Static Posture Errors And Simulation Research Of Six DOF Motion Platform

In recent years six degrees of freedom motion platform more and more widely used in many occasions.As a kind of novel parallel mechanism,compared with the serial mechanism,it has strong rigidity and high flexibility.In the control load,it is strong,smooth movement and so on.However,due to the complexity of the structure,although the theory has a high accuracy,but from the design of the mechanism to the manufacturing and assembly process will still have some errors.This paper focuses on the research of six DOF motion platform static pose error analysis,error sources of error affecting the original static posture,and error simulation of six DOF motion platform,based on the error model of six DOF motion platform static pose error compensation.Kinematic analysis of the mechanism is the basis for the study of the performance of parallel mechanisms.It includes the structure and freedom of the analysis mechanism,the establishment of the coordinate system and the transformation of the coordinate transformation,the solution of the forward position and the inverse solution of the position,the analysis of the work space,etc..Establishing the differential relationship between input and output,which is an important part of the error modeling.Finally,deduced the static pose error source of six DOF motion platform.This paperanalysedthe static pose error of the moving platform and the influence of the single error source on the pose of the moving platform.The analysis shows that the error of rod length and the upper and lower hinge point position error is the cause of the motion platform static pose error.When the original error value is equal,the influence of rod length error on motion platform is greater than that of the upper and lower hinge points.Simulation and parametric modeling for six degree of freedom motion platform by using Adams.It is of great significance to improve the pose accuracy of parallel mechanism.