Research On Six Degree Of Freedom Parallel Stabilization Platform Based On Stewart Structure

The parallel stable platform has the advantages of strong load capacity,high stiffness and high precision,so it is widely used in many fields,such as maritime rescue,emergency communication,TV broadcast and so on.Since the advent of parallel stable platform,many experts and scholars at home and abroad have been competing for it.In recent years,with the development of robotics research,the research focus of parallel mechanisms has gradually shifted to the field of parallel robots.In this thesis,the six degree of freedom parallel stability platform based on Stewart structure is studied.First,the position positive solution and inverse solution of the parallel mechanism are studied,and the position inverse solution is derived for the stable platform designed.Then the stable platform model is designed based on the mechanical modeling software Pro/Engineer.On this basis,the dynamics and kinematics simulation of the platform is carried out based on the dynamic analysis software ADAMS.At last,based on the hardware of MPU6050 six axis gyroscope and STM32 controller,a stable platform model is built,the control program is written,the precision of the stable platform is tested and the direction of optimization is given.First,the basic concept of stable platform is introduced,and the calculation of the degree of freedom of mechanical structure and the coordinate system commonly used in stabilizing platform are introduced.In order to solve the problem of position solving in parallel structure,the method of positional positive solution and its disadvantages are introduced,and the position and pose of the platform are derived and solved by the method of position inverse solution.Secondly,the parametric design method and feature definition are introduced.In the Pro/Engineer,the parts of the stabilized platform model were made,and the parts were assembled,and the mechanical model of the stable platform was built.Then the mechanical model built in Pro/Engineer is introduced into the dynamic analysis software ADAMS,and the constraints are added to the model to test the degree of freedom of the model.Then the kinematics and dynamics simulation of the stable platform is analyzed by using the powerful kinematics and dynamics simulation functions of ADAMS.Thirdly,the stable platform model after ADAMS's kinematics simulation is set up for the input and output variables of the joint simulation with MATLAB,and then the interface file of the MATLAB simulation is made to stabilize the single loop of the platform as the research object,and the simulation of the stable platform control system is carried out under the MATLAB.Finally,the realization principle and foundation of the stabilized platform control system are introduced.The attitude angle is solved by the direction cosine matrix,the attitude angle is solved by the differential equation method and the four element method is used to solve the attitude angle.Finally,the four element method is used to solve the attitude angle.A stable platform model is built with gyroscope sensor MPU6050,controller STM32 and actuator FUTABA S3003.The control program is written,the pitching and rolling test of the stable platform is completed,and the cause of the error of the test data is analyzed,and the direction of the future optimization and improvement is given.