A Novel Architecture of a Six Degrees of Freedom Parallel Platform

ELECTRONICS(2023)

Cited 40|Views4
No score
Abstract
With the rapid development of the manufacturing industry, industrial automation equipment represented by computer numerical control (CNC) machine tools has put forward higher and higher requirements for the machining accuracy of parts. Compared with the multi-axis serial platform solution, the parallel platform solution is theoretically more suitable for high-precision machining equipment. There are many parallel platform solutions, but not one can provide a common physical platform to test the effectiveness of a variety of control algorithms. To achieve the goals, this paper is based on the Stewart six degrees of freedom parallel platform, and it mainly studies the platform construction. This study completed the mechanical structure design of the parallel platform. Based on the microprogrammed control unit (MCU) + pre-driver chip + three-phase full bridge solution, we have completed the circuit design of the motor driver. We wrote the program of MCU to drive six parallel robotic arms as well as the program of the parallel platform control center on the PC, and we completed the system joint debugging. The closed-loop control effect of the parallel platform workspace pose is realized.
More
Translated text
Key words
Stewart, six degrees of freedom, parallel platform, common physical platform, circuit design, program, motor driver, closed-loop control
AI Read Science
Must-Reading Tree
Example
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined