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Pneumatic muscle cylinder parallel platform

A technology of pneumatic muscle and motion platform, applied in the field of machinery, can solve the problem of low accuracy of pose control, and achieve the effect of good robustness

Inactive Publication Date: 2018-05-29
张琳
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  • Summary
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  • Claims
  • Application Information

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Problems solved by technology

The pneumatic parallel platform has the advantages of low cost, clean and pollution-free, and good biological adaptability, but the pose control accuracy is often not high due to the elastic characteristics of the working medium.

Method used

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  • Pneumatic muscle cylinder parallel platform
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Embodiment Construction

[0013] The present invention will be further described below in conjunction with drawings and embodiments.

[0014] Such as figure 1 , figure 2 , a parallel platform driven by a mixture of pneumatic muscles and cylinders, with degrees of freedom in three directions: roll, pitch, and heave. The parallel platform is driven by a cylinder coupled with three pneumatic muscles, and the cylinder provides upward support for the motion platform. , 3 pneumatic muscles provide the rotational torque required to control the motion platform.

[0015] In addition to the advantages of other parallel platforms, this mechanism has the following characteristics: 1) The platform stiffness is independently controlled by the cylinder, which can adjust the dynamic stiffness of the platform in real time and keep the dynamic stiffness of the platform relatively unchanged during the movement process. 2) It has the three most widely used degrees of freedom of heave, roll and pitch. 3) It can move fr...

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Abstract

The invention discloses a pneumatic muscle cylinder parallel platform. The platform has degrees of freedom in three directions of transverse rocking, longitudinal rocking and rising-sinking, wherein aplatform equivalent rigidity control system controlled by a cylinder and a platform pose control system controlled by three pneumatic muscles are naturally separated, so that the design difficulty ofa controller is reduced. The controller can achieve high-precision platform pose trajectory tracking control effect; an online parameter identifying part can correct a nonlinear model compensation algorithm in real time; and meanwhile, the controller achieves excellent robustness.

Description

technical field [0001] The invention relates to a pneumatic muscle cylinder parallel platform, which is suitable for the mechanical field. Background technique [0002] The parallel platform is a mechanism in which multiple actuators act on the same motion platform to control the motion and posture state. It has good stiffness characteristics and has been widely used in parallel machine tools, robots, positioning and measuring devices, simulators, medical and entertainment equipment. Applications. The pneumatic parallel platform has the advantages of low cost, clean and pollution-free, and good biological adaptability, but the pose control accuracy is often not high due to the elastic characteristics of the working medium. [0003] Pneumatic muscle is a force actuator that uses the energy of compressed gas to generate axial tension, which can be approximately equivalent to a nonlinear spring device with variable original length and variable stiffness. Compared with traditi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/003B25J9/1075
Inventor 张琳
Owner 张琳
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