Direct-driven redundant planar parallel mechanism control device and redundant planar parallel mechanism control method

A control device, parallel technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of reducer energy loss, influence of mechanism transmission accuracy, etc., and achieve the effect of reducing mass, simplifying structure, and reducing noise

Pending Publication Date: 2017-09-08
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The reducer often has a backlash that is difficult to eliminate, which has a great impact on the transmission accuracy of the mechanism. The friction in the reducer will also cause energy loss

Method used

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  • Direct-driven redundant planar parallel mechanism control device and redundant planar parallel mechanism control method
  • Direct-driven redundant planar parallel mechanism control device and redundant planar parallel mechanism control method
  • Direct-driven redundant planar parallel mechanism control device and redundant planar parallel mechanism control method

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Embodiment 1

[0040] Such as figure 1 with figure 2 As shown, this embodiment provides a direct-driven redundant planar parallel mechanism control device, the device includes a parallel mechanism body and a control unit, and the parallel mechanism body includes a moving platform 1, a static platform 2 and three parallel branches; figure 1 The dotted line connection in shows the connection diagram of the electrical signal and the body of the parallel mechanism, and the direction arrow shows the transmission direction of the detection and control signal flow.

[0041] The shape of the moving platform 1 is an equilateral triangle, and each corner of the moving platform 1 is provided with a hole, and a second bearing and a second rotating shaft connected to each other are installed in the hole, and are hinged with three parallel branches through the second rotating shaft The moving platform 1 is provided with an angular acceleration sensor 3 and an acceleration sensor 4, specifically, the ang...

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Abstract

The invention discloses a direct-driven redundant planar parallel mechanism control device and a redundant planar parallel mechanism control method. The device comprises a parallel mechanism body and a control unit. The parallel mechanism body comprises a movable platform and three parallel branches. The movable platform is in a shape of equilateral triangle and provided with an angular acceleration sensor and an acceleration sensor. Each parallel branch comprises a linear motor module with a displacement sensor, a rotary motor module with an encoder, a rigid active bar and a rigid passive bar. The control unit is connected with the angular acceleration sensor, the acceleration sensor, the linear motor module and the rotary motor module. Through hybrid driving of linear motors and rotary motors, the working space of the parallel mechanism is enlarged, and movement parameters of the movable platform are measured by means of the multiple sensors to serve as feedback signals, the movement control accuracy of the parallel mechanism reaches the high level.

Description

technical field [0001] The invention relates to a planar parallel mechanism control device, in particular to a directly driven redundant planar parallel mechanism control device and method, belonging to the field of planar three-degree-of-freedom parallel robot device and control research. Background technique [0002] At present, the driving methods of parallel mechanisms mainly include direct drive motor direct drive, servo motor drive, hydraulic drive, pneumatic drive and new drive devices. With the advancement of technology, higher and higher requirements are put forward for the speed and precision of the mechanism. The driving mode of the traditional motor accelerator and decelerator increases the inertia of the mechanism and reduces the response speed of the mechanism because the mass of the reducer is generally large. . The gear reducer often has tooth backlash that is difficult to eliminate, which has a great impact on the transmission accuracy of the mechanism, and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J9/12B25J9/00
CPCB25J9/003B25J9/123B25J9/126B25J13/088
Inventor 邱志成邹绍军
Owner SOUTH CHINA UNIV OF TECH
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