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Accuracy Synthesis of Stewart Platform Used in Testing System for Spacecraft Docking Mechanism

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4 Author(s)
Dai Xiaolin ; Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin, China ; Huang Qitao ; Han Junwei ; Li Hongren

Stewart platform used in testing system for two spacecraftpsilas motion docking mechanism requires high accuracy to achieve better simulation result. In this paper, an accuracy synthesis of the Stewart platform used in a testing system for spacecraft docking mechanism is presented. The method is based on the error model formed through differentiation of the kinematics equations of the platform and the investigation of sensitivity analysis in its workspace. The accuracy synthesis is implemented to allocate error parameters. Experimental results show errors of the Stewart platform are less than 1 mm in whole 2000 mm scales, and verifies the effectiveness of our method.

Published in:

Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on  (Volume:3 )

Date of Conference:

11-12 April 2009