Planar parallel mechanism control device driven through double five-bar mechanisms and planar parallel mechanism control method

A five-bar mechanism and control device technology, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems affecting the performance of parallel mechanisms, existence of singular configurations, and small working space, so as to achieve good driving and control effects and eliminate Effects, motion smoothing effect

Active Publication Date: 2017-09-08
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0002] A parallel robot is an end effector with several degrees of freedom connected to a fixed foundation through two or more independent motion chains. Compared with a serial robot, a parallel robot has Due to the application advantages of high speed, high precision, and high load capacity, the terminal moving platform of the parallel robot can realize high-speed movement, precise positioning, and carry a large mass load. However, due to its structural characteristics, the parallel mechanism also has a small working space and singular configurations. , and there are shortcomings such as vibration during the movement process, which greatly affects the performance of the parallel mechanism

Method used

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  • Planar parallel mechanism control device driven through double five-bar mechanisms and planar parallel mechanism control method
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  • Planar parallel mechanism control device driven through double five-bar mechanisms and planar parallel mechanism control method

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Embodiment 1

[0051] Such as Figure 1 ~ Figure 3 As shown, this embodiment provides a planar parallel mechanism control device driven by a double five-bar mechanism. The device includes a planar parallel mechanism body and a control unit. The planar parallel mechanism body includes a moving platform 1, a static platform 2, a passive movement branched chain and two planar five-bar linkages, figure 1 The dotted line connection in shows the connection diagram of the electric signal and the body of the planar parallel mechanism, and the direction arrow shows the transmission direction of the detection and control signal flow;

[0052] Such as Figure 1 ~ Figure 4 As shown, the moving platform 1 is a triangular flat plate. In this embodiment, an equilateral triangular flat plate is preferably used. There are three holes at the three corners. The rod mechanism is connected, the first three-axis acceleration sensor 3 and the second three-axis acceleration sensor 4 are installed on the moving pl...

Embodiment 2

[0072] The main features of this embodiment are: the second triaxial acceleration sensor 4 is installed at a distance of 30 mm or 50 mm from the center of the moving platform 1 . All the other are with embodiment 1.

[0073] In summary, on the basis of the plane 3-RRR (rotation-rotation-rotation branch) parallel mechanism, the present invention introduces new branch chains into two of the parallel branch chains respectively to form a planar five-bar mechanism as an active motion branch chain, and the third parallel branch chain is used as a passive motion branch chain. Due to the structural characteristics of the planar five-bar mechanism, their driving force on the moving platform will not be parallel to the line connecting the two compound hinge points at the same time, so the planar parallel connection can be eliminated. The singularity problem of the mechanism; the active rod of the planar five-bar mechanism is driven by a direct drive rotary motor without a reducer, which...

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Abstract

The invention discloses a planar parallel mechanism control device driven through double five-bar mechanisms and a planar parallel mechanism control method. The device comprises a planar parallel mechanism body and a control unit. The planar parallel mechanism body comprises a movable platform, a passive movement branch chain and two planar five-bar mechanisms. Three-axis acceleration sensors are arranged on the movable platform. Each planar five-bar mechanism comprises two direct driving rotary motors, two active bars and two passive bars. The passive movement branch chain comprises a bearing assembly and two passive bars. The control unit is connected with the three-axis acceleration sensors and the direct driving rotary motors. The two planar five-bar mechanisms serve as active movement branch chains and are driven through the direct driving rotary motors, and closed loop feedback is performed through the acceleration sensors, so that the advantages of being high in control accuracy, being fast in closed loop control response, eliminating singularity of existing parallel mechanisms and the like are achieved.

Description

technical field [0001] The invention relates to a control device for a planar parallel mechanism, in particular to a control device and method for a planar parallel mechanism driven by a double five-bar mechanism, and belongs to the field of design and control of a planar parallel mechanism. Background technique [0002] A parallel robot is an end effector with several degrees of freedom connected to a fixed foundation through two or more independent motion branches. Compared with a serial robot, a parallel robot has the application advantages of high speed, high precision, and high load capacity. Parallel robots The terminal moving platform can realize high-speed movement, precise positioning, and carry a large mass load. However, due to its structural characteristics, the parallel mechanism also has the disadvantages of small working space, singular configuration, and vibration during the movement process, which greatly affects performance of the parallel mechanism. [00...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/00
CPCB25J9/003B25J9/1623B25J9/1643
Inventor 余龙焕邱志成
Owner SOUTH CHINA UNIV OF TECH
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