【摘要】 为全面分析结构误差对振动台运动的影响,文中利用影响系数法建立了一种六自由度冗余驱动模拟振动台的全误差模型。模型包含加工误差、安装误差等在内的144个原始误差参数。基于全误差模型,运用蒙特卡洛法在全工作空间内分析各误差参数对末端位姿的影响。根据统计结果,对误差参数进行了分析及筛选,简化了误差模型;同时根据误差概率分布,提出标定过程中位姿选取策略。更多还原

【Abstract】 In order to analyze the effect of structural errors on the movement of earthquake simulator,the total error model of a specific 6-dof redundant drive earthquake simulator was established by influence coefficient method.There were 144 error parameters in this model,including machining and installation errors.Based on the total error model,the Monte-Carlo method is used to analyze the effect of each error parameter on the end pose in the whole workspace.According to statistics,the error parameters were analyzed and screened to simplify error model.Furthermore,based on the error probability distribution,pose selection strategy was proposed for calibration.更多还原