6-DOF Platform Research Based On Matlab

In order to meet the demand of company application, this thesis studieskinematics,dynamics,dynamic simulation,GUI (Graphical User Interface) of6-DOF(six degreeof freedom)platform. With these theories,6-DOF platform is successfully developed.In order to test the performance indicators of “gyro stabilized optoelectronic platform”,which is optoelectronic tracking equipment attached to helicopter, flight simulation experimentvia6-DOF platform is needed. But as6-DOF platform has serious coupling of legs andcomplicated spatial coordinates, characterizing simple hardware and complex software, so it isnecessary to study its relevant theories.The geometry of6-DOF platform and space transformation matrix is firstly analyzed inthis thesis. On this basis, the pose and attitude, speed, acceleration, and their solution of theforward and the inverse,as well as the solution of dynamics are analyzed.Then the general demands and the points of attention are analyzed when the solid modelof6-DOF platform is designed. According to the given design indicators, thethree-dimension-drawing software Solidworks and the programming software Matlab are usedto check the inverse solutions at length, and its range of movement is checked by Matlab.After that, with Simulink and SimMechanics as means of dynamic simulation of6-DOFplatform, dynamic simulation flow block diagram is developed, which explains in details itssetup method, and runs dynamic simulation for the simulation result.At last, Matlab/GUI is used to design for control interface of6-DOF platform. With GUIand servo circuit and what has been introduced above,6-DOF platform which can simulateflight is successfully developed.This thesis’s research is based on Matlab about6-DOF Platform. A number of researchmethods and ideas are involved. In particular, its detailed study methods on Simulink andSimMechanics for6-DOF platform’s dynamic simulation, is seldom seen in other literature,which provides referable theories and experience for future similar study of6-DOF platform,such as its parameter design and simulation analysis etc.