【作者】 白林；

【导师】 王祖温；

【作者基本信息】 大连海事大学 ， 轮机工程， 2011， 硕士

【摘要】 六自由度并联运动平台具有刚度大、便于实时控制、精度高、误差小、承载能力大等优点,是近几十年发展起来的新型产品,广泛应用于航空航天领域、汽车制造领域、船舶、医疗诊断、生物工程及民用娱乐等领域逐渐成为机器人领域的研究热点。近些年来,对于六自由度并联运动平台实时控制方法的研究引起了世界上众多学者的广泛关注。本文首先介绍了六自由度电动平台的组成机构,基于SolidWorks软件建立了三维实体模型,并建立了平台的运动学模型,采用矩阵分析方法进行六自由度运动平台的运动学反解分析,为实时控制软件的编制提供了理论依据。本文采用哈尔滨工业大学博实精密公司研制的多轴运动控制器MAC作为控制主体,基于“工控机+运动控制卡”的模式,构建了一个开放式的六自由度电动平台控制系统。基于Windows平台,采用功能模块化设计方法开发了控制软件,实现了六自由度电动平台的基本控制功能。本文介绍了六自由度电动平台控制系统的总体硬件结构及各组成部份的相关参数与功能。采用Visual C++编程语言对控制软件进行了功能开发,对主要功能模块进行了介绍。建立了六自由度电动平台的故障保护系统及故障监控系统,并详细介绍了系统组成部分及实现过程。基于六自由度电动平台控制系统,进行了相关控制运行实验。六自由度电动平台在实验过程中定位精度高、运动平稳,振动小,噪音低,故障发生时能实现可靠保护以及平台伺服系统发生故障时能够实时远程监控,从而验证了控制系统软、硬件的有效性及故障保护系统和故障监控系统的可靠性。更多还原

【Abstract】 6-dof Parallel motion platform is characterized by the high rigidity, suitable for real time control, low error rate and high precision. It is a new type of Product developed in the recent years.6-dof Parallel motion platform is widely used in many important applications such as aviation,spaceflight, auto-motive industry, shipping, medical instrument, biological engineering and amusement and so on, thus becomes a new heating field of study. These years, the research for the 6-dof Parallel motion platform’s real time control method interests many scholars all over the world.The composition of the 6-dof electric platform are introduced firstly in this dissertation. Three-dimensional model is established based on the SolidWorks software.The kinematic model of 6-dof electric platform is also established and the inverse kinematics of the 6-dof electric platform is analyzed by the vector analyses approach. This result is base of the software of the real time control.This dissertation applies the current high-powered servo controller MAC made by Harbin institute of Technology BoShi Corporation as the main body, based on "IPC+MAC", constructed an open numerical control system of 6-dof electric platform. The control software is designed with the functional modularization, based on Windows Operating System. The basic control functions of 6-dof electric platform are realized.This dissertation described the overall structure and parameters and functions of the components of hardware system. The function of this applied software program is developed with Visual C++, and the main modules are introduced in detail in this dissertation. Fault Protection System and Fault Monitoring System is established, and the components and the implementation process is described in detail.Experiments were performed based on the control system for 6-dof electric platform. The high positioning accuracy, better moving stability, lower vibration, less noise, etc, are shown in the operation of the 6-dof electric platform. And also, when failure occurs, reliable protection is realized, Servo failure of 6-dof electric platform can be timely monitored, consequently demonstrate the validity of hardware and software and the reliability of Fault Protection System and Fault Monitoring System.更多还原