Kinematics simulation and control system design of the three DOF parallel mechanism

Abstract

In this paper, we designed a novel three degree of freedom (DOF) parallel mechanism (PM), which can make the moving platform rotate and incline through the movement of three sliders. We built a model of this mechanism and had a kinematics analysis in MATLAB. We also did the same kinematics simulation in ADAMS, so we compared with the two curves to verify the correction of the mathematical model. Making use of the LinuxCNC, we designed the control system for this mechanism. Kinematics analysis of the 3-DOF PM Model building. The three- dimensional model is shown in Fig. 1. This PM is composed of the base platform connected with a moving platform through four kinematic chains. The central kinematic chain is fixed on the base platform at one end and connected to the moving platform using a spherical joint at the other end. The three outer kinematic chains connect the moving platform using universal joints and the three sliders using spherical joints and connecting rods with fixed-length. Each slider is driven by a stepper motor via a lead screw. The center point of the moving platform is fixed, so the moving platform could be rotate and incline with the sliders making linear movement.