Motion Simulation Of6-dof Parallel Vibration Platform Based On Simmechanics And VRML

The Parallel Vibration Platform is a closed loop kinematics system which isconstituted by many parallel chains. It has many differences compared with thetraditional series system. It has the advantages of strong bearing capacity, high rigidity,high precision, little error, good dynamic performance and etc.This thesis studies a6-dof parallel kinematic mechanism with seven actuators and the simulation on itbased on the SimMechanics and VRML.Firstly, this thesis analyzed kinematics characteristics of the new type6-dofparallel kinematic mechanism, and built an inverse solution simulink model for theparallel platform according to the process of kinematics analysis.And then this thesisbuilt SimMechanics model for the parallel platform through SimMechanics modulesets in the MATLAB/Simulink.After that, a controller module needs to be set up tocontrol the movement process of the plartform.Then, the thesis built VRML staticmodel of the parallel platform in VRML through the transformation of the3D modelbuilt in Solidworks, and edited the VRML program to build VRML model by thetransformation hierarchy.Finally, the thesis made dynamic simulation on the parallelplatform according the established inverse solution simulink model, SimMechanicsmodel, controller module,and target position.This thesis made six basic dynamicsimulations and two aggregate motion simulations. The established VRML modelused to inspect the movement process of the paralel platform.The modeling method based on SimMechanics and VRML provides a simpleand effective modeling analysis means to the Multi-body power machinery.All thework are accomplished in the Simulink environment.The SimMechanics model andthe traditional Simulink model can combine togethor.Using Virtual reality technologyin the development of the motion platform can provide a more realistic simulationprocess.The simulation study of the parallel platform based on the SimMechanics andVRML in this thesis provides a new research thinking for the future parallel platformdevelopment.