Accuracy Analysis of a Stewart Platform Manipulator Affect by Flow Pulsation of Pump

摘要

This paper aims at studying the accuracy analysis of a stewart platform manipulator affected by flow pulsation of pump. Although scholars have presented several factors accounting for the error of Stewart platform, few paper focus on the influence of the flow pulsation of pump on the hydraulic Stewart platform. According to the error vector diagram of the leg length, deduct a closed-form forward kinematics solution of the end effector error from the inverse kinematics solution, establish the mathematical model of length error of stewart platform through differentiation of the kinematic equations. Moreover, flow pulsation of pump leads to length error, and affects the accuracy of 6-DOF (degrees of freedom) platform consequently. Finally, simulate results demonstrate that the flow pulsation has a significant influence on position and orientation accuracy of Stewart platform. The analysis shows that the method can be used in evaluating the accuracy of hydraulic Stewart platform.