对接机构运动模拟器的精度分析  

Accuracy analysis of motion simulator of docking mechanism

作　　者：于大泳[1] 丛大成[1] 韩俊伟[1] 

机构地区：[1]哈尔滨工业大学机电学院

出　　处：《哈尔滨工业大学学报》2008年第2期264-268,共5页Journal of Harbin Institute of Technology

摘　　要：为了探讨对接机构运动模拟器的机构原始误差和对接过程误差引起的位姿偏差,根据对接机构运动模拟器的结构求出运动学方程,依据矩阵全微分理论,建立了机构原始误差与对接机构运动模拟器的位姿误差模型.利用蒙特卡洛方法模拟具有任意概率分布的机构原始误差,抽样计算对接机构运动模拟器的位姿误差,然后对对接机构运动模拟器的位姿精度进行了分析,给出了在其可达工作空间内的概率等高线、概率密度函数和统计数字特征.这些分析结果为对接机构运动模拟器的精度设计、标定和误差补偿提供了方向性的指导.To analyze the pose error due to the original machine errors and errors during docking process for motion simulator of docking mechanism, its kinematic equations were worked out, according to the structure of the motion simulator of docking mechanism. And using the matrix complete differential-coefficient theory, the relationship model between original machine errors and its pose error was established. By means of the Monte- Carlo method, the pose accuracy of the motion simulator of docking mechanism was analyzed. The distribution contours, probability density functions and statistic characteristics of pose error could be obtained through sampiing source error with any density function and then simulated the error model. These results can give guidance to the accuracy design, calibration and error compensation of the motion simulator of docking mechanism.

关 键 词：运动模拟器 精度分析 蒙特卡洛方法 机构误差 对接 

分 类 号：TP202.2[自动化与计算机技术—检测技术与自动化装置] TP242.3[自动化与计算机技术—控制科学与工程]