The Electric Gough-stewart Platform Control System Design Based On Plcopen

Gough-Stewart platform is a kind of classic six freedom parallel mechanism.It is widely used in aerospace,medical,industrial,and entertainment due to its high stiffness,strong bearing capacity,and good dynamic performance.In recent years,GoughStewart platform parallel mechanism is becoming more and more popular in the field of entertainment motion.The platform can be realized fall,vibration,rotation,yaw,pitch and roll motion effect with the plot synchronous.It also can be combined with sound,smoke,hair drier,smell,scenery and other special effects.So that the particitant in the safe environment can experience virtual scene in a movie.Because this kind of platform experience effect is good,it has the very good application prospect.It not only can be used with the dynamic movie theaters,and also the ship simulation,driving simulation.For all kinds of simulation platform based on parallel mechanism,it has a certain reference value.The article analyzed the origin of Gough-Stewart platform,research status and application,using G-K formula,analyzed the Gough-Stewart dynamic platform DOF.Based on the theory of coordinate transformation,the position and attitude of the platform are analyzed by RPY angle and Euler angle method respectively.The kinematic model of the platform is established by using the matrix analysis method.The kinematics analysis of the platform velocity and acceleration is carried out by using the Jacobi matrix.Based on the Newton-Raphson method,the positive solution of the position is obtained by kinematics analysis,and the iterative equation is solved.According to Newton ’s law and Euler’ s equation,the platform is analyzed by simple dynamics,and the kinetic equation is deduced.According to the designed mechanical structure and control requirements,the hardware design of the control system and the selection of the key components were completed.Based on the PLCopen motion control standard,the dynamic platform control software was developed.The dynamic motion platform designed by experiment was verified to meet the design requirements.According to the original camera motion data,the program calculates the platform motion curve,controls the dynamic platform in accordance with the movement curve of six degrees of freedom smooth movement.Through the visualization of the platform shows the movement pose.