Parallel three-freedom-degree mechanism device based on oscillating cylinder driving and control method

Abstract

The invention discloses a parallel three-freedom-degree mechanism device based on oscillating cylinder driving and a control method. The device comprises a fixed platform, a movable platform, three parallel driving control branches, a pneumatic unit, a signal detection module and a control unit. Each parallel driving control branch comprises an oscillating cylinder, a drive rod and a driven rod which are sequentially connected, wherein the oscillating cylinder is fixedly connected to the fixed platform and connected with the pneumatic unit, and the driven rod is fixedly connected with the movable platform. The signal detection module comprises an acceleration sensor, an angular speed sensor and angular displacement encoders. The acceleration sensor and the angular speed sensor are installed on the movable platform. The angular displacement encoders are connected to the bottoms of the oscillating cylinders through couplers. The control unit is connected with the pneumatic unit and the signal detection module. According to the parallel three-freedom-degree mechanism device based on oscillating cylinder driving and the control method, proper design of the oscillating cylinders and a mechanical arm is selected to be applied so that the device can achieve the optimal working space and the optimal working track which correspond to the device, and feedback control over the movement of the device can be achieved.

Description

technical field [0001] The invention relates to the field of plane three-degree-of-freedom parallel robot device and control research, in particular to a parallel three-degree-of-freedom mechanism device and control method driven by a swing cylinder. Background technique [0002] The terminal moving platform of the parallel robot can realize high-speed movement, precise positioning, and carry large mass loads. The parallel robot is selected as the precision positioning platform to achieve high-speed, high-precision, and high-efficiency positioning. At present, the driving methods of parallel robots mainly include hydraulic drive, pneumatic drive, electric drive and new drive devices. [0003] Driven by a servo motor, a reducer is generally required, which will bring nonlinear phenomena such as clearance and friction, and with the improvement of the accuracy of the reducer, the cost will increase greatly. Moreover, if the servo motor is used to drive, if the terminal load i...

AI Technical Summary

Problems solved by technology

[0003] Driven by a servo motor, a reducer is generally required, which will bring nonlinear phenomena such as clearance and friction, and with the improvement of the accuracy of the reducer, the cost will increase greatly

Moreover, if the servo motor is used to drive, if the terminal load is too large or the terminal is stuck suddenly, the instantaneous current of the motor will be too large, which will further cause the motor to be burned.

In addition, motor drive also has some disadvantages, mainly in the relative lack of flexibility and concession

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