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Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof

A measurement and control device, parallel technology, applied in the direction of control using feedback, can solve the problems of mechanism damage, complex drive control, etc., and achieve the effect of compact structure

Active Publication Date: 2015-12-02
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] As mentioned above, the motion platform can only move within a certain range, otherwise it will cause damage to the mechanism, and its drive control is more complicated, so a simple and reliable limit measurement and control device and its measurement and control method are needed

Method used

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  • Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof
  • Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof
  • Stewart platform parallel mechanism limiting measurement and control apparatus and measurement and control method thereof

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Embodiment Construction

[0025] Such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, a limit measurement and control device of a Stewart platform parallel mechanism includes a base 1 fixedly arranged on the table top of the fixed platform 11, and a Hooke hinge is installed on the base 1; the Hooke hinge includes an outer ring of a symmetrical structure 8 and a symmetrically constructed inner ring 9, the outer ring 8 is connected to the base 1 through the outer ring shaft arranged on the symmetrical axis of the outer ring 8, the outer ring 8 can rotate freely relative to the base 1 around the outer ring shaft, and the inner ring 9 is connected to the outer ring 8 symmetrically by the inner ring arranged on the symmetry axis of the inner ring 9, the inner ring 9 can rotate freely around the inner ring axis relative to the outer ring 8, the outer ring axis is perpendicular to the inner ring axis, and the outer The ring shaft is parallel to the table top of the fixed platform 11, ...

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PUM

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Abstract

The invention discloses a Stewart platform parallel mechanism limiting measurement and control apparatus, and a measurement and control method thereof. The apparatus comprises a base. A hook joint is arranged on the base. A first attitude sensor is fixedly arranged on the base. A second attitude sensor is fixedly arranged on the inner ring of the hook joint. A third attitude sensor is fixedly arranged on a motion platform. An absolute value type stay wire encoder is further fixedly arranged on the inner ring of the hook joint. The stay rope of the absolute value type stay wire encoder is linearly connected with one point on the center line of the motion platform and the point where the axial line of the hook joint outer ring shaft and the axial line of the hook joint inner ring shaft intersect. A data processing module is further arranged. The Stewart platform parallel mechanism limiting measurement and control apparatus, and the measurement and control method thereof are simple and reliable.

Description

technical field [0001] The invention relates to a Stewart platform parallel mechanism, in particular to a limit measurement and control device and a method for the Stewart platform parallel mechanism. Background technique [0002] The Stewart platform parallel mechanism is a typical six-bar parallel mechanism, which has been widely used in aviation, aerospace, submarine operations, underground mining, manufacturing equipment and other industries. It includes a fixed platform and a moving platform, which are connected by six electric cylinders; through driving the six electric cylinders separately, the moving platform can realize joint motion of six degrees of freedom within a certain range. [0003] As mentioned above, the motion platform can only move within a certain range, otherwise it will cause damage to the mechanism, and its drive control is more complicated, so a simple and reliable limit measurement and control device and its measurement and control method are neede...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
Inventor 窦玉超段艳宾李建军陆海坤耿旭光
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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