CN103878764B - The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom - Google Patents
The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom Download PDFInfo
- Publication number
- CN103878764B CN103878764B CN201410107076.4A CN201410107076A CN103878764B CN 103878764 B CN103878764 B CN 103878764B CN 201410107076 A CN201410107076 A CN 201410107076A CN 103878764 B CN103878764 B CN 103878764B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- pneumatic
- groups
- platform
- motion platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 210000003205 muscle Anatomy 0.000 claims abstract description 126
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000005096 rolling process Methods 0.000 claims abstract description 39
- 238000006073 displacement reaction Methods 0.000 claims description 29
- 230000003584 silencer Effects 0.000 claims description 5
- 230000003387 muscular Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Fluid-Pressure Circuits (AREA)
- Actuator (AREA)
Abstract
The invention discloses the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom.Comprise fixed platform and motion platform, be provided with control cabinet below fixed platform, be provided with three groups of pneumatic actuating devices between motion platform and fixed platform, three groups of pneumatic actuating devices are controlled by control cabinet; Three groups of pneumatic actuating devices comprise and are connected to the pneumatic muscles group that a cylinder mechanism between motion platform and fixed platform center and two groups are respectively used to controlled motion platform pitching pose and motion platform rolling pose; Comprise pneumatic triple piece, cylinder control valve, four groups of pneumatic muscles control valve groups, controller group and the power supplys for powering in control cabinet, controller group comprises cylinder force sub-controller, motion platform pitching pose sub-controller, motion platform rolling pose sub-controller and master controller.Platform mechanism of the present invention has that power-mass ratio is large, compact conformation, with low cost, pollution-free, be convenient to carry out the features such as Pose Control.
Description
Technical field
The present invention relates to a kind of parallel connection platform, particularly the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom, belongs to platform mechanism and control technology field.
Background technology
Platform mechanism is divided into serial mechanism and parallel institution, wherein planar parallel mechanism has higher stiffness characteristics compared with series connection platform mechanism, the high precision position being convenient to implementation platform mechanism controls, and is all widely used in multiple fields such as aircraft movements support, bio-robot, medical rehabilitation instrument.Existing parallel connection platform is many by motor or hydraulic-driven, also exists that energy consumption is large, cost is high, plant maintenance is difficult and easy in defects such as environments.Pneumatic drive system is used to replace original motor or fluid power system effectively to solve the problems of the technologies described above, and obtained exploration and the research of many scholars, but the irrationality of the gentle moving platform mechanism design of the limitation due to selected air impeller itself, most of pneumatic parallel connection platform exists that rigidity is low, bearing capacity is weak, is difficult to carry out the shortcomings such as high precision position and posture control, therefore the space that is significantly improved.
Specifically, the control system of most pneumatic parallel connection platform adopts the control strategy simultaneously controlling all actuators, target control amount is many and model complicated, wherein a part of pneumatic parallel connection platform also has the problem of controlled quentity controlled variable redundancy, makes System design based on model device be difficult to obtain Design and implementation in application process.In engineering practice usually because of cost and installation requirements by sensor setting on the driver of pneumatic parallel connection platform, and there is the problem of its mechanism without forward kinematics solution analytic solutions in partial pneumatic parallel connection platform, namely by analytical expression, joint space posture information cannot be converted to working space posture information, the position and posture of motion platform can only be obtained by the numerical solution of meeting at substantial controller usefulness in real time.Part in parallel platform mechanism is when a certain actuator generation failure conditions, and sudden rising on vertical direction or reduction can occur motion platform, easily cause the hidden danger of secure context.
Summary of the invention
For defect and the deficiency of prior art, the object of the present invention is to provide the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom, with low cost, compact conformation, arrange rationally and be easy to carry out Pose Control.
For achieving the above object, the present invention is by the following technical solutions:
The present invention includes fixed platform and motion platform, below fixed platform, be provided with control cabinet; Be provided with three groups of pneumatic actuating devices between motion platform and fixed platform, three groups of pneumatic actuating devices are controlled by control cabinet; Three groups of pneumatic actuating devices comprise and are connected to the pneumatic muscles group that a cylinder mechanism between motion platform and fixed platform center and two groups are respectively used to controlled motion platform pitching pose and motion platform rolling pose, two groups of pneumatic muscles groups are arranged on around cylinder mechanism, cylinder mechanism is connected between motion platform and fixed platform center, cylinder mechanism upper end and motion platform hinged, cylinder mechanism lower end is fixedly connected with fixed platform; Mutual at right angle setting between two groups of pneumatic muscles groups, often organizes pneumatic muscles group and comprises the Liang Ge pneumatic muscles mechanism that symmetry is arranged on cylinder mechanism both sides.
Described cylinder mechanism comprises cylinder, cylinder auxiliary stand, cylinder pressure sensors, cylinder piston-rod displacement sensor and cylinder Connection Block, cylinder piston rod is hinged on motion platform bottom center, cylinder lower end is fixedly connected on fixed platform center by cylinder Connection Block, cylinder side is provided with for the fixing cylinder auxiliary stand of assistant cylinder, the acting chamber porch of cylinder is provided with cylinder pressure sensors, the parallel cylinder piston-rod displacement sensor be provided with for detecting motion platform height on cylinder;
Described pneumatic muscles group comprises pneumatic muscles, pneumatic muscles pressure sensor and pneumatic muscular position displacement sensor, pneumatic muscles two ends are hinged in motion platform and fixed platform respectively, parallelly on pneumatic muscles be provided with pneumatic muscles displacement transducer, the air inlet/outlet of pneumatic muscles is provided with pneumatic muscles pressure sensor.
Comprise pneumatic triple piece, cylinder control valve, four groups of pneumatic muscles control valve groups, controller group and the power supplys for powering in described control cabinet, controller group comprises cylinder force sub-controller, motion platform pitching pose sub-controller, motion platform rolling pose sub-controller and master controller, pneumatic triple piece connects outer source of the gas respectively by tracheae, cylinder control valve and four groups of pneumatic muscles control valve groups, four groups of pneumatic muscles control valve groups connect the air inlet of four pneumatic muscles in two groups of pneumatic muscles groups respectively by tracheae, cylinder mechanism, cylinder control valve is electrically connected with cylinder force sub-controller respectively, two groups of pneumatic muscles groups are electrically connected with motion platform rolling pose sub-controller with motion platform pitching pose sub-controller respectively, four groups of pneumatic muscles control valve groups are electrically connected with respective motion platform pitching pose sub-controller and motion platform rolling pose sub-controller respectively.
The described pneumatic muscles seat that is connected through the hinge is hinged in motion platform and fixed platform.
Described cylinder upper end by bulb joint bearing and motion platform hinged.
Described cylinder auxiliary stand lower end is on the stationary platform affixed, and pneumatic muscles output shaft and cylinder auxiliary stand upper end are socketed by linear bearing.
The back pressure cavity outlet of described cylinder is provided with silencer.
Cylinder pressure sensors in described cylinder mechanism, cylinder piston-rod displacement sensor are electrically connected with cylinder force sub-controller, each pneumatic muscles pressure sensor in two groups of described pneumatic muscles groups, pneumatic muscles displacement transducer are electrically connected with motion platform rolling pose sub-controller with respective motion platform pitching pose sub-controller respectively
Described hinge connecting seat is ball pivot or Hooke hinge.
Compared with other known combination drive parallel connection platforms containing pneumatic muscle actuator, the present invention has that power-mass ratio is large, with low cost, compact conformation, pollution-free, be easy to carry out the features such as Pose Control, concrete beneficial effect is as follows:
One, the present invention adopts separate type control system design philosophy, according to required motion platform heave, pitching, equivalent stiffness characteristic on rolling Three Degree Of Freedom direction, the desirable power output of the cylinder piston of cylinder force RACS can be determined, the motion platform pitching Pose Control average power output of subsystem pneumatic muscles and the average power output of motion platform rolling Pose Control subsystem pneumatic muscles, the desired pressure of each pneumatic actuator is determined again according to desirable pose and with the difference of attained pose, fall into a trap at three sub-controllers and calculate the controlled quentity controlled variable of each pneumatic control valve, complete the Pose Control of motion platform.Easy being easy to of Controller gain variations realizes, and can according to the equivalent stiffness characteristic on the demand on-line control motion platform three degree of freedom of Platform movement characteristic.
Two, the present invention improves in structural design and sensor setting.Motion platform elevation information obtains by cylinder piston-rod displacement sensor, pitching and rolling direction pose calculate in conjunction with the displacement transducer on two antithesis pneumatic muscles in pitching and rolling direction respectively by cylinder piston-rod displacement sensor, thus calculate the position and posture of motion platform in real time with easy analytical expression.Further, pitching and rolling posture information have redundant sensor, can design the impact that pose observer causes to reduce platform structure measure error pose measurement.
Three, the present invention adopts the drives structure that two groups of antithesis pneumatic muscles and cylinder piston power balance mutually, during situation about losing efficacy when running into a certain pneumatic muscles and breaking, another group antithesis pneumatic muscles can keep relatively stable in another free degree of motion platform, cylinder piston end also there will not be the phenomenon of sudden rapid rising, effectively increases the reliability of mechanism.
Four, the present invention devises cylinder piston rod auxiliary directional support, avoid motion platform in the horizontal direction unbalance stress and to cylinder piston produce radial forces, reduce the friction between cylinder piston and inwall in running, improve service life and the robust motion of cylinder.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is pneumatic and control system schematic diagram of the present invention.
Fig. 3 is the simulation result schematic diagram increasing perturbed force under the cylinder pressure that the present invention is different.
Fig. 4 is the rolling of motion platform of the present invention and the control imitation effect schematic diagram of height.
In figure: 1, fixed platform, 2, motion platform, 3, pneumatic muscles, 4, cylinder, 5, hinge connecting seat, 6, bulb joint bearing, 7, linear bearing, 8, cylinder auxiliary stand, 9, cylinder Connection Block, 10, silencer, 11, control cabinet, 12, cylinder control valve, 13, pneumatic muscles control valve group, 14, pneumatic triple piece, 15, pneumatic muscles pressure sensor, 16, pneumatic muscles displacement transducer, 17, cylinder pressure sensors, 18, cylinder piston-rod displacement sensor, 19, cylinder force sub-controller, 20, motion platform pitching pose sub-controller, 21, motion platform rolling pose sub-controller, 22, master controller, 23, power supply.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1, the present invention includes fixed platform 1 and motion platform 2, be provided with control cabinet 11 below fixed platform 1, be provided with three groups of pneumatic actuating devices between motion platform 2 and fixed platform 1, three groups of pneumatic actuating devices are controlled by control cabinet 11, three groups of pneumatic actuating devices comprise and are connected to the pneumatic muscles group that a cylinder mechanism between motion platform 2 and fixed platform 1 center and two groups are respectively used to controlled motion platform 2 pitching pose and motion platform 2 rolling pose, one group in two groups of pneumatic muscles groups is used for controlled motion platform 2 pitching pose, another group in two groups of pneumatic muscles groups is used for controlled motion platform 2 rolling pose, two groups of pneumatic muscles groups are arranged on around cylinder mechanism, cylinder mechanism is connected between motion platform 2 and fixed platform 1 center, cylinder mechanism upper end and motion platform 2 hinged, cylinder mechanism lower end is fixedly connected with fixed platform 1, mutual at right angle setting between two groups of pneumatic muscles groups, often organizes pneumatic muscles group and comprises the Liang Ge pneumatic muscles mechanism that symmetry is arranged on cylinder mechanism both sides.
Cylinder mechanism comprises cylinder 4, cylinder auxiliary stand 8, cylinder pressure sensors 17, cylinder piston-rod displacement sensor 18 and cylinder Connection Block 9, cylinder 4 piston rod is hinged on motion platform 2 bottom center, cylinder 4 lower end is fixedly connected on fixed platform 1 center by cylinder Connection Block 9, cylinder 4 side is provided with for the fixing cylinder auxiliary stand 8 of assistant cylinder 4, the acting chamber porch of cylinder 4 is provided with cylinder pressure sensors 17, the parallel cylinder piston-rod displacement sensor 18 be provided with for detecting motion platform height on cylinder 4.
Pneumatic muscles group comprises pneumatic muscles 3, pneumatic muscles pressure sensor 15 and pneumatic muscular position displacement sensor 16, pneumatic muscles 3 two ends are hinged on motion platform 2 respectively with in fixed platform 1, parallelly on pneumatic muscles 3 be provided with pneumatic muscles displacement transducer 16, the back pressure cavity exit of pneumatic muscles 3 is provided with pneumatic muscles pressure sensor 15.
As shown in Figure 2, pneumatic triple piece 14, cylinder control valve 12, four groups of pneumatic muscles control valve groups 13, controller group and the power supply 23 for powering is comprised in control cabinet 11, controller group comprises cylinder force sub-controller 19, motion platform pitching pose sub-controller 20, motion platform rolling pose sub-controller 21 and master controller 22, relatively independent between these three sub-controllers; Pneumatic triple piece 14 connects outer source of the gas, cylinder control valve 12 and four groups of pneumatic muscles control valve groups 13 respectively by tracheae, four groups of pneumatic muscles control valve groups 13 connect the air inlet of four pneumatic muscles in two groups of pneumatic muscles groups respectively by tracheae, cylinder mechanism, cylinder control valve 12 are electrically connected with cylinder force sub-controller 19 respectively, and two groups of pneumatic muscles groups are electrically connected with motion platform rolling pose sub-controller 21 with motion platform pitching pose sub-controller 20 respectively.
Specifically, in controller group, the output port of cylinder force sub-controller 19 is electrically connected with cylinder control valve 12 control end; The input port of cylinder force sub-controller 19 is electrically connected with cylinder pressure sensors 17, cylinder piston-rod displacement sensor 18; The output port of motion platform pitching pose sub-controller 20 is electrically connected with two groups of pitching Pose Control valve groups in four groups of pneumatic muscles control valve groups 13; The input port of motion platform pitching pose sub-controller 20 is electrically connected with corresponding pneumatic muscles pressure sensor 15, pneumatic muscles displacement transducer 16; The output port of motion platform rolling pose sub-controller 21 is electrically connected with two groups of rolling Pose Control valve groups in four groups of pneumatic muscles control valve groups 13; The input port of motion platform rolling pose sub-controller 21 is electrically connected with corresponding pneumatic muscles pressure sensor 15, pneumatic muscles displacement transducer 16.Cylinder force sub-controller 19, motion platform pitching pose sub-controller 20 and motion platform rolling pose sub-controller 21 are electrically connected with master controller 22 respectively.
As shown in Figure 2, four groups of pneumatic muscles control valve groups 13 are electrically connected with respective motion platform pitching pose sub-controller 20 and motion platform rolling pose sub-controller 21 respectively, be electrically connected with motion platform pitching pose sub-controller 20 with two pneumatic muscles control valve groups 13 that wherein same pneumatic muscles group is connected, two the pneumatic muscles control valve groups 13 be connected with another pneumatic muscles group are electrically connected with motion platform rolling pose sub-controller 21.
Pneumatic muscles 3 seat 5 that is connected through the hinge is hinged on motion platform 2 with in fixed platform 1.
Cylinder 4 upper end is hinged by bulb joint bearing 6 and motion platform 2.
Cylinder auxiliary stand 8 lower end is fixed in fixed platform 1, and pneumatic muscles 3 output shaft and cylinder auxiliary stand 8 upper end are socketed by linear bearing 7.
The back pressure cavity exit of cylinder 4 is provided with silencer 10.
As shown in Figure 2, cylinder pressure sensors 17 in cylinder mechanism, cylinder piston-rod displacement sensor 18 are electrically connected with cylinder force sub-controller 19, and each pneumatic muscles pressure sensor 15 in two groups of described pneumatic muscles groups, pneumatic muscles displacement transducer 16 are electrically connected with motion platform rolling pose sub-controller 21 with respective motion platform pitching pose sub-controller 20 respectively.
Hinge connecting seat 5 is ball pivot or Hooke hinge.
Cylinder force sub-controller 19, motion platform pitching pose sub-controller 20 and motion platform rolling pose sub-controller 21 are the organic component of controller group, and each sub-controller is relatively independent.
The piston rod of cylinder 4 carries out radial auxiliary positioning by cylinder auxiliary stand 8, and the piston rod of cylinder 4 is enclosed within cylinder auxiliary stand 8 through linear bearing 7, and cylinder auxiliary stand 8 and fixed platform 1 are rigidly connected.The cylinder barrel of cylinder 4 is rigidly connected in fixed platform 1 center by cylinder Connection Block 9, and piston rod and the motion platform 2 of cylinder 4 are hinged.
Circumferentially same uniformly at intervals around cylinder mechanism of four pneumatic muscles 3 in two groups of pneumatic muscles groups, cylinder 4 in cylinder mechanism and four pneumatic muscles 3 in two groups of pneumatic muscles groups are driven by cylinder control valve 12, pneumatic muscles control valve group 13, and are controlled by controller group respectively.
The air inlet/outlet of four pneumatic muscles 3 is connected with pneumatic muscles control valve group 13 respectively by tracheae, the acting chamber air inlet/outlet of cylinder 4 is connected with cylinder control valve 12 by tracheae, cylinder 4 back pressure cavity air inlet/outlet is connected with silencer 10, pneumatic muscles control valve group 13 and cylinder control valve 12 to be connected by tracheae by pneumatic triple piece 14 and to carry out air feed, pneumatic triple piece 14 connects pneumatic muscles control valve group 13 respectively by tracheae, cylinder control valve 12 and outer source of the gas, the automatically controlled part of pneumatic muscles control valve group 13 and cylinder control valve 12 is electrically connected with controller group output.
Pneumatic muscles 3 is provided with pneumatic muscles shaft position sensor 16, the air inlet/outlet of pneumatic muscles 3 is provided with pneumatic muscles pressure sensor 15, cylinder 4 piston rod place is provided with cylinder piston-rod displacement sensor 18, cylinder 4 acting chamber air inlet/outlet is provided with cylinder pressure sensors 17, and institute's displacement sensors 16 and pressure sensor 15,17 are electrically connected with the input of controller group.
It is inner that pneumatic triple piece, cylinder control valve, pneumatic muscles control valve group are fixed on control cabinet 11, and each sensor and control valve are powered by the power supply be fixed in control cabinet.
Cylinder control valve 12 and pneumatic muscles control valve group 13 adopt the pneumatic control valves such as high-speed switch valve, proportional direction valve, proportional pressure valve or proportional flow control valve.Three sub-controllers 19,20,21 are realized by single-chip microcomputer or Programmable Logic Controller, complete the Pose Control of motion platform in the corresponding free degree.Master controller 22 industrial computer, Programmable Logic Controller or single-chip microcomputer etc. all can realize, its function has: man-machine interactive system, the pose SERVO CONTROL (comprising signals collecting and process, state observer and corresponding control strategy) of motion platform, platform's position and pose real time demonstration, data processing and preservation etc.
Operation principle of the present invention:
The present invention controls two groups of antithesis pneumatic muscles 3 and cylinder 4 respectively by control pneumatic muscles control valve group 13 and cylinder control valve 12, and then actuation movement platform 2 realizes the motion on heave, pitching, rolling direction.Simultaneously, displacement transducer 16, 18 and pressure sensor 15, related data information can be sent to controller group 19 by 17, 20, 21, 22, in master controller 22, each pneumatic actuator 3 is calculated according to set each free degree stiffness characteristics and expectation Platform movement track, the desired pressure of 4, again thus at each sub-controller 19, 20, each control valve 12 is calculated in 21, the control signal of 13, relevant information is sent in cylinder control valve 12 and pneumatic muscles control valve group 13, and then the driving condition of control cylinder 3 and two groups of antithesis pneumatic muscles 4, realize the setting pose orbiting motion of motion platform 2.
The course of work of specific embodiment of the invention:
Be provided with three groups of pneumatic actuating devices between motion platform of the present invention and fixed platform, thus the pose of motion platform on heave, pitching, rolling three degree of freedom direction is controlled.Cylinder 4 and four pneumatic muscles 3 Special composition parallel closed loop structure, by the piston rod power output of the chamber pressure and cylinder 4 that control four pneumatic muscles 3, can make the motion that motion platform 2 realizes on heave, pitching, rolling direction.Wherein cylinder 4 is controlled by cylinder force sub-controller 19, two pneumatic muscles 3 of controlled motion platform pitching pose are controlled by motion platform pitching pose sub-controller 20, and two pneumatic muscles 3 of controlled motion platform rolling pose are controlled by motion platform rolling pose sub-controller 21.Master controller 22 carries out cooperation control according to set motion platform pose track to three sub-controllers 19,20,21.
Specifically, first complete the setting to motion platform expected pose track by user, and according to the equivalent stiffness characteristic on the noiseproof feature setting each free degree direction of platform of required motion platform.Master controller, according to above setting, in conjunction with the dynamics of known parallel connection platform and the sensor information transmitted by sub-controller, calculates the desired pressure in each pneumatic actuator, and transmits it in three sub-controllers.According to pneumatic actuator desired pressure and sensor information in sub-controller, calculate control signal and it is transferred in pneumatic control valve group, and then completing the control to motion platform pose.In running, master controller can be fed back to user, so that user effectively operates platform by the posture information of sub-controller Real-time Collection motion platform.
For illustrating the impact that motion platform stiffness characteristics causes platform antijamming capability, and test the control accuracy that this parallel connection platform can reach under the effect of conservative control device, in simulink, build Three Degree Of Freedom pneumatic combination drive parallel connection platform Mathematical Modeling carry out emulating and analyzing it.In simulation example, cylinder bore diameter is 80mm, and stroke is 0.15m; Pneumatic muscles internal diameter is 40mm, and former length is 0.6m.
In simulation model, under different cylinder pressures, make platform stable in certain level position, and close all control valves, the 0.5s moment add one straight down size be the perturbed force of 100N.Can as apparent from the motion simulation of parallel connection platform shown in Fig. 3 result, stiffness characteristics on motion platform vertical direction can be improved by increasing cylinder action cavity pressure, under same disturbance effect, to enter stable state required time shorter for the higher platform of rigidity, and the stable state impact caused is also less.But the raising of stiffness characteristics can bring the rising of the inner each pin joint active force of parallel connection platform, can cause the increase of pin joint frictional force in actual moving process, therefore should each free degree stiffness characteristics of reasonable set parallel connection platform according to actual needs.
Choose sinusoidal rolling signal that 8s is the cycle and 10s be the composite signal that forms of the sinusoidal Heaving Signal in cycle as motion platform target trajectory, the Robust control device designed based on nonlinear model carries out the multiple degrees of freedom posture tracking control imitation experiment of motion platform.Cylinder action cavity pressure is set as 0.4Mpa, and motion platform pitching direction and rolling direction setting are same equivalent rigidity, and the rolling of motion platform and the control imitation effect information of height are as shown in Figure 4.Under the controller action of appropriate design, this parallel connection platform can complete the platform's position and pose Trajectory Tracking Control of degree of precision, and the average tracking error of each free degree is less than 0.5%, and maximum tracking error is less than 1%.
The present invention adopts two groups of antithesis pneumatic muscles and the structure such as the drives structure of cylinder piston power and the auxiliary stand of cylinder, makes the more stable and precision of motion platform, effectively increases the reliability of mechanism, service life and robust motion.
Above-mentioned detailed description of the invention is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (7)
1. the pneumatic combination drive parallel connection platform of Three Degree Of Freedom, comprise fixed platform (1) and motion platform (2), fixed platform (1) below is provided with control cabinet (11), it is characterized in that: be provided with three groups of pneumatic actuating devices between motion platform (2) and fixed platform (1), three groups of pneumatic actuating devices are controlled by control cabinet (11); Three groups of pneumatic actuating devices comprise and are connected to the pneumatic muscles group that a cylinder mechanism between motion platform (2) and fixed platform (1) center and two groups are respectively used to controlled motion platform (2) pitching pose and motion platform (2) rolling pose, two groups of pneumatic muscles groups are arranged on around cylinder mechanism, cylinder mechanism is connected between motion platform (2) and fixed platform (1) center, cylinder mechanism upper end and motion platform (2) hinged, cylinder mechanism lower end is fixedly connected with fixed platform (1); Mutual at right angle setting between two groups of pneumatic muscles groups, often organizes pneumatic muscles group and comprises the Liang Ge pneumatic muscles mechanism that symmetry is arranged on cylinder mechanism both sides;
Described cylinder mechanism comprises cylinder (4), cylinder auxiliary stand (8), cylinder pressure sensors (17), cylinder piston-rod displacement sensor (18) and cylinder Connection Block (9), cylinder (4) piston rod is hinged on motion platform (2) bottom center, cylinder (4) lower end is fixedly connected on fixed platform (1) center by cylinder Connection Block (9), cylinder (4) side is provided with for the fixing cylinder auxiliary stand (8) of assistant cylinder (4), the acting chamber porch of cylinder (4) is provided with cylinder pressure sensors (17), the upper parallel cylinder piston-rod displacement sensor (18) be provided with for detecting motion platform height of cylinder (4),
Described pneumatic muscles group comprises pneumatic muscles (3), pneumatic muscles pressure sensor (15) and pneumatic muscular position displacement sensor (16), pneumatic muscles (3) two ends are hinged on motion platform (2) respectively with in fixed platform (1), pneumatic muscles (3) is above parallel is provided with pneumatic muscles displacement transducer (16), and the air inlet/outlet of pneumatic muscles (3) is provided with pneumatic muscles pressure sensor (15);
Comprise pneumatic triple piece (14), cylinder control valve (12), four groups of pneumatic muscles control valve groups (13), controller group and the power supplys (23) for powering in described control cabinet (11), controller group comprises cylinder force sub-controller (19), motion platform pitching pose sub-controller (20), motion platform rolling pose sub-controller (21) and master controller (22), pneumatic triple piece (14) connects outer source of the gas respectively by tracheae, cylinder control valve (12) and four groups of pneumatic muscles control valve groups (13), four groups of pneumatic muscles control valve groups (13) connect the air inlet of four pneumatic muscles in two groups of pneumatic muscles groups respectively by tracheae, cylinder mechanism, cylinder control valve (12) is electrically connected with cylinder force sub-controller (19) respectively, two groups of pneumatic muscles groups are electrically connected with motion platform rolling pose sub-controller (21) with motion platform pitching pose sub-controller (20) respectively, four groups of pneumatic muscles control valve groups (13) are electrically connected with respective motion platform pitching pose sub-controller (20) and motion platform rolling pose sub-controller (21) respectively.
2. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 1, is characterized in that: described pneumatic muscles (3) seat (5) that is connected through the hinge is hinged in motion platform (2) and fixed platform (1).
3. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 1, is characterized in that: described cylinder (4) upper end is hinged by bulb joint bearing (6) and motion platform (2).
4. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 1, it is characterized in that: described cylinder auxiliary stand (8) lower end is fixed in fixed platform (1), pneumatic muscles (3) output shaft and cylinder auxiliary stand (8) upper end are socketed by linear bearing (7).
5. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 1, is characterized in that: the back pressure cavity outlet of described cylinder (4) is provided with silencer (10).
6. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 1, it is characterized in that: the cylinder pressure sensors (17) in described cylinder mechanism, cylinder piston-rod displacement sensor (18) are electrically connected with cylinder force sub-controller (19), each pneumatic muscles pressure sensor (15) in two groups of described pneumatic muscles groups, pneumatic muscles displacement transducer (16) are electrically connected with motion platform rolling pose sub-controller (21) with respective motion platform pitching pose sub-controller (20) respectively.
7. the pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom according to claim 2, is characterized in that: described hinge connecting seat (5) is ball pivot or Hooke hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410107076.4A CN103878764B (en) | 2014-03-21 | 2014-03-21 | The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410107076.4A CN103878764B (en) | 2014-03-21 | 2014-03-21 | The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103878764A CN103878764A (en) | 2014-06-25 |
| CN103878764B true CN103878764B (en) | 2015-09-30 |
Family
ID=50948045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410107076.4A Expired - Fee Related CN103878764B (en) | 2014-03-21 | 2014-03-21 | The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103878764B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440887B (en) * | 2014-12-15 | 2016-02-17 | 上海交通大学 | Wire saws remote-controlled operation platform |
| CN105139895B (en) * | 2015-10-14 | 2018-04-13 | 中国矿业大学 | A kind of six-freedom parallel servo platform based on pneumatic muscles |
| CN105943306B (en) * | 2016-05-31 | 2017-12-12 | 天津大学 | A kind of three-degree of freedom ankle joint convalescence device of pneumatic muscles driving |
| CN105943307B (en) * | 2016-05-31 | 2018-01-12 | 天津大学 | A kind of ankle-joint parallel connection convalescence device |
| CN106903676A (en) * | 2017-04-17 | 2017-06-30 | 北京若贝特智能机器人科技有限公司 | The four-freedom parallel mechanism that a kind of Pneumatic artificial muscle drives |
| CN107101082B (en) * | 2017-05-31 | 2023-07-14 | 广东若贝特智能机器人科技有限公司 | Spring supporting device |
| CN107529512B (en) * | 2017-08-07 | 2019-04-02 | 长沙中联恒通机械有限公司 | A kind of lifting platform Automatic Levelling control method and system |
| CN107269626B (en) * | 2017-08-09 | 2019-06-18 | 北京强度环境研究所 | A kind of oil gas support and control device and its control method |
| CN109188960B (en) * | 2018-08-23 | 2020-10-16 | 东北大学 | Universal pneumatic muscle embedded controller |
| CN110861075A (en) * | 2019-12-02 | 2020-03-06 | 电子科技大学 | Small-size pneumatic many joints series-parallel snakelike arm |
| CN112388611B (en) * | 2020-10-15 | 2022-06-21 | 南京晨光集团有限责任公司 | Full hydraulic drive system for rotary motion of mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2736327B2 (en) * | 1995-09-28 | 1998-04-02 | 工業技術院長 | Robot manipulator |
| CN100464355C (en) * | 2006-08-18 | 2009-02-25 | 浙江大学 | Air-actuated muscle motion analog control platform device and posture control method |
| CN201346735Y (en) * | 2009-01-07 | 2009-11-18 | 上海劳达斯洁具有限公司 | Polishing machine with improved series-parallel moving device |
| CN201493846U (en) * | 2009-03-24 | 2010-06-02 | 北京理工大学 | Stimulator with three rotational degrees of freedom of pneumatic hybrid mechanism |
| CN101817181B (en) * | 2010-04-16 | 2011-09-28 | 浙江理工大学 | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles |
-
2014
- 2014-03-21 CN CN201410107076.4A patent/CN103878764B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103878764A (en) | 2014-06-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103878764B (en) | The pneumatic combination drive parallel connection platform of a kind of Three Degree Of Freedom | |
| CN103035159B (en) | Double parallel type heavy-duty static balance motion simulation platform | |
| CN101564841B (en) | Soft manipulator based on pneumatic artificial muscles | |
| CN105180965A (en) | Triaxial ship attitude angle analogue simulation test platform | |
| CN103135512A (en) | Shield electro-hydraulic control system comprehensive test platform | |
| CN108168833A (en) | A kind of open-jet wind tunnel model test support device | |
| CN103456371A (en) | Pneumatic muscle and cylinder hybrid-driven parallel platform | |
| CN103786157A (en) | Embedded type control system based on upper limb exoskeleton assisting robots | |
| CN102140917A (en) | Heave compensation simulation test device for deep-sea mining | |
| CN103192363A (en) | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot | |
| CN110471461A (en) | A kind of wind tunnel model angle of attack control device and its control method | |
| CN106217383B (en) | The planar three-freedom-degree parallel mechanism control device and method of airdraulic actuator driving | |
| CN204389102U (en) | Dual force source superposing type multi-dimension force sensor calibrating installation | |
| CN202183176U (en) | Loading gradient follow-up and passive loading steering gear load simulator | |
| Wang et al. | Design and control performance optimization of dual-mode hydraulic steering system for wheel loader | |
| CN104359658A (en) | Load test board with sail stress simulation function | |
| CN107791235A (en) | A kind of 6-dof motion platform control system in parallel | |
| CN102486899A (en) | Load simulator for loading gradient following passive loading steering engine | |
| CN102068818B (en) | Dynamic game machine platform with functions of fault tolerance and error correction and fault tolerance and error correction method | |
| Liyanage et al. | Design and control of a high performance SCARA type robotic arm with rotary hydraulic actuators | |
| CN103994936B (en) | A kind of horizontal high tonnage fatigue test device saving the energy | |
| Qi et al. | Research on new intelligent pump control based on sliding mode variable structure control | |
| CN101797754B (en) | Optimization design method of pneumatic balance structure of elbow joint | |
| CN206216696U (en) | The planar three-freedom-degree parallel mechanism control device that airdraulic actuator drives | |
| CN205280391U (en) | Auto -lock swing hydraulic press performance testing platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20160321 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |