Six-degree-of-freedom parallel robot motion analysis modeling and rapid solving method

Abstract

The invention discloses a six-degree-of-freedom parallel robot motion analysis modeling and rapid solving method. A six-degree-of-freedom mechanical platform is composed of six supporting rods with linear actuators, an upper platform, a lower platform and steering devices, wherein six steering devices are correspondingly arranged on the upper part and the lower part, the lower platform is fixed onan infrastructural facility, and the upper platform is controlled to move in the space by six degrees of freedom through telescopic motion of the six supporting rods. The mechanical platform has a parallel structure, namely six drivers jointly act on one platform, and the six-degree-of-freedom mechanical platform specifically comprises the following steps of kinematic modeling and solving and motion controlling, wherein the kinematic modeling and solving comprise the following steps of moving coordinate transformation, rotating coordinate transformation and composite posture; and the motion controlling comprises the following steps of establishing a mechanical system model, numerical simulation results are calculated according to the established model, and finally better control of the six-degree-of-freedom parallel robot is achieved. The six-degree-of-freedom parallel robot motion analysis modeling and rapid solving method is used for helping the kinematic modeling of the six-degree-of-freedom parallel robot to be solved quickly and controlled accurately.

Description

technical field [0001] The invention belongs to the technical field of motion automatic control of a six-degree-of-freedom motion platform, and in particular relates to a motion analysis modeling and fast solution method for a six-degree-of-freedom parallel robot. Background technique [0002] Compared with serial robots, parallel robots have closed-chain constraints, which is the biggest structural feature of parallel robots. It not only offsets the cumulative effect of errors, but also has low motion inertia, strong load capacity, and high rigidity, making parallel robots a potential high-speed, High-precision motion platform. [0003] The solution of the spatial analytical positive solution of the six-degree-of-freedom parallel motion platform has always been a major difficulty, and it is still not perfect. Currently, analytical methods and numerical methods are commonly used for forward solutions of parallel robots. The modeling and analysis of the six-degree-of-freedo...

AI Technical Summary

Problems solved by technology

[0003] The solution of the spatial analytical positive solution of the six-degree-of-freedom parallel motion platform has always been a major difficulty, and it is still not perfect

The modeling and analysis of the six-degree-of-freedom parallel motion platform based on Matlab / SimMechanics is only a simple description of the positive solution method, the current situation and the reasons; Complexity, low efficiency, incomplete simulation model and other shortcomings; the research on the intelligent control algorithm of parallel six-degree-of-freedom robot adopts the genetic algorithm of double-chain crossover operator to control the parallel robot more accurately, but its real-time performance is not strong, and it cannot achieve fast and accurate Effect; the improved particle swarm algorithm for the positive solution of the position of the parallel mechanism adopts the particle swarm algorithm to solve the positive solution, but it is complicated and it is difficult to get the result quickly

[0004] Six-degree-of-freedom parallel robot motion simulation, many researchers use ADMAS, Solidworks, UG, etc., but there are shortcomings such as complex modeling and inflexible adjustment of motion parameters

Secondly, the internal system design of the Stewart simulation model that comes with MATALB is complex, and the operation is delayed.

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