Analysis and Simulation of 4-DOF Hybrid Motion Platform

A 4-DOF hybrid motion platform was designed to overcome the complex structure of the serial mechanism,and the complicated control of the parallel mechanism. In order to optimize the design of the platform,the statics of the platform was analyzed. The kinematics positive solution and inverse solution was established and analyzed by D-H method. Inventor software was utilized to establish the 3D model of mechanism,and the motion simulation of the mechanism. The model was imported into Adams and the virtual prototype of the platform was established,and the correctness of the motion equation and the feasibility of the platform was proved by using Adams software to do motion analysis and simulation. The obtained simulation data can provide the basis for the optimization of structural design and the motion control.