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Real-time control dynamics modeling method for multi-freedom-degree parallel mechanism

A dynamic modeling and real-time control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems that are difficult to meet the real-time and accuracy requirements of the actual control system at the same time, and achieve the improvement of computational efficiency , solve contradictory problems, high precision effect

Inactive Publication Date: 2013-12-25
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problems existing in the actual application of the existing parallel mechanism, to overcome the problem that the dynamic modeling method of the existing parallel mechanism is difficult to meet the real-time and accuracy requirements of the actual control system, and to provide a Based on the dynamic modeling method of real-time control of multi-degree-of-freedom parallel mechanism, this modeling method not only has high computational efficiency, but also maintains high model accuracy, and is used for high-precision dynamic modeling of real-time control. The realization of real-time control and practical application of parallel mechanism dynamics has created conditions

Method used

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Embodiment

[0048] According to the parallel mechanism provided by the present invention, the dynamic modeling method can be controlled in real time, such as figure 1 The shown three-degree-of-freedom redundant drive parallel mechanism is taken as an example to further illustrate the embodiment of the present invention. The parallel mechanism is composed of three branch chains, in which the first branch chain and the second branch chain are the same PRRR kinematic chain and are located in the same plane, and the third branch chain is a PPRR kinematic chain, and the plane where the branch chain is located is the same as the first The planes where the first branch chain and the second branch chain are located are perpendicular to each other, where P is the translation pair, and R is the rotation pair. The first slider is connected with the first branch chain through the rotation pair, the second slider is connected with the second branch chain through the rotation pair, the third slider is...

specific Embodiment approach

[0051] The specific implementation of the modeling method of the present invention is as follows:

[0052] 1. If figure 1 As shown, the parallel mechanism is at the absolute zero position, and the static coordinate system {B} and the dynamic coordinate system {T} are respectively established at the center of the moving platform. Since the moving platform of the parallel mechanism only has the movement along the Y and Z directions and the Rotate three degrees of freedom, so the pose parameters of the selected moving platform are ( y , z The units are m, The unit is rad);

[0053] 2. by figure 2 From the analysis of the front view and side view of the parallel mechanism, it can be seen that the kinematic sub-center point B connected with the three branch chains i The coordinates and P in the static coordinate system i The coordinates in the system moving coordinate system are:

[0054] B 1 (0, -0.5R 1 , z 1 ) T , B 2 (0, 0.5R 1 , z 2 ) T , B 3 (-R 3 , y...

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Abstract

The invention discloses a real-time control dynamics modeling method for a multi-freedom-degree parallel mechanism. The method includes the steps that firstly, a lagrangian method is utilized to deduce a dynamics model of the parallel mechanism, then, a model simplification strategy for decomposing the quality of a branched chain is provided based on simulated analysis and mechanism kinematic characteristics, a simplified dynamics model is established, and an error compensation model caused by model simplification is established; secondly, the input and the output of the error compensation model are utilized to conduct offline train on a neural network; eventually, based on the simplified dynamics model, the trained neutral network is utilized to conduct intelligent error compensation on the simplified dynamics model, and high-precision dynamics model with the real-time control function is established. According to the method, the traditional lagrangian method and the neutral network are combined, the problem that contradiction exists between the real time performance and accuracy when the dynamics control method of the parallel mechanism is practically applied is solved, calculating efficiency of the complex dynamics model is improved, and accuracy is high.

Description

technical field [0001] The invention relates to a dynamic modeling method of a multi-freedom parallel mechanism, which belongs to the field of parallel robots. Background technique [0002] With the development of modern machinery in the direction of high speed, high precision, heavy load and high controllability, parallel mechanisms have attracted more and more attention because of their superior structural performance. Compared with the series mechanism, the parallel mechanism has the advantages of strong bearing capacity, high structural rigidity, high motion precision, good dynamic performance, and easy feedback control. At present, parallel mechanisms have extensive and important applications in motion simulators, industrial robots, parallel machine tools, medical robots, and micro-motion robots. With the deepening of research, the application field of parallel mechanism is expanding continuously, and higher and higher requirements are put forward for its control perfo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 高国琴鲍智达
Owner JIANGSU UNIV
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