A SimMechanics Based Simulation Platform for a Novel Parallel Manipulator

摘要

At first the kinematics and dynamics of a novel parallel manipulator with six degrees of freedom were analyzed in this paper,then a PID controller was designed with the model of 6-PSS parallel manipulator as control object to form close loop,finally a simulation platform was built by modeling dynamically adopting SimMechanics module in MatLab.Results show that the platform can be used to study the kinematics,dynamics and control methods.At the same time the simulation platform may supply a reference to all Stewart parallel robots,because it consists of modules whose parameters and structures of modules can be modified easily,and it can avoid modeling complexity for Stewart platform.