Control method for six-degree-of-freedom hydraulic motion platform with connecting rods

Abstract

The invention discloses a control method for a six-degree-of-freedom hydraulic motion platform with connecting rods. The control method comprises the following steps: setting a six-degree-of-freedom position and posture command signal of an upper platform, and inputting the command signal in a position and posture inverse solution calculation module; carrying out position and posture inverse solution calculation through the position and posture inverse solution calculation module so as to acquire the displacement of each of six hydraulic cylinders, and taking the displacement as the displacement command signal of each of the six hydraulic cylinders; and inputting the displacement command signals of the six hydraulic cylinders in a valve-controlled cylinder position control system, drying the hydraulic cylinders to move, and driving the upper platform to realize the six-degree-of-freedom movement through the hydraulic cylinders. According to the control method for the six-degree-of-freedom hydraulic motion platform with connecting rods, through the transformation of local coordinates, the center coordinate expressions of lower hook joint hinge points of the connecting rods are acquired by utilizing the displacement of each of the horizontal hydraulic cylinders, the displacement of each of the horizontal hydraulic cylinders is acquired through solving equations, the position and posture inverse solution operation of the six-degree-of-freedom motion platform with the connecting rods is realized, and the conversion accuracy between the six-degree-of-freedom position and posture command signal of the upper platform and the displacement command signals of the six hydraulic cylinders is improved.

Description

technical field [0001] The invention relates to a robot kinematics control method in the mechanical field. Specifically, it is a control method of a six-degree-of-freedom hydraulic motion platform with connecting rods. Background technique [0002] Most of the existing six-degree-of-freedom hydraulic motion platforms are directly connected to the upper and lower platforms through the hydraulic cylinder through the hinge. The lower platform is fixed to the ground, and the movement of the upper platform is driven by the telescopic movement of the hydraulic cylinder, thereby simulating the movement of six degrees of freedom. It can be widely used in aerospace, automobile, construction and other fields. With the advancement of science and technology, the requirements for the control accuracy of motion platforms in various fields are getting higher and higher. For the traditional six-degree-of-freedom hydraulic motion platform, the hydraulic cylinder will generate a large iner...

AI Technical Summary

Problems solved by technology

However, in the existing pose inversion methods, it is assumed that the lower hinge points of all hydraulic cylinders are stationary.

If the existing pose inversion method is applied to a six-degree-of-freedom hydraulic motion platform with connecting rods, the control accuracy will be greatly reduced, and the accurate reproduction of the six-degree-of-freedom command signal will not be realized.

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