Kinematic and dynamic sensitivity analysis of a three-axis rotary table

Three-axis rotary table is a flight motion simulator (FMS) used in the hardware in the loop (HWIL) simulation. Geometrical modeling of 3-axis rotary tables is described and then three possible geometrical layouts are driven. Kinematic and dynamic modelings of a 3-axis rotary table are developed in this paper. Denavit-Hartenberg (D-H) method, recursive Newton-Euler (RNE) and Lagrange methods are used, respectively, in kinematic and dynamic modeling. A kinematic error analysis is applied to determine the orientation and position accuracy of the table. Dynamic sensitivity analysis is also performed and the first-order sensitivity functions are derived corresponding several dynamic and control system parameters.