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Parameter optimization method for six-degree of freedom parallel mechanism for modal space control

A modal space and optimization method technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem that modal space decoupling control is still applicable

Inactive Publication Date: 2012-10-17
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

However, when there is non-negligible damping on each passive joint of the parallel mechanism, the system is actually a non-viscous proportional damping system. In this case, how to make the non-viscous proportional damping system approximate to a viscous proportional damping system by changing the structural parameters so that Mode-space decoupled control still applies, becoming a difficult problem

Method used

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  • Parameter optimization method for six-degree of freedom parallel mechanism for modal space control
  • Parameter optimization method for six-degree of freedom parallel mechanism for modal space control
  • Parameter optimization method for six-degree of freedom parallel mechanism for modal space control

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Embodiment

[0112] Step 1: Determine System Configuration

[0113] The configuration of the system to be optimized is the 6-leg UCU (double-end universal joint or Hooke hinge), p=3, and its structural diagram is shown in the attached image 3 As shown, the schematic diagram of a single outrigger is attached Figure 4 shown.

[0114] Step 2: Generate the damping matrix of each passive joint.

[0115] Lower hinge damping array:

[0116] Direction 1: C cd 1 = diag ( C cd 1 x C ...

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Abstract

The invention provides a parameter optimization method for six-degree of freedom parallel mechanisms for modal space control. The six-degree of freedom parallel mechanism is similar to a viscous proportion damping system by changing structural parameters on the premise of not ignoring passive joint damping, so that a modal space decoupling controller can still give full play to the advantage of greatly improving the control characteristics of the system. By the method, the application range of the modal space controller is greatly increased.

Description

technical field [0001] The invention relates to the field of automatic control and structure optimization, in particular to a method for optimizing the structure parameters of a six-free parallel mechanism with mirror image rotation symmetry properties, which is suitable for modal space control. Background technique [0002] The six-degree-of-freedom parallel mechanism has been widely used in the fields of aerospace, automobile testing and industrial production due to its high rigidity, large carrying capacity and high precision. The mirror-rotation symmetrical six-degree-of-freedom parallel mechanism is a closed multi-chain structure composed of 2p (p≥3) linear actuators, a moving platform and a fixed platform. It mainly realizes the precise control of various given signals in single-degree-of-freedom and multi-degree-of-freedom spaces. Due to the strong nonlinear dynamic characteristics of the system, there is a strong coupling between the degrees of freedom in the system ...

Claims

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Application Information

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IPC IPC(8): B25J9/08
Inventor 田体先姜洪洲何景峰佟志忠
Owner HARBIN INST OF TECH
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