The Analysis And Research On Parallel6-DOF Hydraulic Motion Platform

Parallel mechanism is also known as parallel robot, with the advantages of great rigidity, powerful carrying capacity, high moving speed, no cumulative error, so it gradually becomes a research hotspot in the field of robot. With the cooperation of enterprises, this thesis carries out theoretical analyses and application studies on the parallel6degrees of freedom movement platform. The detailed parameters of the platform are calculated according to technology specification, the development of the platform is finally finished. The thesis mainly includes the following several parts:(1). This thesis analyze the structure of parallel6-DOF platform and calculated the number degrees of freedom, analyze forward kinematics and inverse kinematics and give their calculation formulas. According to the requirements of the platform, the mechanical structural design of the platform is finished, and the efficiency and feasibility is validated through ADAMS simulations.(2). Hydraulic drive is chosen as driving mode of whole system and the hydraulic drive system of the platform is designed. The hydraulic system principle chart is designed and the selection calculation of main component of the system is finished. The operating principle of variable displacement piston pump, servo valve, and magnetostrictive position sensor is introduced. The efficiency and feasibility of the designed hydraulic system is validated through AMESim simulations.(3). One of the electro-hydraulic position servo control system is analyzed, the mathematical model of symmetric valve controlling asymmetric cylinder system is established, and the dynamic design of control system is completed. The transfer function model of the servo valve, displacement sensor, servo cylinder is determined, and the stability of the control system is analyzed through Matlab simulations.(4). Fuzzy PID controller is designed according to the characteristics of the platform control system and in combination with the advantages and disadvantages of the traditional PID control. Simulink simulation is done to compare the performance of the two control technology. Design and lectotype of the control system is finished, and the human-machine interface for control system is designed through the Visual Basic programming software.