Design Of Motion Simulator Based On Six Degrees Of Freedom Parallel Robot

In recent years,the robot industry has developed rapidly.Among them,parallel robots have become more and more obvious in this field with their unique posture.They have a very wide application in agriculture,industry,service and other industries,including multiple degrees of freedom parallel robots with six degrees of freedom.The demand for applications is increasing.The six-degree-of-freedom parallel robot consists of two upper and lower platforms and connecting rods of the upper and lower platforms.It is a parallel structure in aerospace,medical equipment,space equipment,industrial sorting and entertainment facilities.And many other fields have a wide and superior performance.While the mechanical structure of the robot satisfies the application,the requirements of its control system are more strict and cautious.Therefore,it is more important for the design and implementation of the control system.At the same time,the realization and application of motion control based on the control system are equally important.Very research value and significance.In this paper,the-coordinate system is established for the six-degree-of-freedom parallel robot.On the basis of this,the inverse kinematics and forward kinematics are analyzed to provide a theoretical basis for the actual control of the parallel robot.Secondly,the six-degree-of-freedom parallel robot control system is realized.Hardware design,including control system structure,controller design and control system electrical connection,controller design including core control unit and expansion interface unit,and introduce the relevant circuit;then complete the parallel robot control system software design,including ARM,FPGA and host computer three parts programming,and introduce the software function and software structure;again,realize the multiple motion control functions of the six-degree-of-freedom parallel robot;Finally,the flight simulator based on the six-degree-of-freedom parallel robot is completed.Design,through the control of the joystick,the flight simulation software simulates the human visual and auditory during flight.The robot pose changes simulate the perception of acceleration during flight,including the flight simulator introduction,implementation principle and construction.Model and results display,It verifies the correctness of theoretical research and provides a guarantee for the successful application of six-degree-of-freedom parallel robots in other fields.