Three-freedom-degree parallel mechanism control method

A control method and technology of degrees of freedom, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of insufficient research on three-degree-of-freedom motion platforms, difficult implementation of control algorithms, complex control methods, etc., to achieve good promotion value, The hardware structure is simple and the effect is easy to achieve

Inactive Publication Date: 2018-07-06
HOHAI UNIV CHANGZHOU
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Problems solved by technology

[0004] After the 21st century, the research on the six-degree-of-freedom motion platform is becoming more and more mature, but the research on the three-degree-of-freedom motion platform is not enough
As a complex structure, multi-parameter, multi-degree-of-f

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0040] Such as figure 1 and 2 As shown, the platform mechanism comprises a static platform (8) and a dynamic platform (1) located above the static platform (8), the static platform (8) and the dynamic platform (1) are circular, and the dynamic platform (1) It is connected with the static platform (8) by three branch chains, each branch chain (12) is mainly composed of a ball pair (11), a moving pair (12) and a rotating pair (13), and the ball pair (11) is connected to the moving pair (12) and moving platform (1), rotating pair (13) connects moving pair (12) and static platform (8), and described ball pair is used for realizing moving platform to swing in any direction, and described moving pai...

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Abstract

The invention discloses a three-freedom-degree parallel mechanism control method. The three-freedom-degree parallel mechanism control method is characterized by comprising the following steps that (1)a platform mechanism is built at first, wherein the platform mechanism comprises a static platform and a movable platform, a fixed coordinate system is built on the static platform, a movable coordinate system is built on the movable platform, the projection, on the static platform, of the movable coordinate system coincides with the fixed coordinate system in the original state, and coordinate axes meet the right hand rule; (2) according to mechanical parameters of the platforms and working requirements of users, the lengths of three electric cylinder rods corresponding to different poses are inversely solved through the kinematics; (3) the time corresponding to each rod length is worked out; and (4) the tree rod length variable quantities and time variable quantities are set to be arrays, and an electric cylinder is driven by a multi-axis motion controller to continually move, so that platform euler angle output is achieved, and motion simulation is achieved. The three-freedom-degree parallel mechanism control method has the advantages that the hardware structure is simple, intermediate links are decreased, the reliability is high, the control algorithm is easy to achieve, and the good popularization value is realized.

Description

technical field [0001] The invention relates to a control method of a three-degree-of-freedom parallel mechanism, which belongs to the technical field of parallel mechanism control. Background technique [0002] The motion simulation platform is a typical product in the mechanical and electronic industry. It was first used in the military field. With the progress of industrial manufacturing, it has been developed in various fields in recent years. It has broad prospects and scientific research value in the mechanical automation industry. Before the physical prototype is produced or put into application, various simulation experiments are often carried out to determine the performance characteristics of the simulation platform in various aspects under different conditions, so as to obtain the best realization plan of the product. Compared with other previous experiments, the application of the motion simulation platform has reduced costs, increased safety, short cycles, and i...

Claims

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Application Information

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IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 李向国徐铭泽王仕奇汪宇其
Owner HOHAI UNIV CHANGZHOU
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