A Mechatronic Levelling System Based on Parallel Manipulator

摘要

This paper focuses on a mechatronic levelling device based on parallel manipulator, which is composed of an active platform and four legs. Based on a kinematic analysis, the degree of freedom (DOF) and position equation are derived through simplifying the structure. Then, the levelling method, one-way rise levelling, is brought forward, which decouples the complex movement of the parallel platform to two independent directions and improves the levelling efficiency. According to the levelling method, the hardware and software of control system are designed and the fuzzy PID control strategy is adopted in order to solve the grave nonlinearity. Finally, a simulation experiment is carried out and the result shows the system has many advantages such as stability and rapidity.