Accuracy Analysis of Stewart Platform Based on Interval Analysis Method
文献类型：期刊论文
| 作者 | Yao Rui1; Zhu Wenbai1; Huang Peng2 |
| 刊名 | CHINESE JOURNAL OF MECHANICAL ENGINEERING
 |
| 出版日期 | 2013 |
| 卷号 | 26期号:1页码:29-34 |
| 关键词 | Stewart platform accuracy interval analysis radio telescope |
| 英文摘要 | A Stewart platform is introduced in the 500 m aperture spherical radio telescope(FAST) as an accuracy adjustable mechanism for feed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and effective accuracy analysis method for parallel manipulator is still needed. In order to enhance solution efficiency, an interval analysis method(IA method) is introduced to solve the terminal error bound of the Stewart platform with detailed solution path. Taking a terminal pose of the Stewart platform in FAST as an example, the terminal error is solved by the Monte Carlo method(MC method) by 4 980 s, the stochastic mathematical method(SM method) by 0.078 s, and the IA method by 2.203 s. Compared with MC method, the terminal error by SM method leads a 20% underestimate while the IA method can envelop the real error bound of the Stewart platform. This indicates that the IA method outperforms the other two methods by providing quick calculations and enveloping the real error bound of the Stewart platform. According to the given structural error of the dimension parameters of the Stewart platform, the IA method gives a maximum position error of 19.91 mm and maximum orientation error of 0.534 degrees, which suggests that the IA method can be used for accuracy design of the Stewart platform in FAST. The IA method presented is a rapid and effective accuracy analysis method for Stewart platform. |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000314294200004 |
| 源URL | [http://ir.bao.ac.cn/handle/114a11/6006]  |
| 专题 | 国家天文台_射电天文研究部 |
| 作者单位 | 1.Chinese Acad Sci, Natl Astron Observ, Beijing 100012, Peoples R China 2.Tsinghua Univ, Dept Precis Instruments & Mechanol, Beijing 100084, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yao Rui,Zhu Wenbai,Huang Peng. Accuracy Analysis of Stewart Platform Based on Interval Analysis Method[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING,2013,26(1):29-34. |
| APA | Yao Rui,Zhu Wenbai,&Huang Peng.(2013).Accuracy Analysis of Stewart Platform Based on Interval Analysis Method.CHINESE JOURNAL OF MECHANICAL ENGINEERING,26(1),29-34. |
| MLA | Yao Rui,et al."Accuracy Analysis of Stewart Platform Based on Interval Analysis Method".CHINESE JOURNAL OF MECHANICAL ENGINEERING 26.1(2013):29-34. |
入库方式： OAI收割
来源：国家天文台
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