Accuracy Analysis for Manipulator of Satellite Antenna

Abstract

To solve the problem of tolerance design for manipulator of satellite antenna, DH method is used to build the error field model. Based on this model, the error field, the max error range, the position and attitude error of manipulator end in each direction can be calculated, and the results can be the reference for tolerance design of manipulator. The simulation example of a three-joints manipulator illustrate the method we used is feasible. This research focus on the model of the error field which can be the reference for the accuracy design and precision assemble of satellite antenna.