| A new3-DOF platform was designed in this paper from the angle of lightweight and suitable for outdoor use. It would be used in the outdoor test for APT performance of the laser terminal which was a key part of the laser communication system.Firstly, the paper demonstrated the rationality of the mechanical structure from the aspect of theory and simulation and got the inverse kinematics solution by using the theory of multiple rigid body kinematics which was verified by special example and simulation. Secondly, the paper considered the joint clearance as the most important one based on analyzing the factors that affect the accuracy of the platform, and got the mapping relations between the joint clearance and the posture error by the D-H method while the platform was fixed. Besides this, the paper got the posture error curve that affected by the joint clearance while the platform was working by ADAMS simulation. Finally, the paper theoretically analyzed the structure interference and stiffness. |
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