Remote Measuring And Controlling System Design Of Six-DOF Parallel Platform

Six-DOF (degrees of freedom) parallel platform (also known as the Stewart platform), since it came out, with the excellent features like strong load capacity, stable operation and low error rate, it has already been widely used in the industrial, aerospace, medical and many other fields. Unlike serial robots, Stewart platforms always have complex structures, expensive price, big size and difficult to move. All these factors have restricted the research convenience of Six-DOF parallel platform in laboratory.According to the current Six-DOF parallel platform research status, this paper focus on the study shortage of small Stewart platform experimental model and the control data sharing, combines the virtual instrument technology, simulation technology and remote control technology to propose a remote system design plan of Six-DOF parallel platform. The system can make reverse kinematics accurate control, trajectory space optimization, forward kinematics closed-loop feedback and electrical push rod optimization control function. This platform system also has the wireless signal transmission and real-time remote control functions.This paper researches and designs the following five aspects. Making the Stewart platform uses the DSP28335 of TI Company as the main control chip, uses the MATLAB and Simulink to complete inverse kinematics modeling, moving space planning and trajectory calculations. The targets input by using Lab VIEW and MATLAB’s Simulation Interface Toolkit to realize the trajectory calculation, and transmit the wireless serial control signal using ZigBee. The feedback position information of displacement sensor will be collected by NI ELVIS, and use the low error rate MATLAB neural network model to process the data which can forming a closed-loop control model. Due to the non-linear characteristics of Stewart platform, this paper uses the improved neural network PID control algorithm to reduce real-time control errors. The Stewart platform 3D model builds in Lab VIEW and use the DataSocket to complete remote real-time control.After debugging, the system can accurately complete the location and trajectory control, the data was transmitted in real-time and accurate, which makes up for the application shortage of remote control and wireless technology in the field of Six-DOF parallel platform. The motion of the platform meets the requirements of mechanical structure, using the improved algorithm, the precision increased above the design index. The system can operate stable and meet the system design requirement.