Precision analysis of 6D measurements of a rigid body based on the Stewart platform

Qian Zhou, Peiqing Ye, Hui Zhang, Liqun Qi, Guanghong Duan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)

Abstract

A new measurement method based on the Stewart mechanism was used to measure the positioning of the feed fine-tuning test platform of the five-hundred-meter aperture spherical telescope (FAST). The position and attitude of a rigid body can be calculated from the forward mechanism when the Stewart mechanism leg lengths are known. The condition number of the Stewart mechanism Jacobian was used to analyze the measurement precision of the sensors and the system. The experimental data agrees well with the theoretical analysis. The measurement precision decreased as the condition number of the Stewart mechanism Jacobian increased. The condition number of the Stewart mechanism Jacobaian can be used as a precision index.
Original languageEnglish
JournalQinghua Daxue Xuebao/Journal of Tsinghua University
Volume45
Issue number2
Publication statusPublished - 1 Feb 2005
Externally publishedYes

Keywords

  • Five-hundred-meter aperture spherical telescope (FAST)
  • Measurement
  • Precision analysis
  • Stewart mechanism

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science Applications
  • Applied Mathematics

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