Kinematics Analysis And Control System Desing Of 6-DOF PKM

Parallel Machine Tools is also called Parallel Structured Machine Tools, Virtual Axis Machine Tools. Parallel machine tools is developed basing on principle of spatial parallel-mechanisms Stewart platform, which is the product of Parallel Robotic Mechanisms and machine tools. And parallel machine tools is high-tech products of powerful mixture of spatial machanisms, Mechanical Manufacturing, control technique, computer soft-hard wares technology and CAD/CAM technology. The paper is focused on the following pionts:This paper analyzes 6-DOF parallel kinematic machine(PKM) kinematics character, solves its inverse model via MATLAB software. In this step, it needs to define the mobile and base coordinate system, the type of the movement and the LOCA of the base and mobile platform and all of the structual members. The mathematic model which used to control toolpath is completely ascertained with the method of Euler parameter transformation.After the analysis of the kinematics inverse transformation, this paper constructs PKM model under UG environment. Kinematics simulation is performed through introducing the model into ADAMS, finally rod kinematic simualtion curve is obtained. By comparing simulation curve with the theoretical one obtained from MATLAB, the curves match each other well, which demonstrates the correctness of the inverse model. Therefore, the inverse mathematics model in Open Numerical Control System kinematics module is set up.To realize motion control of 6-DOF PKM, this paper provides a way of applying EMC2(Enhanced Machine Controller) Open Numerical Control System as the platform to build PKM's control system. In this paper, the obtained inverse model is used, and the kinematics inverse module is rebuilt in EMC2 and verified by simulation with CNC code, which lays an important foundation for later prototype construction and motor output control.