1. Overall Design of Six Degree of Freedom Motion Control System

The six-degree-of-freedom motion platform consists of upper andlower platforms, six electric cylinders. The upper platform and the lower platform are connected with the electric cylinder through hinge or spherical hinge, so there are six connecting points for the upper platform and the lower platform respectively. The upper platform is a moving platform, driven by sixelectric cylinders, and the lower platform is a static platform. The upper platform and the lower platform are similar hexagons. The six-degree-of-freedom parallel platform has the characteristics of high speed, large load and high precision. The structure has a wide fields application.

2. Principle of Six Degree of Freedom Motion System

Six-degree-of-freedom motion system is driven by six servo motors to make expansion and contraction in the motion of the electric cylinder. Six electric cylinders are set up in parallel to drive the motion platform. Each electric cylinder of the motion platform can achieve a single displacement motion in the space, so the control system can drive the six-degree-of-freedom motion to the edge of the platform through the control of the elasticity of the six electric cylinders, and then realize the change of the position and posture of the platform. Six degrees of freedom separately refers to the translation motion of the platform along the three coordinate axes of x, y and z, and the rotation motion of the platform around the three coordinate axes of φx, φy and φz.

According to the motion condition of the six-degree-of-freedom platform, the corresponding direction and speed command signals of each electric cylinder are calculated, and then the motion of the platform is controlled to ensure the movement according to the predetermined orbit.

With the development of the 6DOF platforms , the requirements of thesix-degree-of-freedom motion system are higher and higher in terms of accuracy control, positioning accuracy and dynamic response performance. Considering the requirements of the six-degree-of-freedom motion system for the accuracy and speed of the motion of each electric cylinder, it is necessary to control the speed and displacement of each electric cylinder. In the process of motion, itis necessary to detect the speed and displacement signals of each electricservo cylinder in time. The speed signals are used to track the speed input in closed-loop control, and the displacement signals are used for feedback and monitor the displacements, and then reach the position and control the altitude to meet the required result.

The above articles are about the six-degree-of-freedom platform. If there are similarities, please notify us.