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| Kinematics accuracy analysis and error compensation of Stewart platform |
| CONG Da-Cheng, YU Da-Yong, HAN Jun-Wei |
| School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China |
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Abstract In designing and controlling a Stewart platform, accuracy is one of the most important factors to be considered. In order to improve the accuracy of Stewart platforms, an effective method for the kinematical calibration is presented that enables the full set of geometric errors to be identified by measuring poses of the mobile platform. The calibration model between poses and kinematical parameters of a Stewart platform is derived from the inverse kinematics solution, which indicates that the length errors of the 6 actuators and the position errors of the passive joints on the base and the mobile platform play an important role in accuracy reducing. The kinematical parameters of the platform are measured and identified by three-dimension coordinate measuring machine and iterative least square method. The kinematical calibration experiments are carried out with the Stewart platform developed in Harbin Institute of Technology. And the results show that the method can improve the accuracy of Stewart platform.
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Published: 28 June 2006
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Stewart平台的运动学精度分析和误差补偿
介绍了一种提高Stewart平台精度的运动学标定方法。根据运动学反解建立了Stewart平台位置姿态和运动学参数之间的误差模型，表明平台的位置姿态误差主要来源于6个液压缸的长度误差和与平台连接的铰点位置误差。通过三坐标测量机和最小二乘法实现了运动学参数测量与辨识，并对建立在哈尔滨工业大学的Stewart平台进行了试验。试验结果表明这种方法能够提高Stewart平台精度。
关键词：
Stewart平台,
运动学,
最小二乘法,
标定
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