| The 6-DOF parallel platform has the characteristics of large rigidity,stable and compact structure,small accumulation errors,high accuracy,and good dynamic performance.It is widely used in high load,high dynamic response,and high control accuracy.With the rapid development of technology,higher requirements have been put on the exercise control accuracy and independent control capabilities of 6-DOF parallel platform.Therefore,this article uses the6-DOF Stewart Platform as the research object,focusing on researching the online trajectory planning method of the 6-DOF parallel platform,so that the 6-DOF parallel platform will achieve the online trajectory change task in any movement state to ensure the six degree of freedom degree.Pacifically move the platform smoothly and quickly to the target movement status.On the basis of establishing the theoretical model of the 6-UCU configuration Stewart platform,analyze the spatial position expression method of the Stewart platform.Analyze the Stewart platform’s positive and reverse sports models,and use the Quasi-Newton method to solve positive movement,and to verify the real-time and accuracy of the first and reverse sports solutions.A study of online trajectory planning methods to address the issue of whether a six-degreeof-freedom parallel platform can immediately adjust the motion trajectory of the end-effector during operation in response to the latest external input of a correction target command.On the basis of the S-type increase and subtraction algorithm,the parameter pre-processing algorithm guarantees the initial motion state that conforms to the constraints of sports.Put forward the single-degree of time optimal trajectory planning method,determine the acceleration curve type of the trajectory of the 6-DOF parallel platform in each freedom,and determine the minimum exercise time of each freedom.Determine the minimum synchronization time,and design the multi-freedom time synchronization trajectory planning method,so that the exercise of the 6-DOF parallel platform at each freedom reaches the target movement at the same time to ensure the platform movement accuracy and the stability of the movement.Through the simulation case,the effectiveness of the two algorithms is verified.In order to determine the global optimal solution of the non-linear equation derived in the trajectory plan,the numerical analysis method of the non-linear equation is studied.On the basis of the research method of traditional non-linear equation numerical analysis methods,the QuasiMonte Carlo algorithm idea is combined with the Brent algorithm to propose QMCB numerical analysis methods to find non-linear equations global optimal solutions.Use C++ programming language to implement the QMCB numerical analysis method and perform simulation experiments to verify the calculation efficiency and calculation accuracy of the algorithm.Under the Windows 10 system,the C++ language is used to implement the online trajectory planning algorithm,and the algorithm is simulated to verify the reliability and real-time of the algorithm.Use Matlab and Solidworks to combine visual simulation to simulate the sports algorithm and the online trajectory planning algorithm described above.Establish a prototype experimental environment,conduct dynamic motion monitoring of the experimental prototype,and verify that the online trajectory planning method designed in this article meets the real-time and motion accuracy requirements of online motion control. |
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