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TECHNICAL PAPERS

Error Model and Accuracy Analysis of a Six-DOF Stewart Platform

[+] Author and Article Information
Shih-Ming Wang

Department of Mechanical Engineering, Chung-Yuan Christian University, Chung Li, Taiwan

Kornel F. Ehmann

Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111

J. Manuf. Sci. Eng 124(2), 286-295 (Apr 29, 2002) (10 pages) doi:10.1115/1.1445148 History: Received July 01, 1999; Revised June 01, 2001; Online April 29, 2002
Copyright © 2002 by ASME
Topics: Errors , Actuators
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References

Figures

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The kinematic arrangement of a Stewart platform
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The one degree of freedom actuator
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Position error difference between first and second order error models
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Variation of position error difference w. r. t. total length errors at (−500,−500,3220), (−300,−300,−2820) and (−100,−100,−2620) mm
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Variation of position error difference w. r. t. total length errors at (−50,−50,322), (−30,−30,−282) and (−10,−10,−262) mm
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Inaccurate region in the workspace of the Stewart platform, Rmax=25 μm
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Position error distribution at z=−2220 and −3095 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in x- direction of actuator #1 at z=−2820 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in y- direction of actuator #1 at z=−2820 mm
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Sensitivities in x-, y- and z- direction w. r. t. length error component in z- direction of actuator #1 at z=−2820 mm

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