Research On Pose Error Of Wireless Charging 6-DOF Platform And Its Simulation

In recent years,due to the rapid development of new energy vehicles and wireless charging products,the product standards are gradually improved.Under this current situation,most of the wireless charging test systems use manual or semi-automatic methods.The six degree of freedom platform studied in this paper is a fully automatic wireless charging test system,which is a series parallel six degree of freedom platform formed by decoupling on the basis of the traditional six degree of freedom platform.The motion accuracy and static pose error of the six degree of freedom automatic wireless charging test system have a great impact on the test performance.The research on the motion accuracy of 6-DOF platform has always been a very important topic,so the research on the static pose error of 6-DOF platform is very key and useful.This paper mainly studies the influence of the rod length error of the parallel part of the wireless charging 6-DOF platform on the rolling angle of the platform α、 Pitch angle β And the static pose error caused by Z-direction displacement Za.And the error caused by the hinge point position error of the decoupling part(Series Part)to the X and Y directions of six degrees of freedom is studied.Firstly,by modeling the parallel part of the wireless charging platform,the forward and inverse solution model is derived,which establishes the basis for the subsequent kinematic and static pose error analysis.On the basis of the forward solution mathematical model of the parallel part of the wireless charging platform,the error mathematical model of the parallel part of the wireless charging platform is finally derived by seeking the full differential at both ends of its equation.Based on this model,the rolling angle of the wireless charging platform is clearly drawn with the help of MATLAB simulation software under the condition that there are different rod length errors of the three servo control rods in the parallel part α、 Pitch angle β and the static pose error caused by Z-direction displacement Za.Secondly,the rolling angle of the platform is calculated by the error mathematical model α、 Pitch angle β As well as the error caused by Z-direction displacement Za,this paper uses BP neural network to compensate respectively to achieve the purpose of compensation.It is verified that the static pose error after compensation is greatly reduced compared with that before compensation.Finally,in order to know the influence of the rod length of the three servo control rods in the parallel part on the static pose error more comprehensively.In this paper,the three-dimensional model of the wireless charging platform is established in ADAMS simulation software,and the rolling angle of the platform during the movement from-100 mm to +100mm is revealed by means of simulation in ADAMS α、 Pitch angle β And the static pose error caused by Z-direction displacement Za.Through the above theoretical analysis and simulation research,this paper summarizes the influence of the rod length error of the servo control rod of the parallel part of the wireless charging platform on the rolling angle of the platform α、 Pitch angle β And the error law of Z-direction displacement Za.And the error law of the position error of the hinge point of the decoupling part(Series Part)on the motion of the platform in X and Y directions.It provides a theoretical guidance for reducing the static pose error of the actual wireless charging 6-DOF platform.