Design And Experimental Research Of A Spatial Six Degrees Of Freedom Parallel Dynamic Stable Robot

The stable platform can effectively isolate multi-dimensional motion disturbance of shipboard,airborne,vehicular weapon tracking and pointing,communication and monitoring system under dynamic environment.It also has a good application prospect in marine engineering,biological medicine,entertainment games and so on.In recent years,parallel mechanisms have become an important research direction for stable platform.In this paper,we study the kinematics and dynamics modeling of space multidimensional parallel stabilization robots,and design a spatial six-DOF parallel dynamic stability robot.Based on this,simulation analysis and experimental research of dynamic stability control strategy are carried out.First,based on the 6-RSS parallel mechanism,the configuration of the parallel-stabilized robot was designed.The closed-loop vector method was used to solve the position-inverse solution of the 6-RSS parallel mechanism.By analyzing the kinematics of branched chain,the velocity and acceleration equations of the center of the chain link were deduced;By using the Newton-Euler dynamic modeling method,the force and moment balance equations of the components in the branches were established,and the dynamic equations of the mechanism were deduced.Secondly,based on real-time data interaction between MATLAB and ADAMS,a dynamic and stable co-simulation system was set up;a PID controller was designed,and the K_p,K_i,and K_d parameters were set;the lower platform was analyzed and subjected to one-dimensional,two-dimensional,and three-dimensional rotation disturbances.Co-simulation in three cases.Then,based on fuzzy self-tuning PID control theory,the universe of input and output,fuzzy set,fuzzy factors and fuzzy rules were analyzed;based on this,a fuzzy self-tuning PID controller is designed and a fuzzy self-tuning PID control was established.Dynamically-stabilized co-simulation system;analysis of the co-simulation of the lower platform subjected to one-dimensional,two-dimensional,and three-dimensional rotational disturbances.Finally,the hardware of ontology structure,data acquisition,and driving unit of the space six-degree-of-freedom parallel dynamic stabilization robot was designed.Based on Arduino and Processing,the data processing and interaction of the upper computer and the lower computer were realized.The PID control dynamic stability experiment was designed.The parameters of K_p,K_i and K_d under corresponding disturbances were completed.On this basis,the dynamic stability experiment of fuzzy self-tuning PID control was completed and compared with the effect of PID control.