| This paper is based on 6-DOF platform, reach 6-DOF platform. Reach of parallel 6-DOF motion platform about mechanism theory and control system is the key technology of optimizing design and improving motion performance of ship simulator, therefore reach for mechanism theory and control strategy of 6-DOF motion platform have the very important meaning.This paper is composed of four parts. The first one mainly build the dynamics equation of 6-DOF motion platform, analysis the relationship between three kinds of local dexterities and the frame dimension of platform by simulation. Optimizing design for the frame dimension of platform is done by Genetic algorithms as well. The second one mainly addresses the accurate solution for forward kinematics of 6-DOF motion platform based on neural network. The nonlinear mapping from the joint-variable-space to the platform is accomplished with BP neural network after training and learning. The training data comes from the inversed kinematical model of the platform. To improve the accuracy of the solution, an associated neural network using Kalman filter is used to compensate for the offset error. Numerical results of the simulation of 6-DOF platform have shown that the accurate solutions can be obtained by performing only a few iteration steps and the computation speed can meet the requirements of the robot's real time control system. The third one build the mathematical model of single channel power mechanism for motion system, analysis the load pressure . The last one build the one-classed mathematical model, research the control strategy, design the double control mechanism, in the mechanism, fuzzy modek fuzzy self-adaptive control and the improved CNAC are used, we show the control police is efficient through simulation, at the same time, we proof an theorem fuzzy self-adaptive control...
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