot of (a) orientation and <svg height="15.95" id="M179" style="vertical-align:-2.55255pt" version="1.1" viewbox="0 0 7.8249998 15.95" width="7.8249998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.713)"><path d="M430 689q0 -42 -40.5 -66t-86.5 -28q-79 -65 -137 -176t-58 -211q0 -52 21 -79t60 -41q25 -9 62 -18q77 -20 77 -89q0 -34 -22 -69.5t-42 -54.5t-50 -44l-22 23q60 63 60 111q0 45 -50 55q-42 8 -67 18q-55 20 -83.5 56t-28.5 105q0 113 68 224t164 194q-52 1 -86 23.5
t-34 51.5q0 20 21 40t53 30l17 -12q-13 -17 -13 -36t19 -38.5t58 -22.5q85 65 123 65q17 0 17 -11z" id="x1D701"></path></g>
</svg> and (b) location and <svg height="15.95" id="M180" style="vertical-align:-2.55255pt" version="1.1" viewbox="0 0 7.8249998 15.95" width="7.8249998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.713)"><path d="M430 689q0 -42 -40.5 -66t-86.5 -28q-79 -65 -137 -176t-58 -211q0 -52 21 -79t60 -41q25 -9 62 -18q77 -20 77 -89q0 -34 -22 -69.5t-42 -54.5t-50 -44l-22 23q60 63 60 111q0 45 -50 55q-42 8 -67 18q-55 20 -83.5 56t-28.5 105q0 113 68 224t164 194q-52 1 -86 23.5
t-34 51.5q0 20 21 40t53 30l17 -12q-13 -17 -13 -36t19 -38.5t58 -22.5q85 65 123 65q17 0 17 -11z" id="x1D701"></path></g>
</svg> on curvature.</table>

Journal of Applied Mathematics

fig9

Figure 9

Figure 9: A Statistical Approach to the Forward Kinematics Nonlinearity Analysis of Gough-Stewart Mechanism 