The Reasearh On 6-DOF Parallel Micro-positioning Platform Control System Based On The Embedded System

In recent years,six degrees of freedom parallel mechanism which based on the Stewart platform become a research hotspot as its high rigidity,strive carrying capacity,stable structure,above the average precision,good dynamic performance and so on.This paper carried out the corresponding research on the six degree of freedom parallel positioning platform,the kinematics,control strategy,precision analysis,the structure of the system and the various modules.First of all,a brief survey has been conducted on the development of six degrees of freedom parallel mechanism at home and abroad.Then this paper introduces the structure of the parallel mechanism by calculating the freedom of parallel mechanism,deduce the inverse kinematics solution process of Parallel mechanism.Using the library of SimMechanics to build its mechanical system model.Secondly,modeling the motor used by the system.This paper designed the fuzzy PID controller for the six degrees of freedom parallel mechanism aiming at the characteristics of nonlinear system on the basis of traditional PID controller,verify the superiority of the fuzzy PID relative to the traditional PID controller in the six degrees of freedom parallel mechanism,analyzed the accuracy of the mechanism by deducing the error solution model.The initial pose and structural parameters of the mechanism are determined according to analysis the impact of precision caused by initial pose and structural parameters.Lastly,the six degrees of freedom parallel platform is set up,hall sensors,encoders and current sensors is added to the structure.The kinematic inverse solution and the fuzzy PID controller are transplanted to the microcontroller.The software is designed aiming to lower the difficulties to operate the platform.Then the experiment is designed to measure the parallel platform positioning accuracy.