Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Hybrid-driven redundant plane parallel mechanism control device and method

A hybrid drive and control device technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of affecting the performance of parallel mechanisms, existence of singular configurations, small working space, etc., to achieve good driving and control effects and smooth motion. , the effect of eliminating the influence of the transmission mechanism

Pending Publication Date: 2017-10-20
SOUTH CHINA UNIV OF TECH
View PDF8 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Hybrid-driven redundant plane parallel mechanism control device and method
  • Hybrid-driven redundant plane parallel mechanism control device and method
  • Hybrid-driven redundant plane parallel mechanism control device and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Such as Figure 1 ~ Figure 3 As shown, this embodiment provides a hybrid drive redundant planar parallel mechanism control device, which includes a parallel mechanism body unit, a detection unit and a control unit; figure 1 The dotted line connection in shows the connection diagram between the electrical signal and the body unit of the parallel mechanism, and the direction arrow shows the transmission direction of the detection and control signal flow;

[0043] The body unit of the parallel mechanism includes a dynamic platform 1, a static platform 2 and three parallel branches;

[0044] 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, and the three corners are respectively connected to three parallel branches through rotating shafts.

[0045] The static platform 2 includes a panel 3, a frame 4 and a base 5, the panel 3, the frame 4 and the base 5 a...

Embodiment 2

[0065] The main feature of this embodiment is: the angular acceleration sensor 14 on the moving platform 1 can also be installed at a distance of 50 mm or 70 mm from the center of the moving platform. All the other are with embodiment 1.

Embodiment 3

[0067] The main features of this embodiment are: the second unidirectional acceleration sensor 16 on the active rod 7 can also be installed at a distance of 60mm or 80mm from the center of the active rod 7, and is located away from the second motor assembly (direct drive rotating motor 11 and At the position of the flange connection piece 12). All the other are with embodiment 1.

[0068]In summary, the present invention transforms on the basis of the 3-RRR (rotation-rotation-rotation branch) planar parallel mechanism to form a 3-RRRR (rotation-rotation-rotation-rotation branch) planar parallel mechanism, specifically in each A drive joint is added to the parallel branch, which is composed of a motor assembly and a drive board, that is, each parallel branch has two drive joints, and the moving platform has only three degrees of freedom in horizontal movement and rotation, so the entire The parallel mechanism is driven redundant, which greatly improves the shortcomings of the ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a hybrid-driven redundant plane parallel mechanism control device and method. The device comprises a parallel mechanism body unit, a detection unit and a control unit. The parallel mechanism body unit comprises a mobile platform and three parallel branches. Each of the parallel branches comprises a first motor assembly, a driving plate, a second motor assembly, an active rod and a passive rod; the detection unit comprises a three-way acceleration sensor, an angular acceleration sensor, a first one-way acceleration sensor and a second one-way acceleration sensor; and the control unit is separately connected to the first motor assembly, the second motor assembly, the three-way acceleration sensor, the angular acceleration sensor, the first one-way acceleration sensor and the second one-way acceleration sensor. The device disclosed by the invention hybrid-driven by the two motor assemblies, so that the parallel mechanism works in a relatively large space and arrives a preset position stably, accurately and quickly; the plurality of sensors are used for detecting vibration information as feedback signals to quickly inhibit vibration of the parallel mechanism.

Description

technical field [0001] The invention relates to a control device for a planar parallel mechanism, in particular to a hybrid drive redundant planar parallel mechanism control device and method, belonging to the field of planar parallel mechanism design and control. 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. [0003] With the in-depth study ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16B25J19/00
CPCB25J9/0048B25J9/1651B25J19/0091
Inventor 邱志成余龙焕
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com