Control device and method for planar three-degree-of-freedom parallel platform driven by rod cylinder
A technology of cylinder drive and platform control, which is applied in manufacturing tools, manipulators, etc., can solve problems such as cumbersome dynamic function calculation and derivation process, a large number of internal forces and constraints, and complex modeling process, so as to avoid multi-loop interference and improve quality control. Lightweight and stable overall structure
Inactive Publication Date: 2018-06-19
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
Parallel kinematic platforms are widely used, and more optimizations are needed for their kinematic analysis. There are still many shortcomings and deficiencies in the traditional multi-rigid body kinematics modeling. For example, when modeling with Newton-Euler equations, A large number of internal forces and constraints make the modeling process more complicated; the calculation and derivation process of various dynamic functions is cumbersome and the calculation amount is very large when modeling with Lagrange equations.
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Embodiment 1
[0043] Such as Figure 1 ~ Figure 4 As shown, this embodiment provides a planar three-degree-of-freedom parallel platform control device, which includes a planar three-degree-of-freedom parallel platform body and a control assembly.
[0044] The body of the planar three-degree-of-freedom parallel platform is a 3RPR (3 rotation-movement-rotation branch) type motion platform, including a dynamic platform 1, a static platform 2 and three parallel drive control branches, figure 1 The structure of static platform 2 is hidden in , the purpose is to describe the control components of the device more clearly, figure 2 Lieutenant General Jing Platform 2 expressed in detail, figure 1 The dotted line connection in the figure indicates the connection between the electrical signal and the control component, and the solid line connection indicates the connection of the pneumatic control circuit;
[0045] The moving platform 1 is a triangular plate with an equilateral triangle shape. A se...
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The invention discloses a plane three-degree-of-freedom parallel platform control device driven by rod air cylinders and a plane three-degree-of-freedom parallel platform control method. The device comprises a three-degree-of-freedom parallel platform body and a control assembly. The plane three-degree-of-freedom parallel platform body comprises a movable platform and three parallel driving control branches, wherein the movable platform is a triangular disc with the outline in a equilateral triangle shape, and the movable platform is provided with a first single-shaft acceleration sensor, a second single-shaft acceleration sensor and a single-shaft angular speed sensor. Each parallel driving control branch comprises the corresponding rod air cylinder and a linear displacement sensor. The rod air cylinders are driven through a pneumatic control loop, the linear displacement sensors are fixed to the rod air cylinders, and the stretching out parts of the linear displacement sensors and piston rods of the rod air cylinders are rotationally connected with the movable platform. The control assembly is connected with the pneumatic control loop, the first single-shaft acceleration sensor, the second single-shaft acceleration sensor, the single-shaft angular speed sensor and the linear displacement sensors. By means of the plane three-degree-of-freedom parallel platform control device driven by the rod air cylinders and the plane three-degree-of-freedom parallel platform control method, the working path of the movable platform can be better planned.
Description
technical field [0001] The invention relates to a control device for a plane three-degree-of-freedom parallel platform, in particular to a control device and method for a plane three-degree-of-freedom parallel platform driven by a rod cylinder, and belongs to the technical field of planar parallel motion platforms. Background technique [0002] Classified from the mechanism type, the kinematic mechanism can be divided into a series kinematic mechanism and a parallel kinematic mechanism. Generally speaking, the serial kinematic mechanism has the advantages of simple structure, large working space, flexible operation, and easy solution of forward kinematics, etc., and has been widely used in the industry. However, since all the driving joints of the serial kinematic mechanism are concentrated on one kinematic branch chain, there are disadvantages such as error accumulation of each driving joint, low stiffness of the end effector, and limited load driving capacity. In contrast...
Claims
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IPC IPC(8): B25J13/08
CPCB25J13/08B25J13/088
Inventor 邱志成李泽洲
Owner SOUTH CHINA UNIV OF TECH