| Six-DOF motion platform is widely used in areas such as motion simulator,spacecraft and submarines space docking platform, micro-mechanis m, ingeniousrobot, movement film and entertainment equipment. At present, six-DOF motionplatform has four drive modes: hydraulic, electric, pneumatic, and electro-hydraulic.Compared with others, pneumatic drive mode has a smaller power and lower loadstiffness and positioning accuracy by the restrictions on its working medium,making the drive mode still to be in the research phase and rarely used in actualproductions. However, pneumatic system has many advantages, such as simplestructure, rapid action, easy installation and maintenance, low price, no pollutionand strong anti-jamming capability and has been widely used in other areas ofindustrial production. The purpose of this paper is to analyze the performance ofpneumatic servo six-DOF motion platform system, explore the application range ofpneumatic dive system, so it can reduce cost and difficulty of design andmaintenance.This paper worked on system freedom analys is, kinematic analys is, dynamicanalysis and workspace Analysis, gave the theoretical formula of position forwardand backward solution, driving force of each cylinder when the motion and thestress state of the moving platform is known and the way of completely reachablespace calculation, programmed the model of position forward and backward andcompletely reachable space calculation, made data validation on the forward andbackward program, and calculated completely reachable workspace of the movingplatform.Then built the virtual prototype model of the six-DOF motion platform in Pro/Eand ADAMS, worked on model calibration and kinematics simulation analysis, andverified the availability and correctness of the model.After that, considered the influence of valve dead zone and cylinder friction,made a modelling analysis of the pneumatic servo control system, inc luded theproportional valve flow characteristic equation, cylinder pressure differentialequation and force balance equation, determined the type or size of pneumaticcomponents, made the time domain simulation model of the pneumatic servo control system in SIMULINK.Finally, made the co-simulation model of mechanical and pneumatic, done thevertical trajectory tracking co-simulation analys is of the whole machine, finishedthe design of the fuzzy controller, improved the control performance of the system,analyzed the characteristics of the system, studied on the system performancecaused by the impact of load mass and friction, debugged and analyzed otherposition&orientation of the platform, provided a theoretical support for themanufacturing of physical prototype. It is showed in the simulation results thatpneumatic servo6-DOF motion platform system has a simple structure and rapidaction, which performs better than other drive modes in the occasion of light loadand low bandwidth requirements. |
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