Error and Reliability Analysis of Docking Mechanism
In order to meet the docking requirements of large components,a 6-DOF docking attitude adjustment mechanism is adopted.The kinematics mathematical model of the mechanism is established by D-H method,and the forward and inverse kinematics are analyzed.The position and pose error and reliability of the end of the mechanism are studied to obtain the relationship between the position and pose error of the end and the kinematics parameters of each joint,and the error source grealy affecting the end error is analyzed,which provides a theoretical basis for the subsequent improvement of accuracy.
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