六自由度并联操作平台系统设计

Design of Six Degrees of Freedom Parallel Operation Platform System

从并联机构的首次提出到人们对并联机构的不断应用中,相关理论得到了逐步完善。并联机构通常由多个支链、动平台和静平台组成,相对于串联机构来说构造较为复杂,工作空间有限,但是承载能力强、精度高。对一种新型六自由度并联机构进行了模型建立和验证可行性,初步分析了其三种可能的支链形式,以六足位移台为研究基础,重点分析了其中一种支链形式。之后对六足位移台进行了运动学分析和工作空间分析,并通过Matlab的程序来实现,使用App designer设计的UI来调整其基本参数和动平台位姿并及时显示预期结果。最后使用Sim Mechanics完成了六足位移台仿真模型的建立及运动学的验证。

From the first proposal of the parallel mechanism to the continuous application of the parallel mechanism,the related theories have been gradually improved.Parallel mechanism is usually composed of multiple branch chains,dynamic platform and static platform.Compared with series mechanism,the structure is more complex and the working space is limited,but the bearing capacity is strong and the precision is high.The model of a new 6-DOF parallel mechanism is established and its feasibility is verified.The three possible branch chain forms are preliminarily analyzed.The branch chain forms which are mainly analyzed in this paper are described by hexapod displacement table.After that,kinematics analysis and workspace analysis were carried out on the hexapod displacement table,which was realized through matlab program.The UI designed by App designer was used to adjust its basic parameters and the position and pose of the moving platform,and the expected results were displayed in time.Finally,SimMechanics is used to establish the simulation model and verify the kinematics of the hexapod displacement table.