20 results about "Stewart platform" patented technology

The invention discloses a hierarchical cooperative motion control method for a ship dynamic positioning and wave compensation embarkation system. The method comprises the following steps: acquiring historical motion data of a ship; the historical motion data of the ship are fused, and the current ship posture and speed are obtained; the prediction model generates a predicted value of the disturbance of the ship in the future preset time; extracting to obtain a low-frequency slow drift motion component; the total output force of the thruster is calculated, and the ship dynamic positioning system controls the thruster to work based on the total output force of the thruster so as to compensate the low-frequency slow drift motion component; a Stewart platform in the wave compensation embarkation system controls supporting legs to work based on the target lengths of the supporting legs so as to compensate low-frequency motion left after compensation of the ship dynamic positioning system and high-frequency motion which is not compensated; and residual disturbance after the Stewart platform is compensated is compensated through the gangway ladder. According to the invention, an energy distribution mode that low-frequency disturbance is compensated by a ship dynamic positioning system and high-frequency disturbance is compensated by a wave compensation embarkation system can be realized.

The invention provides a three-axis vibration sensor correction method and device based on a Stewart platform, and belongs to the technical field of sensor correction. The method provided by the invention comprises the steps of collecting a laser spot motion sequence image of a Stewart platform and a three-axis output voltage sequence of a three-axis vibration sensor; calculating a three-axis excitation displacement sequence based on the laser spot motion sequence image; calculating a three-axis excitation acceleration peak value according to the three-axis excitation displacement sequence; fitting the three-axis output voltage sequence based on a sine approximation method to obtain a three-axis voltage peak value; calculating the sensitivity of the three-axis vibration sensor according to the ratio of the three-axis voltage peak value to the three-axis excitation acceleration peak value, determining the bending angle of the Stewart platform, and correcting the sensitivity based on the bending angle. The invention provides a method and a device for correcting a three-axis vibration sensor based on a Stewart platform. The method and the device are used for correcting the sensitivity of a multi-axis sensor.

The invention discloses a structural parameter optimization method of a Stewart platform, and belongs to the technical field of parallel robots. The method comprises the following steps: firstly, establishing a mathematical model of a Stewart platform, carrying out degree-of-freedom analysis on the platform, and establishing a kinetic equation based on a positive and inverse kinematics relationship and a Lagrange method; then determining an optimization target which covers a working space, rigidity, motion precision and stability; on this basis, a particle swarm optimization (PSO) algorithm is adopted to carry out global optimization on key parameters such as branch length, platform layout, driver position and the like, and a fitness function is utilized to comprehensively evaluate platform performance; and finally, inputting an optimization result into finite element analysis (FEA) and multi-body dynamics simulation (MBD) software for verification. Experimental results show that the working space of the Stewart platform can be remarkably expanded, the motion precision and rigidity of the Stewart platform are improved, stress distribution is improved, and the overall stability is enhanced. The method breaks through the limitation of traditional empirical design and single-target optimization, has the advantages of high optimization efficiency, high global search capability and high convergence speed, is suitable for scenes such as flight simulators, precision machining and spaceflight test platforms, and has wide engineering application value.

Embodiments of the invention provide a control method and apparatus, and an electronic device. The method comprises the steps of determining current information of a Stewart platform; the current information comprises a current pose and the rod length of each rod; inputting the current information into a prediction model to obtain adjustment information of the Stewart platform; wherein the prediction model is a network model obtained by optimizing a radial basis function network through a particle swarm optimization algorithm; control information of the Stewart platform is determined according to the adjustment information; and adjusting the current information according to the control information.

The invention discloses a multi-rotor manned flight simulator based on a Stewart platform, and belongs to the technical field of rotor unmanned aerial vehicles. The multi-rotor manned flight simulator based on the Stewart platform comprises a rotor unmanned aerial vehicle body, the rotor unmanned aerial vehicle body comprises a rack, first servo motors and folding propellers, and four sets of servo motors are symmetrically and fixedly distributed on the side face of the rack; the three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and driving branch chains, the fixed platform is fixedly connected to the lower side of the rack, and the fixed platform and the movable platform are hinged through a plurality of driving branch chains; the driving branch chain comprises a second servo motor, a ball screw and a telescopic rod. The second servo motor is fixedly connected to the lower side of the fixed platform and connected with the ball screw through a coupler. And the manned cabin is rotationally connected to the lower portion of the movable platform and used for bearing passengers, and the stability and riding comfort of the cabin are remarkably improved by means of the active control characteristic of the Stewart platform.

The application relates to a wave compensation system modeling and pose control method based on a Stewart platform, which comprises the following steps: step 1, performing dynamic analysis on a shipborne Stewart platform and obtaining a force balance equation; step 2, calculating the action of a gangway mechanism on the upper platform of the Stewart platform; step 3, expanding the force balance equation based on the action of the gangway mechanism on the upper platform of the Stewart platform, and then establishing a dynamic model of the shipborne Stewart platform considering the gangway; and step 4, designing a Stewart platform pose controller based on a backstepping method to control the pose of the Stewart platform. Compared with the prior art, the application has the advantages of improving the precision of wave compensation and improving the pose control precision.

The invention provides a method and device for repairing a nickel-based alloy turbine blade through surface nickel plating-laser additive synergistically, and belongs to the technical field of part repairing, the device comprises an electroplating or chemical plating module and a laser printing module; the electroplating or chemical plating module comprises a turbine blade clamping assembly and a nickel plating assembly; the turbine blade clamping assembly comprises a two-degree-of-freedom mechanical arm, a first turbine blade clamping piece is installed on the two-degree-of-freedom mechanical arm, a turbine blade containing groove and a baffle containing groove are formed in the first turbine blade clamping piece, a baffle is inserted into the baffle containing groove, and a screwing nut is installed on the baffle. The laser printing module comprises a shell, a six-degree-of-freedom stewart platform is installed on a base at the bottom in the shell, and a second turbine blade clamping piece is installed on the six-degree-of-freedom stewart platform; and a free-form surface fitting module is mounted at the top of the shell. According to the method, repairing defects such as cracks and holes are eliminated, the interface bonding strength is remarkably improved, and the method has the important significance of reducing the cost and saving scarce resources for repairing the turbine blade.

A production assembly for precise handling comprising a Stewart platform holding a production tool, a telescopic hoisting unit and a gantry assembly connected to the Stewart platform.

The problem addressed by this invention, a cooperative operation method for a serial-parallel hybrid space operating system, is as follows: For the dynamic pose tracking problem of a robotic arm on a moving base during on-orbit operation, a serial-parallel hybrid operating system consisting of a 6-DOF serial robotic arm and a Stewart platform is proposed. The Kane method is used to perform dynamic modeling of the serial-parallel hybrid operating system, analyzing the coupling relationships between the various actuators to obtain explicit dynamic equations. Then, an impedance controller is designed based on these dynamic equations to achieve compliant control of the serial-parallel hybrid operating system. Finally, an IMU located at the end of the serial robotic arm is used to sense the actual attitude of the serial section and compare it with the target attitude to obtain the attitude error. After inverse kinematics solution, the attitude error is compensated using the Stewart platform fixed at the end of the serial robotic arm, achieving more precise attitude tracking.

The invention discloses a vehicle test platform based on a six-degree-of-freedom parallel robot and a working method of the vehicle test platform, and belongs to the technical field of vehicle test. The vehicle test platform comprises a gradient adjusting mechanism, a platform lifting mechanism, a fixed platform, a sliding table moving mechanism, a Stewart platform group and a raining mechanism; the slope adjusting mechanism, the platform lifting mechanism and the fixed platform are sequentially arranged on the bottom plate, one end of the sliding table moving mechanism is located in the fixed platform, the sliding table moving mechanism is slidably connected with a Stewart platform set, and the Stewart platform set limits wheels of a to-be-tested vehicle. According to the invention, a comprehensive test platform capable of completing eight types of tests of vehicle centroid measurement, rollover, vibration, road bumping, variable-speed driving, collision, raining and climbing can be constructed, and simulation and execution of various test conditions are realized by using the multi-degree-of-freedom motion capability and a modular structure of the Stewart platform group, so that the test efficiency is remarkably improved, and the test cost is reduced. And integration and multi-functionalization of vehicle research and development and testing are realized.

The application relates to a six-freedom-degree strain sensing device suitable for Stewart platform feedback, which comprises an upper platform, an upper sensing unit, a lower sensing unit, a mounting frame, a lower platform, a first piezoelectric actuator, a second piezoelectric actuator, a third piezoelectric actuator, a fourth piezoelectric actuator, a fifth piezoelectric actuator and a sixth piezoelectric actuator; the upper platform is in the shape of a hexagon composed of three equal-length short sides and three equal-length long sides, and the short sides and the long sides are arranged at opposite positions; the upper sensing unit is connected with the upper platform; the lower sensing unit passes through the upper sensing unit sleeve and is connected with the upper platform through the upper end of the lower sensing unit sleeve; the mounting frame is composed of an upper annular mounting interface, a mounting frame first branch leg arranged in the shape of a Chinese character 'pin' under the annular mounting interface and presenting a 30-degree angle with the vertical direction, a mounting frame second branch leg and a mounting frame third branch leg. The application realizes high-precision six-freedom-degree adjustment, driving and sensing integration of the load.

The invention relates to medicine and can be used for treating severe polytrauma and complex fractures, for example, of the tibia long bone. A robotized system for the closed reduction of a fractured femur comprises a system of actuators based on a Stewart platform, a working member assembly, Schanz pins, a perineal post, and a controller with software. The Stewart platform is mounted on a floor plate via a vertical column. The linear actuators are arranged between a base plate and an end effector having a C-shaped ring. The two ends of the actuators are connected by hinges to the base plate and the end effector, respectively. The Schanz pins are secured to mounting blocks which are fastened by round-head screws and wingnuts. The perineal post is mounted on a base plate via a vertical column. The post is connected to two additional links. An O-shaped ring of the perineal post is connected to the C-shaped ring by a trapezoidal steel ring. A Schanz pin is mounted on a steel block such as to be capable of holding a proximal fragment in place during the reduction process. The invention results in precise traction forces and the optimal alignment of bone fragments.

The invention provides an electro-hydraulic mechanism digital twinning monitoring method based on DeepSeek, and belongs to the technical field of electro-hydraulic mechanism digital twinning monitoring. In order to solve the technical problem that a monitoring system in an existing electro-hydraulic platform monitoring scheme lacks an intelligent diagnosis function and cannot analyze fault causes by using monitoring data, the adopted technical scheme is as follows: a data sensor is mounted on a to-be-monitored electro-hydraulic Stewart platform, collected sensor data is sent to the monitoring system through a PLC (Programmable Logic Controller); the monitoring system maps monitoring data in a three-dimensional model in real time and sends the data to the cloud server through an API, the DeepSeek large language model carries out fault diagnosis according to the data, a diagnosis report is generated and returned to the monitoring system after the diagnosis is completed, and the diagnosis result is displayed on monitoring software; the electro-hydraulic Stewart platform fault monitoring method is applied to electro-hydraulic Stewart platform fault monitoring.

The present invention relates to StewartEdu, an interactive educational model designed for learning the principles and applications of parallel platforms, particularly the Stewart platform. The model consists of six servomotors enabling control of movements in six degrees of freedom (three translations and three rotations). It is equipped with a touchscreen that allows users, primarily students, to control the platform in real time. An ESP32 control board manages the signals sent to the servomotors. The invention also incorporates infrared sensors or accelerometers, enabling the detection of the platform's position and movements, and implementing PID control to ensure its stability. Furthermore, the prototype includes 12 control buttons, providing direct manual control of the servomotors and thus improving interaction with the system. An Android app enables remote control via a Wi-Fi connection, offering flexibility for distance learning. This dual control option (local via the touchscreen and remote via the app) makes StewartEdu particularly well-suited to educational and training environments. Its simple interface and use of standard components make the prototype affordable and easily reproducible. The invention aims to provide an interactive tool for a practical exploration of the concepts of kinematics and dynamics of parallel platforms, while facilitating teaching and learning in the fields of mechanical engineering and robotics.

The invention relates to the technical field of wave compensation, and particularly discloses a wave compensation device based on a servo electric stewart platform, which comprises a stewart platform, an attitude sensor, a PLC (programmable logic controller), a warning lamp, a servo driver, a power supply and a relay, the actuator of the stewart platform is an electric cylinder, and the power supply and the relay are used for supplying power to the PLC and the servo driver. Wherein the attitude sensor is a marine attitude instrument, the marine attitude instrument is installed at the central position of the lower surface of the stewart platform, the installation coordinate direction of the marine attitude instrument corresponds to the movement coordinate direction of the stewart platform, and the marine attitude instrument communicates with the PLC through UDP and TCP / IP connection modes and provides inclination angle and displacement data of a ship for the PLC. According to the wave compensation device based on the servo electric stewart platform, UDP / TCP / IP is adopted to transmit ship attitude data, and an EtherCAT industrial Ethernet bus is combined to control a servo driver, so that a millisecond-level high-speed communication network is constructed, and extremely low delay from signal sensing to actuator response is ensured.

The application discloses a kind of active pointing superstatic platform ground semi-physical test method and system.The method is applied to the host computer of ground semi-physical test system, method includes: for any time execution: S1, based on the difference between the first relative pose of the load mounting platform and the Stewart platform and the reference relative pose, adjust the pose of the Stewart platform, and execute S2;S2, calculate the second relative pose of the load mounting platform and the adjusted Stewart platform, and execute S3;S3, based on the difference between the second relative pose and the reference relative pose, adjust the pose of the load mounting platform, and execute S4;S4, calculate the third relative pose of the adjusted load mounting platform and the Stewart platform;Third relative pose is used as the first relative pose of next time, and returns to execute S1 until test is finished.The application can accurately test the performance of active pointing superstatic platform.

The invention relates to the technical field of automatic machining of large complex components, in particular to a full-automatic production device and method.The full-automatic production device comprises a platform, a machining machine head, a bearing table and an electromagnetic assembly, and a vertical frame and a transverse sliding table are arranged on the platform and used for driving the machining machine head to move in the space in a positioned mode; the machining machine head is of a parallel structure composed of a plurality of movable arm sets, and a milling cutter main shaft is driven through the Stewart platform driving principle to achieve multi-degree-of-freedom and multi-azimuth posture movement. The surface of the bearing table is provided with an indexing rotary table, and the bearing table is driven by meshing of a fixed gear ring and an outer rotor motor. By means of the structure and the method, multi-surface continuous machining of the large turbine blade under the condition that repeated clamping is not needed is achieved, the limitation of a traditional milling machine on the machine tool size and the posture freedom degree is broken through, and the adaptability, the machining precision and the production efficiency of complex curved surface machining are remarkably improved; and the method is suitable for automatic and large-scale production of the super-large-specification steam turbine blades.

The application discloses a kind of multi-rotor unmanned aerial vehicle master control in loop simulation method, system and storage medium, it is related to unmanned aerial vehicle in loop simulation technical field.Under the master control in loop simulation architecture, the virtual total thrust and virtual total torque are generated after the propulsion control instruction of master control output is modeled after propulsion chain pure lag and first-order inertia response, and virtual flight state is solved after wind disturbance is introduced into flight dynamics model;For the multi-source delay and dynamic distortion of propulsion side, dynamics calculation side, platform execution side and platform mechanism side, respectively, compensation is carried out, and the compensated predicted virtual flight state is mapped as Stewart platform reference instruction, and the inertial measurement unit is excited by platform motion, and the master control is fed back to form a closed loop.The application can restore the time sequence relationship between control instruction, propulsion response and body motion, improve the overall consistency and platform reference tracking accuracy of master control in loop simulation under wind disturbance.

The application belongs to the technical field of intervertebral disc simulation test, and particularly relates to a multi-degree-of-freedom coupling loading test method and device for intervertebral disc and intervertebral disc prosthesis based on a Stewart platform. The device comprises an upper seat and a lower seat, a plurality of actuating arms are arranged between the upper seat and the lower seat, each actuating arm is connected with a driving unit, the driving unit is connected with a control unit, a sensor and an upper clamp are mounted on the lower surface of the upper seat, the upper clamp is used for clamping the upper cone of the intervertebral disc prosthesis, the sensor is electrically connected with the control unit, and the sensor is used for detecting load data, an extension adjusting shaft is mounted on the upper surface of the lower seat, the other end of the extension adjusting shaft is provided with a lower clamp, and the lower clamp is used for clamping the lower cone of the sample. The multi-degree-of-freedom coupling loading test device for intervertebral disc and intervertebral disc prosthesis based on the Stewart platform can perform six-degree-of-freedom coupling loading test and characterization on the intervertebral disc and the replacement prosthesis, the result is accurate, the device is simple, and the cost is low.

The split type orthopedic reduction robot comprises a framework based on Stewart platform configuration and a motor driving control system used for driving the framework to achieve six-degree-of-freedom movement, and the motor driving control system and the framework can be rapidly disassembled and assembled; the frame comprises a first plane ring, a second plane ring and six threaded telescopic rods, the two ends of each threaded telescopic rod are connected with the first plane ring and the second plane ring through spherical hinge structures correspondingly, one spherical hinge structure is provided with a limiting assembly used for limiting axial rotation of the threaded telescopic rods, and the other spherical hinge structure is provided with a transmission assembly. A driving motor of the motor driving control system is detachably connected with the transmission assembly. By arranging the motor driving control system which can be quickly disassembled and assembled with the frame, the size and weight of the frame can be reduced, intraoperative operation and postoperative wearing are facilitated, cleaning and disinfection of the frame and maintenance of the motor driving control system are also facilitated, the medical cost is reduced, and popularization and application are facilitated.