Study Of Six Degree Of Freedom Parallel Mechanism Analysis And Control

Parallel robot is a new structure robot. It is the end of the actuator movement by several independent branches connected to the base of the closed-loop kinematic chain mechanism. It has advantages of strong stiffness, structural stability, strong bearing capacity, high precision, low inertia, position, etc. In the mechanical field, it coincided with the complementary series robot and greatly expanded the application field of robotics. In the new century it will have broad prospects and opportunities. But parallel robot serves as a closed-loop mechanism, its kinematics and workspace analysis is more complex than serial mechanism, so research in this area to promote the application of parallel robot has an important significance.This paper describes the kinematic analysis that is called parallel mechanism inverse solution of Parallel Robot. It does this by analyzing the workspace parallel mechanism for trajectory planning their platform and uses SimMechanics module build parallel robot model, making itself closely integrated with simulink and ultimately constitutes a parallel robot control system simulation.Finally, it intends to design the control system of the overall program, Details of the work space on the platform to solve, two degrees of freedom controller and detail the trajectory planning process to achieve better control of the control system and the output of the simulation results by Matlab.