Accuracy analysis of motion simulator of docking mechanism

To analyze the pose error due to the original machine errors and errors during docking process for motion simulator of docking mechanism, its kinematic equations were worked out, according to the structure of the motion simulator of docking mechanism. And using the matrix complete differential-coefficient theory, the relationship model between original machine errors and its pose error was established. By means of the Monte-Carlo method, the pose accuracy of the motion simulator of docking mechanism was analyzed. The distribution contours, probability density functions and statistic characteristics of pose error could be obtained through sampling source error with any density function and then simulated the error model. These results can give guidance to the accuracy design, calibration and error compensation of the motion simulator of docking mechanism.