Method for controlling attitude angle of three-degree-of-freedom parallel mechanism based on kinematics normalization

A control method and kinematics technology, applied in non-electric variable control, control without feedback, position/direction control, etc., can solve the problems of real-time and low precision of attitude control

Inactive Publication Date: 2018-07-27
舒天艺
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[0003] In view of this, the purpose of the embodiments of the present invention is to provide a method for controlling the attitude angle of a three-degree-of-freedom parallel mechan...

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  • Method for controlling attitude angle of three-degree-of-freedom parallel mechanism based on kinematics normalization
  • Method for controlling attitude angle of three-degree-of-freedom parallel mechanism based on kinematics normalization
  • Method for controlling attitude angle of three-degree-of-freedom parallel mechanism based on kinematics normalization

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Embodiment Construction

[0079] In the embodiment, the parallel mechanism includes three sets of actuators, three sets of support rods and a moving platform, one end of the three sets of actuators is respectively hinged to the moving platform, and the other ends of the three sets of actuators are respectively hinged to the foundation or the support rods; One end of the three sets of support rods is respectively hinged to the foundation, and the other ends of the three sets of actuators are respectively hinged to the moving platform or the actuator;

[0080] When the parallel mechanism is in the initial working position: the actuator, the support rod and the upper hinge point of the moving platform are in the same plane and located on a circle; the three support rods have the same length and are located on a circle with the lower hinge point of the foundation The center of the circle where the upper and lower hinge points are located is the vertical projection of the center of the moving platform on the...

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Abstract

The embodiment of the invention provides a method for controlling the attitude angle of a three-degree-of-freedom parallel mechanism based on kinematics normalization. The parallel mechanism comprisesthree sets of actuators, three sets of support rods and a movable platform. The control method comprises the steps of establishing a body coordinate system OB-XbYbZb at the center of a circle where ahinge point on the movable platform is located, and establishing a fixed reference coordinate system Op-XpYpZp on the earth, wherein when the parallel mechanism is located at a working initial position, the body coordinate system coincides with the reference coordinate system; describing the attitude of the movable platform by applying the generalized coordinates of the body coordinate system relative to the reference coordinate system, wherein the generalized coordinates comprise three euler angles, and the three euler angles are composed of a transverse rocking angle, a longitudinal rockingangle and a yaw angle; acquiring a rotation matrix of the body coordinate system relative to the reference coordinate system; according to the length of the actuators or the length of the support rods, and applying the kinematics normalization algorithm to obtain the attitude angle of the movable platform based on the relation between the rotation matrix and the kinematics.

Description

technical field [0001] The invention relates to the field of a three-degree-of-freedom swing test bench, in particular to an attitude angle control method of a three-degree-of-freedom parallel mechanism based on kinematics positive solutions. Background technique [0002] The multi-degree-of-freedom swing test bench includes a parallel mechanism and a series mechanism. The parallel mechanism has the characteristics of high rigidity, large carrying capacity, large accumulated error, good dynamic characteristics, and compact structure. It has been widely used in simulated fighter planes, machine tools, and robots in recent years. The structure of each part of the parallel mechanism is complicated, and the kinematic relationship is complicated, which makes it difficult to control the attitude of the parallel mechanism and meet the expected motion requirements. Contents of the invention [0003] In view of this, the purpose of the embodiments of the present invention is to pro...

Claims

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Application Information

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IPC IPC(8): G05D3/10G05D3/00B25J9/16
CPCG05D3/10B25J9/16G05D3/00
Inventor 舒天艺王华舒涛徐静
Owner 舒天艺
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