Hydraulic control system for parallel six-degree-of-freedom turntable

Abstract

The invention relates to a hydraulic control system for a parallel six-degree-of-freedom turntable. The hydraulic control system mainly comprises a motion planning computer, a direct control computer, a communication interface, a position and speed detecting part, a D / A (Digital / Analog) conversion and power amplifier and an electro-hydraulic servo valve. The main functions of all parts of a turntable control system are as follows: the motion planning computer is used for directly receiving an outside control command and parameter, monitoring the motion of a robot in real time, displaying information and sending various control commands to subordinate; the computer is directly controlled to receive the commands and the corresponding given information for the position and speed sent by the higher-level computer; the state value of the monitored object is detected in real time; the communication interface is an important part for transferring information between two-level computers; through the interface, a given value for a motion speed at a certain moment and necessary information for coordination and control of the two levels of computers are supplied to a speed control computer by a position control computer; the electro-hydraulic servo valve can control the flux and the flow direction through an electric signal, so that the speed, direction and size of the joint motion can be controlled.

Description

technical field [0001] The invention relates to a position servo system, in particular to a parallel-connected six-degree-of-freedom turntable position servo system. Background technique [0002] The parallel six-degree-of-freedom turntable is a high-precision experimental equipment with great economic value. The earliest parallel robot with six degrees of freedom in space was proposed and developed by D. Stewart in 1965. 6-SPS agency is the famous Stewart platform agency. Compared with the traditional serial multi-degree-of-freedom motion mechanism, it has the advantages of strong bearing capacity, good rigidity, no accumulated error, and high precision. According to the relative distribution of the six upper and lower joints, the mechanism can be divided into many types, and its kinematics has been studied by many scholars. In the early 1970s, after NASA and other research centers in the United States announced the research results of parallel six-degree-of-freedom pl...

AI Technical Summary

Problems solved by technology

Until now, the parallel six-degree-of-freedom platform has not been widely used in industry. The main reasons are: the kinematics problem, especially the forward kinematics problem has not been well solved; the dynamics problem has not been solved; the relationship between the branches of the platform Coupling interference is difficult to eliminate

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