Error Analysis and Kinematics Calibration of 3-UPS/S Parallel Stabilizing Platform in Full Load Conditions
Compared to geometric errors,output accuracy of moving platform influenced by de-formation errors might not be ignored when the loads of any parallel mechanism reached a certain val-ues.Geometric and deformation error models were established based on parallel mechanism,which were studied for an electro-hydraulic 3-UPS/S stabilized paltform,and a total error transfer model was established by linear superposition of geometric and deformation errors.Based on the geometric error model,a kinematics calibration model of the stabilized platform was established.Kinematics cal-ibration experiments were completed in full load conditions,positions of the reference points on mov-ing platform were measured.Posture errorsδH0 of the moving platform were calculated,geometric errorsδH were obtained by separating the deformation errorsδH 1 ,and then the calibrations of geo-metric error parameters were completed based on least-square method.
国家科技期刊平台
NSTL
万方数据
维普
