Workspace solution of 6-DOF mechanical platform based on imaginary support

Abstract

In this paper, by analyzing the farthest and nearest critical conditions that the platform center can reach on a 6-DOF mechanical platform, the maximum space area that the platform center can move to, that is, the working space, is studied. In this paper, through mechanism analysis, the above platform moves along the direction of the actual support, the three-dimensional model is converted into a two-dimensional plane model by selecting a section, and the respective constraints under five different motion processes are analyzed. Then, the degree of freedom is reduced by defining the unknown, the coordinates of the center of the platform are solved, and the function image is obtained. Then, the concept of "imaginary support" is introduced to ensure the consistency of the model. Finally, the maximum space region that the center of the platform can move to on the 6-DOF mechanical platform is roughly shaped as a quasi-hemispherical structure with symmetry. The working space of the platform center on the 6-DOF mechanical platform obtained in this paper is relatively simple and the model is unified, which can provide data and scientific reference for the manufacture of related instruments in the field of mechanical manufacturing.