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Accuracy analysis of Stewart platform based on interval analysis method

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Abstract

A Stewart platform is introduced in the 500 m aperture spherical radio telescope(FAST) as an accuracy adjustable mechanism for feed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and effective accuracy analysis method for parallel manipulator is still needed. In order to enhance solution efficiency, an interval analysis method(IA method) is introduced to solve the terminal error bound of the Stewart platform with detailed solution path. Taking a terminal pose of the Stewart platform in FAST as an example, the terminal error is solved by the Monte Carlo method(MC method) by 4 980 s, the stochastic mathematical method(SM method) by 0.078 s, and the IA method by 2.203 s. Compared with MC method, the terminal error by SM method leads a 20% underestimate while the IA method can envelop the real error bound of the Stewart platform. This indicates that the IA method outperforms the other two methods by providing quick calculations and enveloping the real error bound of the Stewart platform. According to the given structural error of the dimension parameters of the Stewart platform, the IA method gives a maximum position error of 19.91 mm and maximum orientation error of 0.534°, which suggests that the IA method can be used for accuracy design of the Stewart platform in FAST. The IA method presented is a rapid and effective accuracy analysis method for Stewart platform.

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Authors and Affiliations

  1. National Astronomical Observatories, Chinese Academy of Sciences, Beijing, 100012, China

    Rui Yao & Wenbai Zhu

  2. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing, 100084, China

    Peng Huang

Authors
  1. Rui Yao
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  2. Wenbai Zhu
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  3. Peng Huang
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Corresponding author

Correspondence to Rui Yao.

Additional information

This project is supported by National Natural Science Foundation of China (Grant Nos. 10973023, 11103046, 11203048)

YAO Rui, born in 1983, is currently an assistant researcher at National Astronomical Observatories, Chinese Academy of Sciences, China. She received her PhD degree from Tsinghua University, China, in 2010. Her research interests include parallel manipulator and mechanical design. She began the analysis of the feed support system of FAST in 2006.

ZHU Wenbai, born in 1970, is currently a researcher at National Astronomical Observatories, Chinese Academy of Sciences, China. He received his PhD degree from the National Astronomical Observatories, China, in 2006.

HUANG Peng, born in 1983, is currently a PhD candidate at Tsinghua University, China. He received his B.S. degree from Tsinghua University, China, in 2005.

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Yao, R., Zhu, W. & Huang, P. Accuracy analysis of Stewart platform based on interval analysis method. Chin. J. Mech. Eng. 26, 29–34 (2013). https://doi.org/10.3901/CJME.2013.01.029

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  • DOI: https://doi.org/10.3901/CJME.2013.01.029

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