Design of Six Degrees of Freedom Parallel Operation Platform System
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.
new parallel mechanismkinematic analysishexapod displacement platformSimMechanics simulation
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