Kinematics Calibration Of Stewart Platforms Based On Configurations Measured With Two Inclinometers

Along with the development of the technique of manned space activities, the docking of spacecraft has become more and more noticed. According to the need of developing and testing of the docking mechanisms, it is necessary to research on the Hardware-in-the-loop docking simulation system. The 6-DOF motion simulator is one of the most critical equipments in the spacecraft docking simulation, and the precision of the simulation system depends on its pose error. So it is significant to enhance the simulation precision by improving pose accuracy of 6-DOF motion simulator. The dissertation deals with one of the most important techniques in developing 6-DOF motion simulator used in spacecraft docking simulation, kinematic calibration technology, which can improve pose accuracy of the motion simulator.In terms of the method of coordinate-changing in analytic geometry, the pose error model in which structural parameter errors are considered is established from the kinematic equations and the loop properties of parallel structure. The model can be used to evaluate the pose accuracy. The distributing rules of pose error in the workspace are obtained. The results provide the academic bases for improving the pose accuracy of 6-DOF motion simulator in the future. The external calibration technique of 6-DOF motion simulator has been researched, and all of the calibration calculation has been done in terms of the measurement of partial pose using two inclinometers and the methods based on forward kinematics. An example is given to demonstrate the effectiveness of this approach.The result of simulation testifies that the accuracy can be improved at a large level in most aspects of the pose but is not obvious even worse in fewness which shows the pertinency and limitation of the calibration using inclinometers...