某型六自由度运动系统误差建模  

Error model of a certain 6-DOF motion system

作　　者：曲智勇[1] 陈维山[1] 姚郁[1] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《哈尔滨工业大学学报》2007年第9期1345-1349,共5页Journal of Harbin Institute of Technology

摘　　要：基于多体系统运动学理论的基本原理,结合六自由度运动系统,阐述了多体系统的拓扑结构,分析了多体系统有误差运动的基本规律,推导了特征矩阵构建方法,研究了根据特征矩阵得到六自由度运动系统空间误差模型.本方法可为其他类型的多自由度运动系统的误差建模及误差补偿提供理论参考.Based on the basic principle of multi-body system kinematics and combined with 6 - DOF motion system, the topological structures and low-order body arrays of multi-body system were discussed. The basic rules of system with error were analyzed, and the composing method of characteristic matrix was put forward. Synthesis volumetric errors of 6 - DOF motion system were obtained based on characteristic matrix. This method can offer academic reference for error model and error compensation of other multi-degree motion system.

关 键 词：六自由度运动系统 多体系统运动学 特征矩阵 误差建模 

分 类 号：TJ765.4[兵器科学与技术—武器系统与运用工程]