Digital Design And Control Simulation Of 6-UPS Parallel Mechanism

In this paper,based on the National Natural Science Foundation of China "Research on Key Technologies of Ship Loaded Hydraulic Servo Stable Transmission Platform Based on Hybrid Mechanism",in order to solve the problems of long development cycle,low design efficiency and high research and development cost of 6-UPS parallel mechanism,the digital design software development and systematic research are carried out.The Stewart mechanism in 6-UPS configuration is studied in this paper.The research contents and characteristics are as follows:It provides theoretical support for the development of digital design software.The kinematic modeling of 6-UPS parallel mechanism is carried out,and the inverse solution model is established.To solve the workspace and establish the workspace rationality analysis method;The multi-objective optimization algorithm combined with workspace constraints was used to optimize the parameters of the mechanism,and the optimal solution of the comprehensive performance was obtained under the small volume of the mechanism.The digital design software system and development mode are analyzed.Build the software development framework according to the requirements,design the workflow and select the software supporting the system function;The core function development method is analyzed to set up the foundation for the subsequent software development.Develop control simulation system for digital design software and build experimental platform for verification and analysis.The control simulation system is developed based on Simulink to realize the simulation.Based on speedgoat controller,the experimental platform was built for experiments.The simulation and experiment results were analyzed to verify the feasibility of the simulation system.Develop and integrate the software side of simulation function and device control function.Interface design of digital design software,integration of required functions and application examples of software are introduced and explained.Based on C# interface design,to achieve a more humanized interaction,with a number of software development,the formation of a complete function of the digital design software,through the actual design process to demonstrate the practicability of the digital system.In this paper,the design software of 6-UPS parallel mechanism is developed,and the information transmission and mutual call are realized by means of integrated methods such as mixed programming between software.By adding new configuration interface and model base,it is convenient for the subsequent update operation.Combined with the humanized interactive interface,a digital design software is created which integrates the functions of mechanism size optimization,workspace analysis,parametric modeling,simulation analysis and equipment control.