Design Of Control System For6-DOF Tooling Equipment

The6-DOF platform, as a kind of parallel robot, is widely used in the area of driving, simulator parallel machine tool, action movies etc, with the advantage of big stiffness load ratio, fast response speed, strong carrying capacity, high positioning accuracy and so on. The precise controllability of the6-DOF platform motion range makes its application in the tooling of large parts possible, but whether it can meet the operation requirements as a tooling equipment is mainly determined by the control mode of6-DOF platform, so studying the control system of6-DOF tooling equipment is of great significance.The paper based on the6-DOF platform is to design a control system of the location patterns. The paper mainly studies the major structure parameters, control system hardware and software of the6-DOF platform to solve the problems in large parts assembling, such as low accuracy, poor assembly quality and poor safety performance.Firstly, it’s the optimization option of the6-DOF tooling equipment. Countering the control points of the tooling equipment is on the edge of the workpiece, using transformation matrix method to build the relationship between the control points and the integrated center. The kinematics and dynamics theory of the6-DOF platform is deduced again and the system’s maximum speed, maximum acceleration, the maximum static force, the maximum dynamic force are conclude. According to this information, the structure parameters of the system are optimization selected.Secondly, it’s the design of system hardware and software. In hardware design part, the high voltage circuit is designed according to the system working voltage and timing; the low voltage circuit is designed according to the function of the system to complete. In software design part, the system interface and the main function module is developed by the Visual C++programming language.Finally, it’s the simulation of the kinematics theory and the experiment of control system. In the simulation part, the kinematics theory deduced in the preceding part of the paper is checked by the simulink module of MATLAB. In the experimental part, the static accuracy, the dynamic response and the steady-state response characteristics are proved meet the using requirements through the system basic functionality experiment and the system dynamic-static performance experiment. At the same time, the6-DOF tooling equipment is of great significance for the design of the similar large-scale tooling equipment.