Optimization design of mechanical structure of 6-DOF Platform Based on Newton iterative method

Inhalt:
A typical six-degree-of-freedom platform has a high degree of coupling due to the parallel structure of the six control rods. Newton's iterative method will construct six six-element nonlinear equations when seeking positive solutions to this 6-DOF platform. In the process of solving this equation group, a 6×6 Jacobian matrix will be constructed, which is complicated and time-consuming to solve. A decoupled 6-DOF platform designed in this paper is based on a typical parallel 6-DOF platform by decoupling x, y and the yaw angle direction to form a series-parallel 6-DOF platform. When the Newton iteration method calculates the positive solution of the decoupled 6-DOF platform, only three 3-element nonlinear equations and a 3×3 Jacobian matrix need to be constructed, which reduces the complexity of the solution. The forward solution speed of the decoupled 6-DOF platform designed by Newton's iteration method is 75.7% higher than that of the typical parallel structure 6-DOF platform, which improves the real-time performance of the 6-DOF platform.