CAJ | 학술논문

针对并联运动模拟台普遍存在的铰链间隙误差、结构误差和装配误差等问题，提出了一种误差模型建模简便且姿态误差仿真结果真实度高的方法。首先采用闭环矢量法建立模拟台的误差运动学模型，应用仿真软件Adams建立模拟台的误差动力学模型；然后对以上两种建模方法得到的误差模型进行仿真分析。通过对比，误差动力学仿真曲线优于传统运动学仿真结果。最后，采用方差指标进行评价分析。结果表明，误差动力学仿真分析能够更加真实反映模拟台的姿态变化，并且模拟台方位轴对间隙误差更为敏感。
침대병련운동모의태보편존재적교련간극오차、결구오차화장배오차등문제，제출료일충오차모형건모간편차자태오차방진결과진실도고적방법。수선채용폐배시량법건립모의태적오차운동학모형，응용방진연건Adams건립모의태적오차동역학모형；연후대이상량충건모방법득도적오차모형진행방진분석。통과대비，오차동역학방진곡선우우전통운동학방진결과。최후，채용방차지표진행평개분석。결과표명，오차동역학방진분석능구경가진실반영모의태적자태변화，병차모의태방위축대간극오차경위민감。
Aiming at parallel motion simulation platform for ubiquitous hinge-gap error,structural error,assembly errors and other issues, in this paper, a method that error model is built easily and simulation results of attitude error is more real is presented. Firstly, the kinematic error model to simulate platform is built based on closed loop vector method,in addition,the dynamics error model is also built via dynamics simulation software Adams,then the two er-ror models are simulated and analyzed. By contrast, the error curve of dynamics simulation is advantaged to traditional kinematic simulation results. Finally, the comparative analysis is carried out via variance index. The results show that the attitude change simulation platform is more truly reflected by the error dynamics simulation analysis,and the analog station azimuth axis is more sensitive to the gap error.