摘 要

隨著科學(xué)技術(shù)的發(fā)展和社會的進(jìn)步，六自由度平臺的應(yīng)用越來越廣泛，已逐漸滲透到工業(yè)生產(chǎn)和制造，日常生活及教育娛樂等各個領(lǐng)域。六自由度平臺的設(shè)計問題不僅具有普遍的工程意義，還具有深入的理論意義。
本文首先分析了國內(nèi)外六自由度平臺的發(fā)展現(xiàn)狀，針對建造六自由度平臺系統(tǒng)的實驗室環(huán)境和技術(shù)指標(biāo)要求，在參考國內(nèi)外設(shè)計平臺的基礎(chǔ)上，設(shè)計了本項目的總體設(shè)計方案。
其次是對平臺進(jìn)行運動學(xué)和動力學(xué)分析，在設(shè)計過程中，采用了一種絲桿和渦輪蝸桿減速器相結(jié)合的升降機(jī)構(gòu)，解決了平臺的垂直方向的移動；對平臺中關(guān)鍵部件進(jìn)行計算校核分析，主要是絲桿和腔體的受力計算，并利用adams和solidworks進(jìn)行簡單運動和受力分析。
最后設(shè)計了六自由度平臺的控制系統(tǒng)，利用PLC控制伺服電機(jī)，根據(jù)水平傳感器的采集信號，采用四點調(diào)平算法對平臺進(jìn)行水平調(diào)整；自由度的實現(xiàn)主要靠PLC對伺服電機(jī)控制，以便平臺的六自由度實現(xiàn)。


關(guān)鍵詞：六自由度平臺，機(jī)構(gòu)設(shè)計，運動學(xué)，PLC，控制算法















ABSTRACT

With the development of technology and society，the 6-DOF Motion Platform has become more and more popular in various areas，such as industrial production and manufacture , daylife, education and entertainment. As a result ,the design of the 6-DOF Motion Platform is of great significance in both project and theory.
The paper first analyzes the development situation of 6-DOF Motion Platform for domestic and foreign, meets the need for the lib environment and technical target，bases on the design of demesic and foreign, and designs the last plan for the project.
Then, the paper analyzes the kinematics and dynamics of the 6-DOF Motion Platform. At the design process, the paper adopts a new kind of lead screw and turbine worm reducer, and these two build up into the elevating mechanism, which solve the remove of vertical direction; checks and analysises the key section of the platform,which mostly inculde lead screw and cavity shell, and uses ADAMS and SolidWorks to make motion and stress analyses.
At last, the paper designs the control systerm of the 6-DOF Motion Platform, to make the platform horizon ,the systerm uses PLC to control actuating motor and bases the signal of the horizon sensor, what is more imporntant is that the systrm adopts the quatre leveling algorithm. The paltform realizes the six degrees of freedom by the actuating motor which controled by PLC.


Key words：6-DOF Platform , structure design, contrail layout , PLC, control algorithm











目 錄

中文摘要 I
ABSTRACT II
1緒論 1
1.1 問題的提出 1
1.2 平臺國內(nèi)外研究現(xiàn)狀 1
1.3 平臺應(yīng)用前景 3
1.4 本文研究主要內(nèi)容及關(guān)鍵技術(shù) 6
1.4.1 本課題研究主要內(nèi)容 6
1.4.2 本課題的關(guān)鍵技術(shù) 6
2六自由度運動平臺總體設(shè)計 7
2.1 運動平臺性能指標(biāo) 7
2.2 總體方案設(shè)計 8
2.3 方案的選型分析 8
2.4 本方案設(shè)計分析 11
3機(jī)械運動系統(tǒng)設(shè)計 13
3.1 系統(tǒng)的組成和作用原理 13
3.2 水平調(diào)整機(jī)構(gòu)的設(shè)計 14
3.2.1螺桿的選用及計算 14
3.2.2驅(qū)動電機(jī)校核 19
3.2.3 腔體的受力分析 20
3.3 平臺的運動仿真分析 23
4控制系統(tǒng)設(shè)計 30
4.1 水平調(diào)整系統(tǒng)原理 30
4.1.1水平調(diào)整算法 31
4.1.2 水平調(diào)整計算 32
4.2電控系統(tǒng) 34
4.2.1系統(tǒng)要求 34
4.2.2 PLC硬件設(shè)備 34
4.2.3 系統(tǒng)特點 35
4.3 電控控制流程 36
5.總結(jié) 43
致謝 44
參考文獻(xiàn) 45