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3-PRP planar three-degree-of-freedom parallel mechanism positioning method

A positioning method and technology with degrees of freedom, applied in position/direction control, non-electric variable control, instruments, etc., can solve problems such as no positioning method solution and difficult positioning.

Inactive Publication Date: 2011-04-20
BEIHANG UNIV
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  • Summary
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  • Description
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  • Application Information

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Problems solved by technology

However, due to the mutual coupling characteristics of the components of the parallel mechanism, it is much more difficult to achieve positioning than the series mechanism
There is no research and application of this kind of 3-PRP mechanism in China, and there is no published positioning method solution for this kind of mechanism

Method used

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Embodiment Construction

[0051] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0052] Such as figure 1 Shown is a schematic diagram of the structure of a 3-PRP plane three-degree-of-freedom parallel mechanism. There is a movable platform Table on the fixed plane. The Table is connected to the fixed plane through three active branch chains. Each active branch chain is composed of an active sliding pair and a rotating hinge. , Passive sliding pair composition, rotating hinge is exactly rotating pair. The first active branch chain is composed of the active sliding pair motor1, the rotating pair R1 and the passive sliding pair P1; the second active branch chain is composed of the active sliding pair motor2, the rotating pair R2 and the passive sliding pair P2; the third active branch chain is composed of the active sliding pair It consists of auxiliary motor3, rotating pair R3 and passive sliding pair P3. figure 2 It is a schemat...

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Abstract

The invention provides a 3-PRP planar three-degree-of-freedom parallel mechanism positioning method, which comprises the following steps of: establishing a moving coordinate system which moves along with a moving component, and determining a moving principle; acquiring a zero state parameter needed by positioning through a debugging method; determining an initial state during inverse solution of the position; and finally obtaining driving quantity needed by platform movement through an inverse solution method according to coordinates of two position points before and after movement. A relationship established between the moving coordinate system and a ground static coordinate system of a measuring instrument is simple and clear and is easy to calculate; the zero state parameter obtained through the debugging method has higher accuracy than that obtained through other measuring methods; the inverse solution method provides method support in the whole moving process of the mechanism andcan meet the requirement in industrial actual application; and the positioning problem is solved to push the application of the 3-PRP planar three-degree-of-freedom parallel mechanism; therefore, themechanism can accurately reach the expected position in a plane and can be applied to the industrial fields such as accurate alignment and the like.

Description

technical field [0001] The invention belongs to the field of mechanical position control and relates to position analysis of a parallel mechanism, in particular to a plane three-degree-of-freedom parallel mechanism with a 3-PRP structure. Background technique [0002] Parallel mechanism has many advantages that serial robots do not have, such as large structural rigidity, high bearing capacity, good motion accuracy, simple position inverse solution and easy force feedback control. one. Domestic universities and scientific research institutions such as Tsinghua University, Harbin Institute of Technology, Yanshan University, Beijing Institute of Technology, Shenyang Institute of Automation, Chinese Academy of Sciences, etc. have done a lot of in-depth research on the structure, kinematics, dynamics, and calibration accuracy of parallel mechanisms. [0003] The present invention is aimed at a plane three-degree-of-freedom parallel mechanism with a 3-PRP structure. This mechani...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/00
Inventor 徐远志焦宗夏
Owner BEIHANG UNIV
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