Design of the 6-DOF parallel platform driven by stepping motor

PAN Guang-xu, JIA Guang-zheng, BIAN Ying-cong, LIU Xu, CHEN Jia-li

                                      (School of Mechanical Science and Engineering, Northeast Petroleum University, Daqing 163318, China)

Abstract: In order to simulate different degrees of freedom for small instrument components in laboratory conditions, a 6-DOF parallel platform with stepping motor drive ball screw was designed. The algorithm formula was established by kinematic inverse solution, and the variation curve of the length of the tributaries is obtained by Matlab simulation to verify the correctness of the algorithm. 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.
Key words: 6-DOF platform; ball screw; inverse kinematics; LabVIEW control