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

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...

AI Technical Summary

Problems solved by technology

[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 mechanism based on the positive kinematics solution, so as to improve the problem of low real-time performance and low precision of the attitude control of the parallel mechanism in the prior art

Images