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.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2008年第2期264-268,共5页
Journal of Harbin Institute of Technology
关键词
运动模拟器
精度分析
蒙特卡洛方法
机构误差
对接
motion simulator
accuracy analysis
Monte-Carlo method
machine error
docking
