Mathematical Modeling of Dynamics Parallel Manipulator-Tripod with Six Degrees of Freedom

In article is considered the problem development mathematical model of the mechanism of parallel structure type of hexapod. The received model describes kinematic and dynamic properties of object. At the kinematic analysis are formed the matrix of transformation which depends from linear and rotational moving of platform. As a result of transformations we receive expressions establishing dependence of lengths of rods of the mechanism on platform moving. The equations of movement of the mechanism are under construction in the form of the Lagrange equation. The received equations establish functional dependence between size of is generalised the force operating on each of rods and moving, speed and accelerations of platform. The developed model will be used further for synthesis of management of the mechanism. This article describes using of 3D-modeling and mathematical analysis systems in order to verify the stability of the developing control system of manipulator-tripod. Data are presented mathematical modeling of control systems. Revealed that the synthesis of control systems based on the above superstability allows you to build good governance and achieve sufficient quality control with minimal errors of positioning led of tripod.