6DOF Hydraulic Motion Platform

It does not need complex basic construction, therefore the investment in plant and ground is small and easy to keep clean.

Hydraulic Servo Motion Platform Intrduction

6 DOF Hydraulic Motion Platform Technical Parameters6 DOF motion platform consists of 6 cylinders, the upper and lower universal joints of all six chains and the upper and lower two platforms. The lower platform is fixed on the base, with the telescopic movement of the six cylinders,the upper platform can do 6 DOF (α,β,γ, X,Y,Z) motion in space, therefore we can simulate the movements in the space. 6 DOF motion platform involves mechanism, hydraulic, electric, control, computers, sensors, mathematical model of space motion, real-time signal processing, a series of high-tech field, so 6 DOF motion platform represents the advanced level of hydraulic and control field. It mainly contains platform space movement, space motion model, hydraulic system, control system.1. 6 DOF Platform Technical Parameters of Spatial Structure

6 DOF motion platform consists of the upper and lower two platforms and 6 hydraulic cylinders. Upper endpoints of the six cylinders make up three fulcrums by twos, so is the lower endpoints. The upper and lower fulcrums is on an assumed circle, and divide the circle by 120°, which is represented by two vertices of an equilateral triangle. Depending on the motion range, the cylinders’ itinerary is different from the radius of the upper and lower platforms.The Structure as shown in Figure 2. 6 DOF platform for structural parameters are as follows the radius of the upper platform

the radius of the lower platformWhen the cylinder at lowest stroke, the vertical distance of the upper and lower platform: 1.17m

cylinder stroke: ±0.50m

2. 6 DOF Platform Space MotionThe goal of space motion is to make the platform achieve three posture angles and three translations, that are pitch,roll, yaw, vertical movement, back and forward translation, left and right translation and the complex posture of the six postures. The goal is achieved by the six cylinders’ movement, so that requires a space kinematic model to complete the conversion of the space motion. Assume that α,β,γ,X,Y,Z stands for space motion pitch, roll, yaw, vertical movement, back and forward translation, left and right translation, L(i)(I=1,2,3,4,5,6)stands for six cylinders stroke. The whole motion is L(i)=TT(α,β,γ,X,Y,Z).

TT is a matrix pattern for space transformation, and it can calculate hydraulic cylinder stroke for of each movement in real-time. Through D / A interface, the theoretic stroke of the hydraulic cylinder will change into practical stroke value.

Space motion parameters are as follows

	Displacement	Velocity	Acceleration
Pitch	±20°	22°/S	2°/S2
Roll	±17°	22°/S	2°/S2
Yaw	±30°	22°/S	2°/S2
Vertical fluctuation	±200mm	0.5m/S	0.5m/ S2
Vertical displacement	±200mm	0.5m/S	0.5m/ S2
Lateral displacement	±200mm	0.5m/S	0.5m/ S2

6DOF Hydraulic Motion Platform