| 质心测试平台的运动学及其误差模型研究 |
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| 引用本文： | 于大泳,丛大成,韩俊伟.质心测试平台的运动学及其误差模型研究[J].机床与液压,2006(3):105-107. |
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| 作者姓名： | 于大泳 丛大成 韩俊伟 |
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| 作者单位： | 哈尔滨工业大学机电工程学院,黑龙江哈尔滨,150001;哈尔滨工业大学机电工程学院,黑龙江哈尔滨,150001;哈尔滨工业大学机电工程学院,黑龙江哈尔滨,150001 |
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| 摘 要： | 为了探讨质心测试平台的结构参数误差引起质心测试结果的偏差,在对质心测试平台进行运动学分析的基础上,依据矩阵全微分理论,建立了结构参数误差与运动平台姿态误差模型。最后,通过计算机仿真对误差模型进行了验证,结果表明,该误差模型能够反映实际姿态误差的变化。
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| 关 键 词： | 运动学建模 误差模型 姿态误差 并联平台 质心测试 |
| 文章编号： | 1001-3881(2006)3-105-3 |
| 收稿时间： | 2004-12-06 |
| 修稿时间： | 2004年12月6日 |
Study on Kinematics and Error Model of Center-of-mass Measurement Platform |
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| YU Dayong,CONG Dacheng,HAN Junwei.Study on Kinematics and Error Model of Center-of-mass Measurement Platform[J].Machine Tool & Hydraulics,2006(3):105-107. |
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| Authors: | YU Dayong CONG Dacheng HAN Junwei |
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| Affiliation: | School of Mechanics and Electronics Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | Based on the analysis of center-of-mass measurement platform kinematics,and using the matrix complete differential-coefficient theory,the relationship between structure parameter error and moved platform pose error was derived,thereby the error model was presented.The error model was verified by computer simulation,and the result indicates that the error model established can approximately report the changing trend of the actual pose errors. |
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| Keywords: | Kinematics modeling Error model Pose error Parallel platform Measurement of center-of-mass |
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