中文摘要：

空间对接半物理仿真系统对运动模拟器的运动精度提出了较高要求。针对一种新型的3—3式并联结构六自由度运动模拟器进行了运动学参数标定研究。提出了一种新的误差传递模型建立方法，针对各种不同性质的运动学参数分别推导出其误差与动平台位姿误差之间的传递关系，最终利用线性叠加原理，得到总的动平台位姿误差与各种误差因素之间的关系。与传统标定模型相比，物理意义明确、层次清晰，数学描述更简洁。标定后的运动模拟器位置绝对定位精度可达0．35mm，姿态精度可达0．045°，效果显著，验证了标定方法的正确性．

英文摘要：

Space docking semi-physical simulation system puts forward higher requirements for moving precision of motion simulator. Aimed at a new ＇ 3 - 3＇ configuration parallel motion simulator which has six degrees of freedom, the paper researches the calibration of its kinematic parameters. In the paper, a new method of error propagation model is proposed. As for a variety of different types of kinematic parameters, transfer relationship between the error and the moving platform pose error are deduced respectively, and finally the relationship between the total mobile platform pose error and the various error factors is attained by using linear superposition principle. Compared with traditional calibration modeL, the model has explicit physical meaning, clear hierarchy, and more concise mathematical description. After calibrating, the absolute positioning accuracy of motion simulator is up to 0.35 mm, and the pose accuracy is up to 0.045 o, which shows the significant effect and verifies the correctness of the calibration method.