| The 3-DOF platform can simulate different spatial attitudes, which is of great important in various motion simulation, such as aircraft,ship moving,tank and earthquake simulator. At present, there are several similar platforms, but the precision and load can not meet the requirements; and further, most of the platforms are driven by hydraulic, which need higher maintenance cost. A new mechanism of 3-DOF of parallel driven platform is proposed. The combination of semi-closed loop and full-closed loop control methods can ensure both static precision and dynamic smoothness.At first, the paper provides overview about structures of platform,interpolation technology and motion controller. Afterwards, the paper gives position solution for the platform; and the reverse solution expression was solved exactly. And further, the paper also provides a numerical inverse solution to indicate that the attitude can be determined on condition that the input is appropriate. These two solutions can ensure the exactness and uniqueness of position control. motion controller, servo system and high precision encoder. Two moving patterns, continuous and step moving, was designed; and the zero-speed start was realized.Thirdly, software is an important part of the system, including motion controlling software and PC-based software, which were separately developed.Finally, some experiments were conducted to analysis the system's precision in different moving patterns. The data resulted that the full-closed loop control can improve the precision significantly to 15 angular seconds in step moving; and the requirements of continuous moving can also be met by error compensation; and the waveform distortion was below 5%. |
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