CN104635627B - A kind of precision control method of five degree of freedom serial-parallel mirror mechanism - Google Patents

A kind of precision control method of five degree of freedom serial-parallel mirror mechanism Download PDF

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Publication number
CN104635627B
CN104635627B CN201410776973.4A CN201410776973A CN104635627B CN 104635627 B CN104635627 B CN 104635627B CN 201410776973 A CN201410776973 A CN 201410776973A CN 104635627 B CN104635627 B CN 104635627B
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China
Prior art keywords
root post
direction vector
root
space line
standard ball
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CN201410776973.4A
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Chinese (zh)
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CN104635627A (en
Inventor
陈国强
赵俊伟
党姗姗
康件丽
孙付伟
周龙
李雪锋
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河南理工大学
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

Abstract

The invention discloses a kind of precision control method of five degree of freedom serial-parallel mirror mechanism, comprises the steps of:S1, set up three root posts respectively(42、52、62)Coordinate system, measure three root posts on slide block(43、53、63)Mobile track, is fitted the direction vector of the space line of slide block movement, installs the first root post according to the direction vector of space line so as to vertical with plane in fixed platform;S2, according to the direction vector of space line install the second root post so as to parallel with the direction vector of the first root post place space line;S3, the 3rd root post is installed according to the direction vector of space line so as to parallel with the common direction vector that characterizes the first root post and the second root post actual direction;S4, installation X Y two-dimentional work bench(32)So as to it is vertical with the common direction of the 3rd root post actual direction vector that the plane that is located characterizes the first root post, the second root post with one.The present invention can be substantially reduced accumulated error, improve precision.

Description

A kind of precision control method of five degree of freedom serial-parallel mirror mechanism

Technical field

The invention belongs to MECHANISM PRECISION adjusts field, it is related to a kind of precision regulation side of five degree of freedom serial-parallel mirror mechanism A kind of method, and in particular to 3-PRS-X-Y serial-parallel mirror mechanism.

Background technology

3-PRS-X-Y serial-parallel mirror mechanism is one kind machinery combined with X-Y two-dimentional work bench by 3-PRS parallel institution Version, 3-PRS parallel institution are the cores of whole mechanism.3-PRS parallel institution is as shown in Fig. 2 by fixed platform, move Platform and three identical side chain compositions, each side chain include connecting rod, moving sets(P), rotate secondary(R)And sphere Secondary(S).The typical structure of parallel institution is the Stewart mechanism of six degree of freedom.The advantage of parallel institution is that driving-chain is short, structure Simply, rigidity is big, high precision, stock-removing efficiency height, degree of modularity height etc., has the disadvantage that the working space of parallel institution is little.Five certainly The shortcoming of parallel institution is then overcome by the serial-parallel mirror mechanism that spends, and is fully combined the advantage of series connection and parallel institution, is had The features such as working space is big, control is simple.

Precision is one of good and bad leading indicator of mechanism's work quality, is to determine that can process equipment meet practical application and want The key factor that asks.From in terms of theory of mechanisms angle, parallel institution has the advantages that high precision, but is processed in actual applications and pacify The factor impact such as dress error, the actual parameter of hybrid mechanism and ideal parameters are constantly present difference, and the kinematics model of foundation is accurate Really property is poor, reduces the available accuracy of hybrid mechanism, it is impossible to accurately realize the target of desired design.

Reality shows that researcher is deepened continuously to the motion of hybrid mechanism and the research of control field, to hybrid mechanism Kinematics parsing sum value solution update, its performance is improved constantly;But, installation process operating error or the external world be not true Determine factor interference, the spatial deviation of parallel institution guide rail position is will result directly in, affect operation and the control accuracy of mechanism.

Content of the invention

The present invention is provided a kind of five degree of freedom string and mixes for installing at present and adjusting the technical problems such as process operation error The precision control method of online structure, by with installing component as common reference, the method being fitted repeatedly, reduction parts are manufactured Error and the impact of alignment error, improve mechanism's overall precision.

The present invention is adopted the technical scheme that:

A kind of precision control method of five degree of freedom serial-parallel mirror mechanism, specifically comprises the steps of:

S1, set up three root posts per root post coordinate system, measure three root posts on slide block movement track, fitting three The space line L of root post top shoe movement j Direction vector, on the basis of plane in fixed platform, according to Space line L1Direction vectorFirst root post is installed so as to vertical with plane in fixed platform;

S2, according to space line L2Direction vectorSecond root post is installed, and in installation process, the is measured when adjusting The direction of two root posts so as to the first root post place space line L1Direction vectorParallel;

S3, according to space line L3Direction vector3rd root post is installed, and in installation process, the is measured when adjusting The direction of three root posts so as to the common direction vector for characterizing the first root post and the second root post actual direction withFlat OK;

S4, X-Y two-dimentional work bench is installed, measure when adjusting so as to the plane that is located and first root post of sign, the The common direction vector of two root posts and the 3rd root post actual directionVertically.

Further, in step S1, the coordinate system of each column is by three marks not on the same line on each column The sphere centre coordinate of quasi- ball is set up.

Further, in step S3, the actual direction per root post by three on every root post not on the same line Standard ball is characterized, and regulation process only measures sphere centre coordinate.

Further, the track characterizing method of the slide block movement is to measure the standard on the slide block on three root posts respectively Ball sphere centre coordinate during N number of position at equal intervals in the effective travel), noteTo space line L j Distance be, according to least square fitting space line L j Direction vector, concrete calculation Method is

Order:

(a)

MakeM j Minimum is reached, space line L can be obtained according to least square method j Equation and direction vector.

Further, according to second column and the actual direction of the 3rd column, the standard ball on slide block is obtained in effective row In journey at equal intervals N number of position when sphere centre coordinate , by coordinateConversion Arrive and coordinate of the slide block 43 in the effective travel during N number of position at equal intervals at the physical location of the first root post 42 In the same coordinate system, obtain .

Further, coordinate is usedWith, it is fitted one and characterizes the first root post and the second root post Common direction vector, concrete grammar is

Order:

(b)

(b)In formula, For the standard ball on slide block the centre of sphere to space lineDistance, space lineWith identical direction, i.e. direction vector, space linePass through point undetermined respectively, makeM 4Reach To minimum, the common direction vector of the first root post and the second root post can be obtained according to least square method.

Further, coordinate is usedWith, one the first root post of sign of fitting, The common direction vector of the second root post and the 3rd root post, concrete grammar is

Order:

(c)

In formula, For the standard ball on slide block the centre of sphere to space lineDistance, space lineWith identical direction, i.e. direction vector, space linePass through point undetermined respectively , makeM 5Reach minimum, according to least square method can obtain the common direction of the first root post, the second root post and the 3rd root post to Amount.

Further, in step S4, three standard ball are set on X-Y two-dimentional work bench used as benchmark, regulation process only surveys three The sphere centre coordinate of individual standard ball.

Further, two standard ball in three standard ball on each column are distributed up and down, are fixed on three root posts Upper and lower ends.

Further, the method for track of the slide block movement on described three root post of measurement is:On three root posts Slide block fixes a standard ball, coordinate respectively,Sit for the centre of sphere of measurement standard ball Mark is obtained.

The invention has the advantages that:

1)Current a lot of measuring apparatus, such as three coordinate measuring machine can directly measure sphere centre coordinate, and the present invention takes and uses the centre of sphere Coordinate replaces the metering system of slide block coordinate, is convenient for measuring, and improves certainty of measurement.

2)The present invention characterizes the actual direction of the track fitting space line of slide block movement with three sphere centre coordinates, convenient Measurement, reduces pendulous frequency.

3)In the present invention, the distance of fixing two standard ball on every root post is remote, can effectively reduce sphere centre coordinate measurement and miss Poor impact, is conducive to improving precision.

4)The actual path that the present invention is moved according to slide block is fitted, and has taken into full account that slide block motion track deviates space The error that straight line causes, improves precision.

5)The present invention realizes process, with the first root post actual direction as reference, installs the second root post;Vertical with first Post and the second root post actual direction are reference, install the 3rd root post;Vertical with the first root post, the second root post and the 3rd The actual direction of post is reference, installs X-Y two-dimentional work bench, substantially reduces accumulated error, improve precision.

Description of the drawings

Fig. 1 is precision control method flow chart of the present invention;

Fig. 2 is mechanism structure sketch of the present invention.

Wherein, 1 be fixed platform 2 be moving platform 3 be X-Y two-dimentional work bench part

31 be X-Y two-dimentional work bench 32 be standard ball 33 be standard ball 34 be standard ball

4 be the first side chain 5 be the second side chain 6 be the 3rd side chain

41 be standard ball 51 be standard ball 61 be standard ball

42 be the first root post 52 be the second root post 62 be the 3rd root post

43 be slide block 53 be slide block 63 be slide block

44 cut with scissors for cylinder for cylinder hinge 64 for cylinder hinge 54

45 be standard ball 55 be standard ball 65 be standard ball

46 be standard ball 56 be standard ball 66 be standard ball

47 be first connecting rod 57 be second connecting rod 67 be third connecting rod

48 be ball pivot 58 be ball pivot 68 be ball pivot

49 be standard ball 59 be standard ball 69 be standard ball.

Specific embodiment

Below in conjunction with accompanying drawing and preferred embodiment, to provide according to the present invention specific embodiment, structure, feature and its Effect, describes in detail as follows:

As shown in Figure 1 and 2, the present invention combines 3-PRS-X-Y serial-parallel mirror mechanism, there is provided a kind of precision of five degree of freedom Control method, concrete methods of realizing are as follows.

There are three transportable slide blocks 43,53,63 on three root posts 42,52,62, fixing on three slide blocks 43,53,63 Three standard ball 45, fix three standard ball 41,46,49 on 55,65, three root posts 42,52,62;51、56、59;61、66、 69, two of which standard ball 41,46;51、56;61st, about 66 are distributed, and are fixed on the upper and lower ends of three root posts 42,52,62.

Precision control method step is as follows:

S1, coordinate system of three root posts 42,52,62 per root post is set up, the coordinate system of each column is by each column Three standard ball 41,46,49;51、56、59;61st, 66,69 sphere centre coordinate is set up, on three root posts 42,52,62 of measurement The track that slide block 43,53,63 is moved, the track that slide block 43,53,63 is moved is by measuring the standard ball on slide block 43,53,63 45th, 55,65 is equidistant in effective travelNSphere centre coordinate during individual position Table Levy, be fitted the space line L of three root posts, 42,52,62 top shoe, 43,53,63 movement j Direction vector.Measurement is per root post On three standard ball 41,46,49;51、56、59;61st, 66,69 sphere centre coordinate, can obtain the motion track of slide block 43,53,63 Space line L j With the spatial relation between three root posts, 42,52,62 respective coordinate system.

On the basis of plane in fixed platform 1, according to space lineDirection vectorFirst root post 42 is installed, peace The sphere centre coordinate of three standard ball 41,46,49 during dress, is measured when installing, and is made in the first root post 42 and fixed platform 1 Plane is vertical, straight according to the sphere centre coordinate of three standard ball 41,46,49 on the first root post 42 and the motion track of slide block 43 Spatial relation between line, it is equidistant in effective travel that conversion can obtain slide block 43 at the physical location of the first root post 42NCoordinate during individual position .

S2, according to space line L2Direction vectorSecond root post 52 is installed, in installation process, is measured when adjusting The sphere centre coordinate of three standard ball 51,56,59, makes the direction of the second root post 52 and the first root post 42 be fitted space line Direction vectorParallel, according to the sphere centre coordinate of three standard ball 51,56,59 on the second root post 52 and the movement of slide block 53 Spatial relation between the straight line of track, conversion can obtain the standard ball 55 at the physical location of the second root post 52 on slide block 53 Centre of sphere coordinate during N number of position at equal intervals in the effective travel .

S3, the actual direction according to second column 52, using coordinate transformation method, by coordinateIt is transformed into WithIn the same coordinate system, obtain, use coordinateWith, according to a most young waiter in a wineshop or an inn Multiplication, is fitted a common direction vector for characterizing the first root post 42 and the second root post 52.

According to space line L3Direction vector3rd root post 62 is installed, and in installation process, three is measured when adjusting The sphere centre coordinate of individual standard ball 61,66,69, makes the direction of the 3rd root post 62 and characterizes the first root post 42 and the second root post 52 common direction vectorParallel, according to sphere centre coordinate and the slide block of three standard ball 61,66,69 on the 3rd root post 62 Spatial relation between 63 motion track straight line, conversion can obtain the mark at the physical location of the 3rd root post 62 on slide block 63 The centre of sphere of quasi- ball 65 coordinate during N number of position at equal intervals in the effective travel .

S4, the actual direction according to the 3rd column 62, by coordinateBe transformed intoSame In one coordinate system, obtain, use coordinateWith, according to least square method The common direction vector that fitting one characterizes the first root post 42, the second root post 52 and the 3rd root post 62.

Install on X-Y two-dimentional work bench 32, X-Y two-dimentional work bench 31 and three standard ball 32,33,34 be set used as benchmark, Measure three standard ball 32 when adjusting, 33,34, make 31 place plane of X-Y two-dimentional work bench vectorial with common directionVertically.

The coordinate transformation method being related to during regulation is

In formula,Two coordinate system origin translation vector,RSpin matrix.

During regulation, space line equation L is fitted j And direction vectorMethod be

Note coordinateTo space line L j Distance be, specific algorithm is

Order

If space line L j Parametric equation

In formula, coordinateFor space line L j Go up a bit undetermined, space line L j Three slide blocks 43 of expression, 53rd, the track straight line of fixing three standard ball 45,55,65 on 63, with space line L j The centre of sphere was done for normal Plane, can solve

Distance between two points can be turned to

MakeM j Minimum is reached, space line L can be obtained according to least square method j Equation and direction vector.

During regulation, a common direction vector for characterizing the first root post 42 and the second root post 52 is fitted , specific algorithm is

Order

If space lineParametric equation

In formula, coordinate, For the standard ball 45,55 on slide block 43,53 The centre of sphere is to space lineDistance, space lineWith identical direction, i.e. direction vector, space linePass through point undetermined respectively,

MakeM 4Reach minimum, according to least square method can obtain the common direction of the first root post 42 and the second root post 52 to Amount.

During regulation, the first root post 42 of sign, second root post 52 is fitted public with the 3rd root post 62 Direction vector, specific algorithm is

Order

If space lineParametric equation

In formula, coordinate, For the standard ball on slide block 43,53,63 45,55,65 centre of sphere is to space lineDistance, space line,,With identical direction, i.e. direction vector , space line,,Pass through point undetermined respectively, makeM 5Minimum is reached, can be obtained according to least square method The common direction vector that fitting one characterizes the first root post 42, the second root post 52 and the 3rd root post 62.

The invention has the advantages that:

1)Current a lot of measuring apparatus, such as three coordinate measuring machine can directly measure sphere centre coordinate, and the present invention takes and uses the centre of sphere Coordinate replaces the metering system of slide block coordinate, is convenient for measuring, and improves certainty of measurement.

2)The present invention characterizes the actual direction of the track fitting space line of slide block movement with three sphere centre coordinates, convenient Measurement, reduces pendulous frequency.

3)In the present invention, the distance of fixing two standard ball on every root post is remote, can effectively reduce sphere centre coordinate measurement and miss Poor impact, is conducive to improving precision.

4)The actual path that the present invention is moved according to slide block is fitted, and has taken into full account that slide block motion track deviates space The error that straight line causes, improves precision.

5)The present invention realizes process, with the first root post actual direction as reference, installs the second root post;Vertical with first Post and the second root post actual direction are reference, install the 3rd root post;Vertical with the first root post, the second root post and the 3rd The actual direction of post is reference, installs X-Y two-dimentional work bench, substantially reduces accumulated error, improve precision.

The above-described preferred application example described in detail just for the present invention, only for convenience of technology people Member could clearly understood that not make any pro forma restriction to the present invention, those skilled in the art is in the technology of the present invention Hold and local modification, equivalent variations or modification is made, all fall within the scope and spirit of the invention.

Claims (5)

1. a kind of precision control method of five degree of freedom serial-parallel mirror mechanism, it is characterised in that specifically comprise the steps of:
S1, set up three root posts(42、52、62)Coordinate system per root post, measures three root posts(42、52、62)On slide block (43、53、63)Mobile track, is fitted three root posts(42、52、62)Top shoe(43、53、63)Mobile space line Lj's Direction vector, wherein j=1,2,3, with fixed platform(1)On the basis of upper plane, according to space line L1Direction vector install the One root post(42)So as to fixed platform(1)Upper plane is vertical;
S2, according to space line L2Direction vector install the second root post(52), in installation process, second is measured when adjusting Root post(52)Direction so as to the first root post(42)Place space line L1Direction vector parallel;
S3, according to space line L3Direction vector install the 3rd root post(62), in installation process, the 3rd is measured when adjusting Root post(62)Direction so as to one sign the first root post(42)With the second root post(52)The public side of actual direction Parallel to vector;
S4, installation X-Y two-dimentional work bench(32), measure when adjusting so as to the plane that is located and first root post of sign (42), the second root post(52)With the 3rd root post(62)The common direction vector of actual direction is vertical.
2. the precision control method of five degree of freedom serial-parallel mirror mechanism according to claim 1, it is characterised in that:Step S1 In, the standard ball (41,46,49 of the coordinate system of each column by three on each column not on the same line;51、56、 59;61st, 66,69) sphere centre coordinate is set up.
3. the precision control method of five degree of freedom serial-parallel mirror mechanism according to claim 2, it is characterised in that:Step S2 Standard ball (41,46,49 of the actual direction by three on every root post not on the same line in S3, per root post; 51、56、59;61st, 66,69) characterize, regulation process only measures sphere centre coordinate.
4. the precision control method of five degree of freedom serial-parallel mirror mechanism according to claim 1, it is characterised in that:Step S4 In, X-Y two-dimentional work bench(31)Three standard ball of upper setting(32,33,34)Used as benchmark, regulation process only surveys three standard ball (32,33,34)Sphere centre coordinate.
5. the precision control method of the five degree of freedom serial-parallel mirror mechanism according to one of claim 1-4, it is characterised in that: Three standard ball (41,46,49 on each column;51、56、59;61st, 66,69) two standard ball in are distributed up and down, fixing In three root posts(42、52、62)Upper and lower ends.
CN201410776973.4A 2014-12-17 2014-12-17 A kind of precision control method of five degree of freedom serial-parallel mirror mechanism CN104635627B (en)

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