Modular combined motion platform used for stability training and amplitude limiting random motion planning and control method

A motion platform, modular technology, applied in the control of using feedback, motion accessories, gymnastics equipment, etc., can solve the problems of slow speed, no convenient deformation, and high level of parallel platform table.

Active Publication Date: 2019-09-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This invention patent provides a mechanical structure design scheme for a 6-DOF series-parallel motion platform, but it does not involve the convenience of deformation and combination into a modular combined design scheme with different disturbance degrees of freedom, nor does it involve the limitation of using a training platform to simulate environmental disturbances. Specific Methods of Amplitude Random Motion Planning and Motion Control
[0006] In summary, the problems and deficiencies of the multi-degree-of-freedom motion platforms designed or applied in existing patent documents and academic papers can be summarized as follows: the traditional parallel platform is not suitable for stability training due to defects such as high table top, small range of motion, and slow speed. application; the existing 6-DOF series-parallel platform has not been designed in a modular and combined manner, and cannot be deformed and reorganized into different mechanism configurations with specific disturbance degrees of freedom according to the needs of stability training
Moreover, none of the existing literatures gives a motion planning and control method for simulating and generating limited random motion corresponding to environmental disturbances based on the upper limit of the motion ability of the organism or robot to be trained.

Method used

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  • Modular combined motion platform used for stability training and amplitude limiting random motion planning and control method
  • Modular combined motion platform used for stability training and amplitude limiting random motion planning and control method
  • Modular combined motion platform used for stability training and amplitude limiting random motion planning and control method

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specific Embodiment approach 1

[0068] Specific implementation mode one: as figure 1 As shown, the six-degree-of-freedom series-parallel mechanism motion platform of the present invention is composed of a central support module 1, a y-direction connecting rod 2, an x-direction connecting rod 3, a column connecting rod 4, a column module 5, and a spherical hinge The connecting rod module 6 and the two-degree-of-freedom moving platform module 7 are composed. Among them, there are two y-direction connecting rods, two x-direction connecting rods 3, and two column connecting rods 4, and the y-direction connecting rods 2 are arranged along the y-axis direction of the coordinate system ΣO-xyz, connecting the central support module 1 and the x-direction connecting rod 3 The x-direction connecting rod 3 is arranged along the x-axis direction of the coordinate system ΣO-xyz, connecting the y-direction connecting rod 2 and the two column modules in the x-axis direction; the column connecting rod 4 connects the two colu...

specific Embodiment approach 2

[0078] Specific implementation mode two: as Figure 7 As shown, when performing stability training on the footed / legged robot, in order to increase the friction coefficient between the sole of the robot and the moving platform surface and provide a certain buffer, the pre-processed surface on the table (7-2-2) can be used A rubber plate with certain elasticity is installed on the mechanical connection interface. For stability training tasks that need to consider irregular ground fluctuations, such as Figure 7 Shown in (a), various irregular bumps are installed on the table top (7-2-2). For enhanced training or stability test tasks in a specific environment, corresponding special scenes can be installed on the table. For example, for the stability test task of going up and down stairs, the Figure 7 Step pads of different sizes in (b) are installed on the moving platform to simulate the structure of the actual stairs; for stability training or testing under discontinuous ter...

specific Embodiment approach 3

[0079] Specific implementation mode three: as Figure 8 As shown, using the above-mentioned central support module 1, column module 5, spherical joint connecting rod module 6, two-degree-of-freedom moving platform module 7, single-degree-of-freedom moving platform module 8, and tabletop module 9 without degree of freedom, the modules designed in the present invention The combined series-parallel mechanism motion platform can be composed of 6 different mechanism configurations with two, three, four, five, and six degrees of freedom (including two types of four-degree-of-freedom configurations).

[0080] Figure 8 The two-degree-of-freedom motion platform in (a) is composed of a central support module 1, two column modules 5, two ball-joint link modules 6 and a non-degree-of-freedom table module 9, and has the ability to swing around the x-axis and around the y-axis Two degrees of freedom of motion.

[0081] Figure 8 The three-degree-of-freedom motion platform in (b) is comp...

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Abstract

A modular combined motion platform used for stability training and an amplitude limiting random motion planning and control method relate to a robot and a control method. In the invention, problems that an existing series-parallel mechanism motion platform can not be reorganized into mechanism configuration with different degrees of freedom, and a motion generation and control method for simulating environment disturbance through amplitude limiting random motion of a platform is not provided are solved. A center support module, a column module, a spherical hinge connection rod module, a two-degree-of-freedom moving platform module, a single-degree-of-freedom moving platform module, and a non-freedom moving platform module are designed. The six modules can be used to form six different mechanism configurations with two to six degrees of freedom, and a real-time planning and control method of moving platform amplitude limiting random motion is provided. A motion test experiment under a loading condition is performed in the form of two degrees of freedom of the designed motion platform, and effectiveness of a provided combined method and a control method is verified. The platform and the method are applied to the serial / parallel robot field.

Description

technical field [0001] The invention relates to a series-parallel motion platform and a motion planning and control method thereof, in particular to a modular combined series-parallel mechanism motion platform for stability training and a planning and control method for limiting random motion thereof. Background technique [0002] In many practical applications and scientific researches such as pilot / astronaut training, stroke rehabilitation, biological balance mechanism research, and foot / legged robot self-stabilization ability acquisition, multi-degree-of-freedom motion platforms are used as balance for humans, animals, and robots. Therefore, the motion platform itself and the limited random motion planning and control methods required for various disturbances in the simulated environment have broad application prospects. [0003] Most of the motion platforms used in current applications are 6-DOF Stewart platforms, which are driven by 6 parallel hydraulic cylinders. The S...

Claims

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Application Information

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IPC IPC(8): G05D3/20A63B24/00
CPCA63B24/0087G05D3/20
Inventor 吴伟国高力扬
Owner HARBIN INST OF TECH
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