Design and Implementation of the Inverse Kinematics and Monitoring Module for Six-axis Crank Arm Platform

The six-axis motion platform has a low contraction and a high degree of freedom. The designed six-axis crank arm platform includes motor, reducer, crank arm, link, platform support arm and upper and lower platforms. It is designed for different bearing requirements. Secondly, it uses the coordinate transform and kinematics theory to derive each motor rotor angle. Next, a set of platform data acquisition (DAQ) monitoring modules is established with LabVIEW programming language for measurement software. The monitoring items include displacement, speed, and acceleration which are displayed on the screen and recorded by the computer in real-time and dynamically. Then, by using RS-485 or RS-232 transmission interface to send data to the platform computer, the operator and the platform easily share the platform movement information. Finally, a PC combine with motion control card is used as a control kernel to realize the control algorithms, internet module function, I/O signals write and read, firmware integration, and man-machine interface message. Experimental results validate the appropriateness of the proposed method.