六自由度转台误差计算方法研究  

Study on error computing method of six degrees of freedom motion platform

作　　者：赵强[1] 李洪人[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2003年第2期71-72,共2页Machinery Design & Manufacture

摘　　要：实际的六自由度转台存在着制造、安装等误差,这些误差都会影响转台的位姿精度。这里采用矩阵法建立了转台各个支路的位姿变换关系,提出了求解转台误差的数值方法,通过实例对该方法进行了验证。There exist manufacture and install errors in the actual six degrees of freedom motion platform, these errors will affect the platform's position and pose precision. The matrix approach is used to establish each branch's position and pose transformation relation, and a numeric method to solve the platform's error is presented, which is tested by an instance.

关 键 词：六自由度转台 制造误差 安装误差 位姿精度 矩阵法 数值计算 并联机构 

分 类 号：TH112[机械工程—机械设计及理论] TG801[金属学及工艺—公差测量技术]