基于统计原理的stewart平台误差敏感度分析

Analysis of the Stewart Platform's Error Sensitivity Based on Statistic Theory

从统计学原理出发 ,对一种改型stewart平台几何误差分布规律作了分析。由终端平台的协方差矩阵定义出 3种误差敏感度指标以全面表征平台误差情况 ,并对这些指标在工作空间内的变化规律作了一些分析 ,得出结论 :3种误差敏感度在工作空间内变化趋势一致 ,其中最大误差敏感度最为重要 。

The volumetric error and its distribution of a kind of modified stewart platform are analyzed based on statistic theory. To wholly reflect the error of moving platform, three error sensitivities are defined according to covariance matrix, and their changing rules in the whole work space are analyzed. It is concluded that three error sensitivities have the same changing trend in workspace, and that of the three error sensitivities,the max error sensitivitiy is the most important one,it reflects the max error of the moving platform.