Multi-motion-mode movable parallel mechanism and control method thereof

A technology with multiple motion modes and control methods, applied in the field of mobile parallel mechanisms with multiple motion modes and its control, can solve problems such as complex control, poor stability, and insufficient precision, and achieve broad application prospects, good bearing capacity, and avoid limitations Effect

Active Publication Date: 2019-08-02
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The invention provides a mobile parallel mechanism with multiple motion modes and a control method, which solves the problems of complex control, insufficient rigidity, precision, and poor stability of existing robots with multiple motion modes.

Method used

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  • Multi-motion-mode movable parallel mechanism and control method thereof
  • Multi-motion-mode movable parallel mechanism and control method thereof
  • Multi-motion-mode movable parallel mechanism and control method thereof

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Embodiment Construction

[0047] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0048] Such as figure 1 with 2 As shown, the present invention provides a mobile parallel mechanism with multiple motion modes, including an upper platform 1 and a lower platform 2 with a parallelogram structure, the upper platform 1 and the lower platform 2 are arranged in parallel, and a plurality of supports are arranged between the two. Chain 3, a plurality of branch chains 3 are arranged parallel to each other, including three rotating pairs and a moving pair, the head and tail ends of which are connected with the upper platform 1 and the lower platform 2 through the steering gear 4, and the axial centerlines of the rotating shafts of all rotating pairs They are all parallel to each other and to the same side of the upper platform 1 or the lower platform 2 .

[0049] The steering gear 4 is provide...

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Abstract

The invention belongs to the technical field of motion control, and discloses a multi-motion-mode movable parallel mechanism. The mechanism comprises an upper platform and a lower platform which are of a parallelogram structure, the upper platform and the lower platform are arranged in parallel, a plurality of chains are arranged between the upper platform and the lower platform, and the chains are arranged in parallel. Each chain comprises three rotating pairs and a moving pair, the tail ends and the front ends of the rotating pairs and the moving pairs are connected with the upper platform and the lower platform through steering engines, and the axial center lines of rotating shafts of all the rotating pairs are parallel to each other and are parallel to the same side of the upper platform or the lower platform. The invention further discloses a control method of the multi-motion-mode movable parallel mechanism. The steering engines are used for controlling the rotation of the corresponding first and second rotating pairs to drive the corresponding third rotating pairs to rotate, so that the corresponding chains are controlled to be continuously bent and straightened, alternate landing of the upper platform and the lower platform is realized, and then a rolling mode of the movable parallel mechanism is achieved.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a mobile parallel mechanism with multiple motion modes and a control method thereof. Background technique [0002] With the upsurge in the development of robots, mobile robots have been used in many fields, such as emergency rescue, space exploration, military reconnaissance, and autonomous detonation tasks. Robots in this way can no longer adapt to complex and changeable environments. Therefore, multi-mode mobile mechanisms are the requirements for the development of mobile robots today. [0003] At present, a mechanism that integrates and switches various mobile modes such as full-stance rolling and quadruped walking on the same mechanism, such as the "Danty" eight-legged walking robot funded by NASA in the United States, and Boston Dynamics developed a quadruped Robot BigDog, although the above robot has multiple motion modes, it realizes multiple motion modes in a mod...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0045
Inventor 张春燕蒋新星谢明娟陈致朱锦翊
Owner SHANGHAI UNIV OF ENG SCI
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