Stewart平台运动轨迹误差分析

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Position forward solution is presented by kinematics analysis and inverse solution of a 6-DOF parallel mechanism. Variations relevant to errors of positions and orientations when the platform moves along axis X can be obtained by means of error analysis of movement trace of a Stewart platform. Simulation results display that errors decreased by orders of magnitude after compensations, and motion accuracies of equipments can be improved greatly.通过并联构型运动学求解，从六自由度并联机构的位置反解模型，完成位置正解数学建模．通过并联构型运动轨迹精度分析，获得六自由度并联机构沿x轴正向位移过程中，相关姿态误差和位置误差随x轴正向位移的变化，仿真结果显示，位置补偿使误差呈数量级下降，可以有效提高此类装备的运动精度．