Motion Platform Analysis And Test Research Of 6DOF Bionic Horse

Bionic robot, which imitates the biological structure and function of organisms and engages biological characteristics of job, is expected to replace the traditional industrial robots and become the future direction of developments in the Robot field. Bionic robot study refers to mimic biological functions and complete some special mission taking full advantage of certain characteristics of biological. Bionic robot research is the perfectly integrated and comprehensive application of the bionics technology. Bionic horse, which takes horse as the prototype and meets two requirements such as bionic shape and exercise, is a sport equipment to make health for purpose. Bionic horse is a fitness horse. Imitating the horse sports through the feathers of horse and bringing various fitness activities for people as the real horse.In this paper, firstly designing the overall control system to the horse and introducing the working principle of the motion control system, the performance indicators of the servo system, as well as the hardware components of the motion control system. In the end, for the motion control card, making a brief introduction.This project provides depth, detailed and systematic research results with independent intellectual property rights in the motion platform of 6DOF parallel horse. Analyzing singularity and workspace for the parallel horse campaign platform and establishing the fixed and moving coordinate system by analyzing spatial structure. Carrying out some important points in the space of three-dimensional coordinates through parallel platform analysis. By the geometric equation, constraint equation can be gotten, and then getting the mathematical model of the platform kinematics. Jacobian matrix can be derived through derivation and calculation for the equation. Analyzing the singularity for the space position by using the method of analyzing Jacobian matrix. By using search theory of the workspace, simulating the workspace through constraint equations and a number of influencing factors of parallel bodies space. These studies have special significance on the parallel machine horse control system.For the machine horse control system, generating the 6-DOF parallel machine horse control software with the versatility and openness by LabVIEW control software, the open motion control card and modular design concept. Designing the starting screen and the main interface to be convenient to the secondary development for users.