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

Stewart platform used in testing system for two spacecraft’s 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 1mm in whole 2000mm scales, and verifies the effectiveness of our method.