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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。
In order to comprehensively analyze the effect of structural errors on the movement of shaker, an error model of 6-DOF redundant shaker is established by using the influence coefficient method. The model contains 144 original error parameters, including machining error, installation error and so on. Based on the full error model, Monte Carlo method was used to analyze the effect of each error parameter on pose and posture in the whole work space. According to the statistical results, the error parameters are analyzed and screened, which simplifies the error model. At the same time, based on the error probability distribution, the pose selection strategy in the calibration process is proposed.