Control And Application Research Of Six-DOF Parallel Platform

As a new kind of robot, The 6-SPS parallel robot has stiffness, high load/weight ratio, precision, velocity and low error, good dynamic performance and a series of advantages,making such robots will be broad prospects in the 21st century.It is rather difficult to analyze the kinematics and workspace of parallel manipulators due to its specific closed-loop,which researches have important significance for the control precision of parallel robot and its application.Therefore, the study applicate particle swarm optimization intelligence for solving the positive position, after discussing the parallel robot's inverses position in detail, and validate the method with example. Use Jacobin matrix to derive the obverse-inverse velocity and acceleration solution models of 6-SPS parallel manipulator. By analyzing the constraints of workspace, to get the boundary of workspace with the boundary search method, and it can determine whether someone position can be achieved.On the basis of kinematic analysis, use the Newton-Euler to establish the single DOF and overall dynamic models of the manipulator. Establish the mechanical model of the Stewart platform in Matlab/SimMechanics, use conventional PID model to control effectively after planned the reference point path of the platform, and through the visualization window to make the simulation process realize animation display.Finally, introduce the structure of the electric cylinder and its voltage - torque transfer function. Use hardware of all-digital AC servo driver system maked by'Beijing HollySys', software of virtual instrument Labwindows / CVI , and data acquisition card for data exchange between the PC and platform, control the electric cylinder with the position control mode ,and make tracking and real-time analysis.