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accuracyanalysisofstewartplatformbasedonintervalanalysismethod
Yao Rui1; Zhu Wenbai1; Huang Peng2
2013
Source Publicationchinesejournalofmechanicalengineering
ISSN1000-9345
Volume026Issue:001Pages:29
AbstractA Stewart platform is introduced in thc 500 m aperture spherical radio telescope(FAST) as an accuracy adjustable mechanism for teed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and effective accuracy analysis method for parallel manipulator is still needed. In order to enhance solution efficiency, an interval analysis method(lA method) is introduced to solve the terminal error bound of the Stewart platform with detailed solution path. Taking a terminal pose of the Stewart platform in FAST as an example, the terminal error is solved by the Monte Carlo method(MC method) by 4 980 s, the stochastic mathematical method(SM method) by 0.078 s, and the IA method by 2.203 s. Compared with MC method, the terminal error by SM method leads a 20% underestimate while the IA method can envelop the real error bound of the Stewart platform. This indicates that the IA method outperforms the other two methods by providing quick calculations and enveloping the real error bound of the Stewart platform. According to the given structural error of the dimension parameters of the Stewart platform, the IA method gives a maximum position error of 19.91 mm and maximum orientation error of 0.534°, which suggests that the IA method can be used for accuracy design of the Stewart platfbnn in FAST. The 1A method presented is a rapid and effective accuracy analysis method for Stewart platform.
Language英语
Document Type期刊论文
Identifierhttp://ir.bao.ac.cn/handle/114a11/48981
Collection中国科学院国家天文台
Affiliation1.中国科学院国家天文台
2.清华大学
First Author AffilicationNational Astronomical Observatories, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Yao Rui,Zhu Wenbai,Huang Peng. accuracyanalysisofstewartplatformbasedonintervalanalysismethod[J]. chinesejournalofmechanicalengineering,2013,026(001):29.
APA Yao Rui,Zhu Wenbai,&Huang Peng.(2013).accuracyanalysisofstewartplatformbasedonintervalanalysismethod.chinesejournalofmechanicalengineering,026(001),29.
MLA Yao Rui,et al."accuracyanalysisofstewartplatformbasedonintervalanalysismethod".chinesejournalofmechanicalengineering 026.001(2013):29.
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