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About 6DOF positioning and 6DOF platform algorithm

Although we don't usually hear the word six degrees of freedom, it is widely used in various fields. How to understand six degrees of freedom positioning? What is its rocking table algorithm? Regarding these issues, you may I don’t know much about it, so I have compiled the following content for you. Please see what the editor brings to you below!


About six degrees of freedom positioning:


1. There is only one kind of six degrees of freedom in space. Because these six degrees of freedom are unique, the description may be slightly different, but the essence is the same.


2. Six degrees of freedom in space: movement along the X axis, rotation around the X axis, movement along the Y axis, rotation around the Y axis, movement along the Z axis, and rotation around the Z axis.


3. Extension: There are only three degrees of freedom in the plane: movement along the X axis, movement along the Y axis, and rotation in the plane.


What is the six-degree-of-freedom platform algorithm?


The six-axis positioning system emphasizes six-axis and positioning. Six-axis refers to electric equipment that can complete six degrees of freedom motion. Specifically, it includes XY horizontal motion, z up and down motion, rotation, and rocking in both directions.


Positioning refers to equipment that requires motion accuracy. Parallel connection means that all kinematics in the system move at the same time to achieve a target position. Tandem means that the kinematics in the system move independently and eventually reach a target position.


The common parallel structure is six legs, six fulcrums push a motion surface at the same time, variable leg length or single leg plus joint; there are also tripod structure, three legs, one fulcrum, each single leg plus XY translation mechanism.


The series connection is relatively simple. Six independently working platforms are superimposed and moved together. About the advantages and disadvantages: The advantage of the six-axis parallel system is that it is compact and does not have so many wires. In the series structure, the table is stacked one layer at a time, and six layers are stacked. Each time a layer is added, the load capacity requirements of the bottom table will increase, and the volume will also become larger. The load capacity of the table in series structure is not as good as that in parallel.


And there are more than a dozen wires on the six stations for communication and power supply, which is very confusing. The six-axis parallel mechanism decomposes a target position through a matrix conversion method. Therefore, the superposition error can be well avoided and the repetition accuracy can be improved.


The advantage of the series structure is relatively simple. The parallel rotation cannot be rotated 360 degrees without limit. The travel of each degree of freedom of the parallel structure is very limited, and the series connection will not. And if it is not necessary to have six axes, as long as there are 4 or 5 axes, the series can be increased or decreased at will.


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