Development And Research On 6DOF Motion Platform

Initially, Stewart platform was invented to flight simulator. In 1990's, Stewart platform was used to reconstruct conventional machine tool, some prototype Stewart platform are produced in United States, Japan, Russia and so on. There is also some Stewart platform was produced in our country. Stewart platform has simplified mechanism and has much agility and specified on the processing of the curved surface, but it also has some shortcomings such as its workspace is strait and influenced much by the orientation of the moving platform, moreover, there is not a conclusion now whether it can attain the accuracy at level of the traditional machine tool in the academy and engineering. All these factors are influencing the research and development of the Stewart platform in our country by the study made in this paper, some theories basis are provided for the design of the parallel machine tool, which enables its performance to become better than before. Firstly, using MSP of Stewart, we introduce the methodology of negative solution and Jacobin, ADAMS simulations have been applied in progress to the kinematics and dynamics of Stewart platform by the utilization simulation software, and expound a new method of negative solution, and have provided one set of effective simpleton method and certify the design suitable. Secondly, the pole of platform has many interfere issue, it is mainly of it's own, this thesis in parallel, analyze factor influencing Stewart's work range, it is connect in parallel platform support leg and hooke cut with scissors mathematics model that structure interfere to set up, utilize this mathematics model to judge whether a leg has taken place and interfere and cut with scissors interfering with the hooke, offer reference for the further research of connecting the lathe in parallel. Thirdly, the error margin model of this thesis establishment considered the influence of the pintle, using to receive especially Monte Carlo the method analyzes to merge the tool machine each link to an index sign of the terminal output's error margin sensitive. Making use of that method can compare the good choice match accuracy. Uses this method can be better the selection cooperation precision, in order to achieve the smaller error of Stewart platform.