| 某型六自由度运动系统误差建模 |
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| 引用本文： | 曲智勇,陈维山,姚郁.某型六自由度运动系统误差建模[J].哈尔滨工业大学学报,2007,39(9):1345-1349. |
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| 作者姓名： | 曲智勇 陈维山 姚郁 |
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| 作者单位： | 哈尔滨工业大学,控制与仿真中心,哈尔滨,150080 |
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| 摘 要： | 基于多体系统运动学理论的基本原理,结合六自由度运动系统,阐述了多体系统的拓扑结构,分析了多体系统有误差运动的基本规律,推导了特征矩阵构建方法,研究了根据特征矩阵得到六自由度运动系统空间误差模型.本方法可为其他类型的多自由度运动系统的误差建模及误差补偿提供理论参考.
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| 关 键 词： | 六自由度运动系统 多体系统运动学 特征矩阵 误差建模 |
| 文章编号： | 0367-6234（2007）09-1345-05 |
| 修稿时间： | 2005-09-21 |
Error model of a certain 6-DOF motion system |
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| QU Zhi-yong,CHEN Wei-shan,YAO Yu.Error model of a certain 6-DOF motion system[J].Journal of Harbin Institute of Technology,2007,39(9):1345-1349. |
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| Authors: | QU Zhi-yong CHEN Wei-shan YAO Yu |
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| Affiliation: | Control and Simulation Center, Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | Based on the basic principle of multi-body system kinematics and combined with 6-DOF motion system,the topological structures and low-order body arrays of multi-body system were discussed.The basic rules of system with error were analyzed,and the composing method of characteristic matrix was put forward.Synthesis volumetric errors of 6-DOF motion system were obtained based on characteristic matrix.This method can offer academic reference for error model and error compensation of other multi-degree motion system. |
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| Keywords: | 6-DOF motion system multi-body system kinematics character matrix error model |
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