Accuracy Analysis And Calibration Of Six-Dof Motion Simulator

Along with the rapid development of manned space activities spacecraft, docking technique have become the problem noticed. It is the key technique to be solved for space station. It is also an urgent problem to be solved for developing our national space project. According to the need of developing and testing of the docking mechanisms, it is necessary to research on the Hardware-in-the-loop doching simulation system. The 6-DOF motion simulator is one of the most pivotal equipments in the spacecraft docking simulation, and the precision of the simulation system is determined by its pose error. So it is significant to enhance the simulation precision by improving pose accuracy of 6-DOF motion simulator. The dissertation deals with one of the most important techniques in developing 6-DOF motion simulator used in spacecraft docking simulation, accuracy design and kinematic calibration technology, which can improve pose accuracy of the motion simulator.The 6-DOF motion simulator made by IEST is taken as the structural model, by treating each sub-chain of 6-DOF motion simulator as a joint-link train, thus the pose error model in which structural paprameter errors are considered is established from the kinematic equations and the loop properties of parallel structure. The model can be used to evaluate the pose accuracy. The distributing rules of pose error's STD in the workspace are obtained. The results provide the academic bases for improving the pose accuracy of 6-DOF motion simulator in the future.A method is developed to measure the pose of 6-DOF motion simulator, which mainly measures the distance from three standard spheres on the moving platform to three standard spheres on the base platform by coordinate measuring machine, after that calculates the moving platform's pose by the distances. The sensitivity analysis and discussion of pose measurement error caused by the measurement errors of coordinate measuring machine and by the coordinate errors of three standard spheres on the base platform has been done in detail. The pose measurement error formulas as function of the measurement errors of coordinate measuring machine and the coordinate errors of three standard spheres have been deduced and it has been discovered that larger relative diatances among the three standard shpheres will efficiently minimize the influence of the measurement error of coordinate measuring...