Angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots

An angle compensation and floating type technology, applied in the field of automation, can solve problems such as complex calculation process, real-time and accuracy need to be strengthened, and initial value selection requirements are not strict

Active Publication Date: 2015-09-23
XI AN JIAOTONG UNIV
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Problems solved by technology

The large-scale convergence algorithm represented by the homotopy method does not have strict requirements on the selection of initial values, but the calculation process is relatively complicated, and has been applied to the position analysis and synthesis of parallel mechanisms, the analysis of special configurations of mechanisms, and the force

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  • Angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots
  • Angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots
  • Angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots

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Embodiment Construction

[0049] see figure 1 As shown, the rod-end floating six-degree-of-freedom parallel robot involved in the present invention includes a fixed platform and a moving platform, six fixed platform Hooke joints 2 are installed on the fixed platform, and six moving platform tiger joints are installed on the moving platform. Hooke hinge joint 1; fixed platform Hooke hinge joint 2 and corresponding moving platform Hooke hinge joint 1 are connected through rod end floating ball screw pair 4; rod end floating ball screw pair 4 are all driven by motor 3.

[0050] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0051] First, specify the way to establish the coordinate system, such as image 3 shown, where:

[0052] Fixed platform coordinate system O b -x b the y b z b — Order B i , i=1,2,...6 represent the center points of the six Hooke joints installed on the fixed platform, by B i The geometric cen...

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Abstract

By aiming at a kind of six-freedom-degree parallel robots using screw-nut-rotatable (called as rod end floating) ball screw pairs as active joints, the invention discloses an angle compensation kinematics solving method of one kind of rod end floating type six-freedom-degree parallel robots. According to the method, firstly, for a specified robot tail end position and posture vector, a relative rotation angle between each lead screw and a screw nut of the lead screw and the additional rod length caused by the rotating angle are calculated; and an angle compensation reverse kinematics solving method is given; and secondly, the relative rotation of each lead screw and the screw nut is considered, and on the basis of the reverse kinematics solving method, an efficient value iterative solution method is used for giving a kinematics positive solving method for calculating the robot tail end position and posture by the given rod length. The method provided by the invention can solve the problem of influence of screw nut rotation of the ball screw pair on the kinematics calculation of the six-freedom-degree parallel robots, has the advantages of high precision and high convergence speed, and is favorable for realization of the high-precision real-time path tracking control of the type of parallel robots.

Description

【Technical field】 [0001] The invention belongs to the field of automation and relates to a kinematics solving method for a six-degree-of-freedom parallel robot floating at the end of a rod. 【Background technique】 [0002] Parallel robot is a kind of intelligent mechanical equipment with several parallel-connected kinematic branch chains. Compared with serial robot, it has higher carrying capacity, better structural rigidity and smaller cumulative error. Since the six-degree-of-freedom parallel robot can realize the compound motion of "3-degree-of-freedom translation + 3-degree-of-freedom rotation" in three-dimensional space, it is widely used in many fields such as machining and manufacturing, aviation and aerospace, communication and automatic control. [0003] From the perspective of structural composition, a six-degree-of-freedom parallel robot usually consists of a fixed platform, a moving platform, and six telescopic rods connected in parallel between the two platforms....

Claims

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Application Information

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IPC IPC(8): G06F17/50
Inventor 任晓栋冯祖仁郑义靳杰梁恺
Owner XI AN JIAOTONG UNIV
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