六自由度平台角位置测量精度方法

目前，六自由度平台角位置精度的测量大多采用激光跟踪仪等仪器进行，其测量成本高且测试原理及操作过程较为复杂。针对这一问题，提出了一种测量成本低、测试方法及操作较为简单的六自由度平台角位置精度测量方法，其主要包括六自由度平台的角位置测量精度以及角位置测量重复性。应用倾角仪对该平台横滚和俯仰两个方向的精度等进行了测量，使用光电自准直仪配合360多齿分度盘对该平台偏航方向的精度等进行了测量，测量结果表明：该测量方法能够准确快速测量出六自由度平台的角位置测量精度及角位置测量重复性，通过实验测出某Stewart六自由度平台横滚、俯仰及偏航方向的运动范围均为-10°~+10°，角位置测量精度分别达到0.012°、0.009°、0.018°，角位置测量重复性分别达到0.005°、0.007°、0.001°，能够很好地满足六自由度平台的技术指标。

Research on Angular Position Measurement Accuracy of 6-DOF Platform

At present, the measurement of angular position accuracy of 6-DOF platform is mostly carried out by laser tracker and other instruments, the cost is high, the test principle and operation process are complicated. To solve this problem, a measurement method of the angular position accuracy of 6-DOF platform with low cost, simple testing method and simple operation is proposed in this paper, it mainly includes angular position measurement accuracy and angular position measurement repeatability of 6-DOF platform. The accuracy of roll and pitch directions of the platform are measured by the inclinometer, the accuracy of yaw direction of the platform is measured by the photoelectric autocollimator and the 360 multi-tooth index plate. The measurement results show that this measurement method can measure the angular position measurement accuracy and repeatability of the 6-DOF platform accurately and quickly. According to the experiment, a Stewart 6-DOF platform has a motion range of -10°~+10° in roll, pitch and yaw directions, the angular position measurement accuracy reaches 0.012°, 0.009° and 0.018° respectively, and the angular position measurement repeatability reaches 0.005°, 0.007° and 0.001° respectively, it can well meet the technical specifications of the 6-DOF platform.