Parameters identification method of Stewart platform based on error sensitivity analysis

Abstract:

Aiming at the parameter identification of Stewart platform, a parameters identification method based on error sensitivity analysis was presented. With the creation of the position and pose error model at two different points of move platform, the identification method for structural parameters of Stewart platform is deduced. The method explains the sensitivity between the structural parameters and the position and pose of Stewart platform at the different points. In an instance, Stewart platform position error is reduced from 4.8 mm to 1.12 mm, and angle error from 5.4° to 1.05°. Therefore, the identification method is verified effective and feasible.