Design And Analysis Of 6-DOF Parallel Hydraulic Platform

Compared with series robot, parallel robot has advantages of high stiffness, high load capacity, no cumulative error and so on, and is widely used in industrial production, scientific experiments and other fields. Based on the cooperation with enterprises in parallel 6-DOF(Six Degrees of Freedom) motion platform, this paper completes the theory of 6-DOF motion platform, according to the technical parameters, the platform mechanism, hydraulic and control part are designed and the experimental platform is developed, the contents of this paper are as follows:The kinematics and dynamics of the 6-DOF parallel platform were analyzed and researched, using matrix method to build the kinematics model and Lagrange method to build the dynamics model. The structure parameters of the platform were designed according to the technical parameters. Then the 3D platform model was built. Finally, through the kinematics simulation of ADAMS and theoretical analysis of MATLAB to verify the accuracy of kinematics theory and reasonableness of the prototype structure, and the workspace of platform in fixed pose are analyzed with MATLAB.The hydraulic system of 6-DOF of hydraulic motion platform was theoretically analyzed and designed. The drive method, system energy and control method were determined and the hydraulic system diagram was drawn, and then the main components of the hydraulic system was designed and selected after calculation. Considering the impact of the performance of hydraulic servo valve to system, after testing, a set of parameters close to the actual parameters has been got. Then establish the combined simulation model of ADMAS model of mechanism and AMESim model of the hydraulic system using traditional PID control strategy, and observe the response characteristics at different frequencies.According to the working principle of the hydraulic motion platform, complete the hardware design and selection; depending on the platform control principle and control process, complete the software system design, and design PC interface with VB, achieve motion control with ISAGRAF. At last, build the actual motion platform for motion control test, and compare with the simulation model.