步进电机驱动六自由度并联运动平台设计

摘要

为了能够在实验室内进行小型仪器元件的六自由度运动模拟和演示,设计了以步进电机驱动滚珠丝杠传动的小型六自由度并联运动平台.通过运动学反解建立了算法公式,应用Matlab仿真,得出了平台运动时各支路长度的变化曲线,验证了求解算法的正确性;运用Kutzbach-Grubler公式分析了电驱动UPU结构形式并联运动平台自由度的计算方法.根据给定参数建立了平台的三维模型,进行了结构协调性检测,并完成了步进电机驱动的六自由度平台的实体结构研制.将LabVIEW组态软件与Matlab脚本解算程序结合,用于对平台的运动控制.测试结果表明:平台完全可以按照预定轨迹进行空间6个自由度的运动,实现对小型仪器元件的运动模拟.%In order to simulate different degrees of freedom for small instrument components in laboratory conditions, a 6-DOF par-allel platform with stepping motor drive ball screw was designed. The algorithm formula was established by kinematic inverse solu-tion, and the variation curve of the length of the tributaries is obtained by Matlab simulation to verify the correctness of the algo-rithm. The Kutzbach-Grubler formula was used to analyze the method of calculating the degree of freedom of the parallel motion platform in the UPU structure. The 3D model of the platform is established according to the given parameters, and the development of 6-DOF platform driven by stepping motor was completed. Combining the LabVIEW configuration software with the Matlab scripting program, the motion control of the platform was realized.The experimental results can be showed by the phenomenon that the platform can move six degrees of freedom in space according to the given trajectory,to achieve the movement simulation for small instrument components.