The IPS based method used in the kinematic calibration for a novel 6-DOF hardware-in-the-loop docking simulator
The hardware-in-the-loop(HIL)docking simulator is an important ground test equipment for aerospace projects.The accuracy performance is essential and crucial for the docking simulator.This paper is a part of research work for the development of a new and high performance HIL docking simulator for the Institute of Spaceflight Technology,Shanghai,China.A novel 6-DOF parallel robot with a 3-3-PUS structure is presented.This docking simulator is a huge parallel robot,which is nearly 4 meters high,covering an area of nearly 7 meters in diameter.The huge body brings a lot of difficulty in the manufacturing and assembly process of the parallel robot,which will no doubt have some influences on the robot accuracy.In this paper,a new calibration method based on identifiable parameters separation(IPS)is presented for the kinematic calibration for this 6-DOF docking simulator.The experiment shows a significant improvement in the robot accuracy,which validates the effectiveness of this method for robot accuracy enhancement.
Yan Hu Feng Gao Donghua zhao Weizhong Guo Min Yang Xianchao Zhao
State Key Lab of Mechanical System and Vibration,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,PR China
国内会议
北京
英文
33-41
2018-08-02（万方平台首次上网日期，不代表论文的发表时间）