Error synthesis for six degrees of freedom motion simulation platform based on sensitivity

Position-orientation errors are crucial factors to affect the performance of a six degrees of freedom (DOF) motion simulation platform. Matrix differential method was employed to derive the relation between the primitive errors and the platform's position-orientation errors. Sensitivity equation was further presented for the platform's position-orientation errors relative to all primitive errors. An objective function was established for the error synthesis based on sensitivity constraint conditions and a corresponding optimizing approach is presented according to proportion of the primitive errors' sensitivity. An example was completed to verify the effectiveness of the above method. It can provide a reference for the precision design of six-DOF motion simulation platforms.