Design And Implementation Of 6DOF Parallel Robot

Compared with serial robots,parallel robots have the advantages of large load,high precision,high speed,and good dynamic performance.They have been widely used in a large number of industrial engineering fields.The six-DOF parallel robot is a typical parallel robot.Because it has complete six degrees of freedom,it has the widest range of applications,and it has excellent performance in many fields such as aerospace,medical facilities,industrial sorting,and entertainment facilities.At the same time,in the field of intelligent control and machine learning,the six-DOF parallel robot is also a typical research object and has high research value.Therefore,this article designed and developed a parallel robot and will introduce it from the following aspects.In this paper,the kinematic analysis of the six-DOF parallel robot is firstly carried out,and the inverse kinematics and forward kinematics problem solving algorithms are deduced,and corresponding computer programs are written.Based on this,this paper designs and develops a set of six-degree-of-freedom robot virtual simulation system program,tests and verifies the kinematics algorithm program,and establishes a parallel robot three-dimensional simulation model,simulates the robot movement,and analyzes the movement space.The mechanical configuration is designed.After the mechanical design was completed,a 6-DQF parallel robot was processed and manufactured to complete the design and installation of its electronic control system.On this basis,this paper designs and develops a six-degree-of-freedom robot motion control program.This program solves the problem of reverse kinematics,converts the robot's orientation to six drive rod lengths,and uses serial communication to each drive rod.The servo drive motor transmits the positioning control command so that the robot can reach the positioning posture.In order to facilitate the operation and control of experimental personnel,this paper designs a human-computer interaction software based on Windows operating system.The experiment operator can control the position and orientation of the given robot through the mouse and keyboard,and through the graphical interface,detailed and intuitive understanding of the robot movement status,driver status and other information.After completing the above work,this paper tests the 6-DOF parallel robot.The experiment shows that the robot has high positioning accuracy,smooth movement and basically meets the design requirements.