CN106217383A - The planar three-freedom-degree parallel mechanism control device and method that airdraulic actuator drives - Google Patents
The planar three-freedom-degree parallel mechanism control device and method that airdraulic actuator drives Download PDFInfo
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- CN106217383A CN106217383A CN201610876488.3A CN201610876488A CN106217383A CN 106217383 A CN106217383 A CN 106217383A CN 201610876488 A CN201610876488 A CN 201610876488A CN 106217383 A CN106217383 A CN 106217383A
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- airdraulic actuator
- moving platform
- valve
- signal
- control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
Abstract
The invention discloses the planar three-freedom-degree parallel mechanism control device and method that a kind of airdraulic actuator drives, described device includes planar three-freedom-degree parallel mechanism body and controls assembly；Planar three-freedom-degree parallel mechanism body includes that moving platform and three parallel drives control branch, and moving platform is triangular plate, and profile is equilateral triangle, is provided with the first single-axis acceleration sensors, the second single-axis acceleration sensors and single shaft angular-rate sensor；Each parallel drive controls branch and includes airdraulic actuator and linear displacement transducer, and airdraulic actuator is driven by gas-liquid linked control unit, and linear displacement transducer is fixed on airdraulic actuator, and the boom of linear displacement transducer and the piston rod of airdraulic actuator are all rotationally connected with moving platform；Control assembly to be connected with gas-liquid linked control unit, the first single-axis acceleration sensors, the second single-axis acceleration sensors, single shaft angular-rate sensor and linear displacement transducer respectively.The present invention has stable drive, and damping is big, it is easy to the feature of transformation of the way regulation.
Description
Technical field
The present invention relates to a kind of planar three-freedom-degree parallel mechanism and control device, the plane that a kind of airdraulic actuator drives
3-freedom parallel mechanism control device and method, belongs to plane-parallel type motion platform technical field.
Background technology
Parallel motion platform has that bearing capacity is big, good rigidity, precision high because of it and the feature such as simple in construction is by extensively
Apply at science and engineering field.Parallel robot refers mainly to the robot that is made up of parallel institution or by parallel institution and string
The robot that online structure collectively constitutes, and parallel institution be several degree of freedom end effectors with fixed pedestal by two or
Article two, the mechanism that the self-movement side chain more than is connected.Parallel robot is then by two platforms and some self-movement side chain groups
Becoming, application should design different type of drive to meet the job requirement of robot.
The type of drive of parallel robot mainly has hydraulic-driven, air pressure to drive at present, electrically driven and novel driving fills
Put.Having something of pneumatic actuation is energy-conservation, pollution-free, high-speed and high-efficiency and easily controllable feature, and hydraulic-driven has bigger
Power-weight ratio, simple and compact for structure, good rigidly, the start-stop of optional position can be realized, nothing can be realized in the biggest adjusting range
The advantages such as pole speed governing.
Summary of the invention
The invention aims to solve the defect of above-mentioned prior art, it is provided that the plane three that a kind of airdraulic actuator drives
Freedom degree parallel connection mechanism controls device, and this device controls to fix a straight-line displacement on the airdraulic actuator of branch at each parallel drive
Sensor, the displacement information of the corresponding airdraulic actuator of linear displacement transducer detection, use two single-axis acceleration sensors simultaneously
With the information that a single shaft angular-rate sensor gathers moving platform three degree of freedom, certainty of measurement is high, it is possible to obtain moving platform
Dynamic characteristic, and drive airdraulic actuator by gas-liquid linked control unit, there is stable drive, damping is big, it is easy to transformation of the way regulation
Feature, air-liquid combines the precision that can preferably improve mechanism.
Another object of the present invention is to provide a kind of planar three-freedom-degree parallel mechanism controlling party based on said apparatus
Method.
The purpose of the present invention can reach by adopting the following technical scheme that:
The planar three-freedom-degree parallel mechanism that airdraulic actuator drives controls device, including planar three-freedom-degree parallel mechanism body
With control assembly；
Described planar three-freedom-degree parallel mechanism body includes that moving platform and three parallel drives control branch, described dynamic flat
Platform is triangular plate, and profile is equilateral triangle, and moving platform is provided with the first single-axis acceleration sensors, the second individual axis acceleration passes
Sensor and single shaft angular-rate sensor, described first single-axis acceleration sensors and the detection axle of the second single-axis acceleration sensors
Line is perpendicular, and the detection axis of described single shaft angular-rate sensor is perpendicular to moving platform plane；Each parallel drive controls branch
Including airdraulic actuator and linear displacement transducer, described airdraulic actuator is driven by gas-liquid linked control unit, and described straight-line displacement senses
Device is fixed on airdraulic actuator, and the boom of linear displacement transducer and the piston rod of airdraulic actuator all edges with moving platform turn
It is dynamically connected；
Described control assembly accelerates with gas-liquid linked control unit, the first single-axis acceleration sensors, the second single shaft respectively
Degree sensor, single shaft angular-rate sensor and linear displacement transducer connect.
As a kind of preferred version, described gas-liquid linked control unit includes PCM valve group, the first reversal valve, the second commutation
Valve, the first hydraulic switching valve, the second hydraulic switching valve, hydraulic throttle valve, the first driving source of the gas, the second driving source of the gas, back pressure gas
Source and air-liquid converter；Described PCM valve group is composed in series by multiple switch valves and choke valve, and described first reversal valve and second changes
Being connected with two air cavitys of airdraulic actuator respectively to valve, described first drives source of the gas and the first reversal valve to connect, and described second drives
Source of the gas and the second reversal valve connect, and described back pressure source of the gas is connected with PCM valve group, the first reversal valve and the second reversal valve respectively；Institute
Stating the first hydraulic switching valve to be connected with the oil pocket of airdraulic actuator, one end of described hydraulic throttle valve is connected with the oil pocket of airdraulic actuator, separately
One end is connected with the second hydraulic switching valve, and described second hydraulic switching valve is respectively with the first hydraulic switching valve, air-liquid converter even
Connecing, described air-liquid converter is connected with an air cavity of airdraulic actuator.
As a kind of preferred version, described control assembly includes that computer, A/D transition card and I/O control card, described calculating
Machine controls card with A/D transition card and I/O respectively and is connected, described A/D transition card respectively with the first single-axis acceleration sensors, second
Single-axis acceleration sensors and single shaft angular-rate sensor connect, and described I/O controls card and is connected with PCM valve group；
The acceleration signal of the first single-axis acceleration sensors detection, the acceleration of the second single-axis acceleration sensors detection
The angular velocity of rotation signal of signal, single shaft angular-rate sensor detection and the displacement signal of linear displacement transducer detection are through A/
D transition card obtains digital signal, digital signal input computer after carrying out analog digital conversion, computer is according to the numeral letter of input
Number, obtaining feedback control signal, feedback control signal controls card through I/O and exports corresponding on-off control amount, on-off control amount
It is input to PCM valve group.
As a kind of preferred version, described gas-liquid linked control unit includes pneumatic proportional valve, the first reversal valve, second changes
To valve, the first hydraulic switching valve, the second hydraulic switching valve, hydraulic throttle valve, the first driving source of the gas, the second driving source of the gas, back pressure
Source of the gas and air-liquid converter；Described first reversal valve and the second reversal valve are connected with two air cavitys of airdraulic actuator respectively, and described
One drives source of the gas and the first reversal valve to connect, and described second drives source of the gas and the second reversal valve to connect, and described back pressure source of the gas is respectively
It is connected with pneumatic proportional valve, the first reversal valve and the second reversal valve；Described first hydraulic switching valve is connected with the oil pocket of airdraulic actuator,
One end of described hydraulic throttle valve is connected with the oil pocket of airdraulic actuator, and the other end and the second hydraulic switching valve connect, described second liquid
The valve that compresses switch is connected with the first hydraulic switching valve, air-liquid converter respectively, described air-liquid converter and an air cavity of airdraulic actuator
Connect.
As a kind of preferred version, described control assembly includes computer, A/D transition card and D/A transition card, described calculating
Machine is connected with A/D transition card and D/A transition card respectively, described A/D transition card respectively with the first single-axis acceleration sensors, second
Single-axis acceleration sensors and single shaft angular-rate sensor connect, and described D/A transition card is connected with pneumatic proportional valve；
The acceleration signal of the first single-axis acceleration sensors detection, the acceleration of the second single-axis acceleration sensors detection
The angular velocity of rotation signal of signal, single shaft angular-rate sensor detection and the displacement signal of linear displacement transducer detection are through A/
D transition card obtains digital signal, digital signal input computer after carrying out analog digital conversion, computer is according to the numeral letter of input
Number, obtaining feedback control signal, feedback control signal obtains analogue signal after D/A transition card carries out digital-to-analogue conversion, simulation
Signal is input to pneumatic proportional valve.
As a kind of preferred version, the geometric center position of described moving platform being fixed with sensor box, described first is single
Axle acceleration sensor and the second single-axis acceleration sensors are separately fixed on two orthogonal sides of sensor box, institute
State single shaft angular-rate sensor and be fixed on the upper plane of sensor box.
As a kind of preferred version, described linear displacement transducer is fixed on airdraulic actuator by fixed mount, straight-line displacement
The boom of sensor is provided with flake universal joint；Described airdraulic actuator includes left end cap, intermediate end cover, right end cap, air cavity cylinder barrel, oil
Chamber cylinder barrel, piston, piston rod and steam vent, described left end cap, air cavity cylinder barrel, intermediate end cover, oil pocket cylinder barrel and right end cap are successively
Connecting, described left end cap is provided with the first air cavity, and described intermediate end cover is provided with the second air cavity, and described right end cap is provided with oil
Chamber, described steam vent is arranged on oil pocket cylinder barrel, and described first air cavity and the second air cavity are connected with air cavity cylinder barrel, described oil pocket
Being connected with oil pocket cylinder barrel, described piston is connected with one end of piston rod, and the other end of piston rod stretches out right end cap, and is provided with work
Plug connector, described piston rod drives piston to move between air cavity cylinder barrel and oil pocket cylinder barrel；Described flake universal joint and piston
Connector is rotationally connected by an edge of the first rotating shaft with moving platform.
As a kind of preferred version, described planar three freedom parallel connection platform body also includes silent flatform, described silent flatform
Aluminium section bar and substrate by some different lengths form, and the bottom of silent flatform has four spikes, and four support what bottoms became
Plane is provided with a gripper shoe；Described airdraulic actuator is provided with fixed lug in the one end away from piston rod, and described fixed lug passes through
Second rotating shaft is connected with silent flatform, and the base of described second rotating shaft is fixed on silent flatform.
Another object of the present invention can reach by adopting the following technical scheme that:
Planar three-freedom-degree parallel mechanism control method based on said apparatus, said method comprising the steps of:
Step one, job requirement according to moving platform, it is thus achieved that track that moving platform central point runs at work space and appearance
State, it is considered to the concrete physical dimension of this moving platform by Inverse Kinematics Solution, obtains three parallel drives and controls the gas-liquid of branch
Required displacement, speed and the acceleration trajectory run of cylinder；
Step 2, three parallel drives control the displacement letter of the corresponding airdraulic actuator of linear displacement transducer detection of branch
Number, the first single-axis acceleration sensors detection moving platform is in the horizontal plane along the acceleration signal of X-direction, and the second single shaft accelerates
Degree sensor detection moving platform is in the horizontal plane along the acceleration signal of Y direction, single shaft angular-rate sensor detection moving platform
Angular velocity of rotation signal in the horizontal plane, the signal detected obtains numeral letter after A/D transition card carries out analog digital conversion
Number, digital signal input computer, computer will the digital signal of input, the rail run needed for the airdraulic actuator obtained with step one
Mark obtains feedback control signal after processing together；
Step 3, feedback control signal control card through I/O and export corresponding on-off control amount, and on-off control amount is input to
PCM valve group, regulation multiple switch valves of PCM valve group and choke valve, control the flow of gas, and control two reversal valves and two
Hydraulic switching valve, to control the piston rod output action of airdraulic actuator, thus realizes the desired motion requirement of moving platform；
If moving platform is carried out positioning control by step 4, the motion that controlling branch according to three parallel drives needs refers to
Location is put, and carries out Inverse Kinematics Solution and resolves the piston position of the airdraulic actuator showing that three parallel drives control branch, and passes through gas
Liquid linkage closed loop location controls the piston rod movement of airdraulic actuator so that moving platform arrives specifies position, thus realizes moving platform
Location controls requirement.
Another object of the present invention can also reach by adopting the following technical scheme that:
Planar three-freedom-degree parallel mechanism control method based on said apparatus, said method comprising the steps of:
Step one, job requirement according to moving platform, it is thus achieved that track that moving platform central point runs at work space and appearance
State, it is considered to the concrete physical dimension of this moving platform by Inverse Kinematics Solution, obtains three parallel drives and controls the gas-liquid of branch
Required displacement, speed and the acceleration trajectory run of cylinder；
Step 2, three parallel drives control the displacement letter of the corresponding airdraulic actuator of linear displacement transducer detection of branch
Number, the first single-axis acceleration sensors detection moving platform is in the horizontal plane along the acceleration signal of X-direction, and the second single shaft accelerates
Degree sensor detection moving platform is in the horizontal plane along the acceleration signal of Y direction, single shaft angular-rate sensor detection moving platform 1
Angular velocity of rotation signal in the horizontal plane, the signal detected obtains numeral letter after A/D transition card carries out analog digital conversion
Number, digital signal input computer, computer will the digital signal of input, the rail run needed for the airdraulic actuator obtained with step one
Mark obtains feedback control signal after processing together；
Step 3, feedback control signal obtain analogue signal after D/A transition card carries out digital-to-analogue conversion, and analogue signal is defeated
Enter to pneumatic proportional valve, control the flow of gas, and control two reversal valves and two hydraulic switching valves, to control airdraulic actuator
Piston rod output action, thus realize the desired motion requirement of moving platform；
If moving platform is carried out positioning control by step 4, the motion that controlling branch according to three parallel drives needs refers to
Location is put, and carries out Inverse Kinematics Solution and resolves the piston position of the airdraulic actuator showing that three parallel drives control branch, and passes through gas
Liquid linkage closed loop location controls the piston rod movement of airdraulic actuator so that moving platform arrives specifies position, thus realizes moving platform
Location controls requirement.
The present invention has a following beneficial effect relative to prior art:
1, present invention employs moving platform that profile is equilateral triangle and three parallel drives control branch, each parallel connection
Driving control branch to use airdraulic actuator to be driven moving platform, each parallel drive controls the airdraulic actuator of branch and fixes one directly
Linear movement pick-up, the displacement information of the corresponding airdraulic actuator of linear displacement transducer detection；Additionally, moving platform is provided with two lists
Axle acceleration sensor and a single shaft angular-rate sensor, can detect the information of moving platform three degree of freedom, to moving platform
Dynamic analysis and feedback control provide good measurement means, and by gas-liquid linked control unit driving airdraulic actuator,
Control the piston rod output action of airdraulic actuator, make moving platform relative movement rotate with certain attitude running fix to target location,
Owing to gas-liquid linked control unit introduces the liquid medium that rigidity is high, viscosity is big on pneumatic circuit so that device moves more
Steadily, speed is evenly, it is easier to controlling, positioning precision is higher, and both gas-liquids combine the essence that can preferably improve motion platform
Degree.
2, the present invention uses single driving element, the most only by three airdraulic actuators having identical gas-liquid linked control unit
Input torque, uses gas-liquid linked control unit, makes whole device have simple in construction, efficiency advantage high, free of contamination, gas-liquid
Coordinated signals unit can use PCM valve group or pneumatic proportional valve to be controlled, and structure is relatively simple, and three controls simultaneously, can
To avoid multiloop to interfere, improve control accuracy, reduce and control difficulty, and with low cost, and reliability is high；Meanwhile, airdraulic actuator
There is preferable compressibility, make whole device have good flexibility, use the moving platform of equilateral triangle structure, overall structure
Steadily, contactless with ground unsettled, frictional force is minimized, and the light weight of whole device, energy consumption are low, simple in construction.
Accompanying drawing explanation
Fig. 1 is that the planar three-freedom-degree parallel mechanism of the embodiment of the present invention 1 controls equipments overall structure schematic diagram, hidden in figure
Hide silent flatform.
Fig. 2 is that the planar three-freedom-degree parallel mechanism of the embodiment of the present invention 1 controls device for mechanical structure chart.
Fig. 3 is that the planar three-freedom-degree parallel mechanism of the embodiment of the present invention 1 controls moving platform and three parallel connections in device and drives
Dynamic control branch annexation axonometric chart.
Fig. 4 is that the planar three-freedom-degree parallel mechanism of the embodiment of the present invention 1 controls moving platform and three parallel connections in device and drives
Dynamic control branch annexation top view.
Fig. 5 be the embodiment of the present invention 1 moving platform in the structural representation of sensor box.
Fig. 6 is that each parallel drive of the embodiment of the present invention 1 controls the structure chart of airdraulic actuator in branch.
Fig. 7 is that each parallel drive of the embodiment of the present invention 1 controls airdraulic actuator and the company of linear displacement transducer in branch
Connect relation schematic diagram.
Fig. 8 is the fixed mount left socle plane graph between airdraulic actuator and the linear displacement transducer of the embodiment of the present invention 1.
Fig. 9 is the fixed mount right support plane graph between airdraulic actuator and the linear displacement transducer of the embodiment of the present invention 1.
Figure 10 is the fixed mount right support axonometric chart between airdraulic actuator and the linear displacement transducer of the embodiment of the present invention 1.
Figure 11 is that each parallel drive of the embodiment of the present invention 1 controls airdraulic actuator and gas-liquid coordinated signals unit in branch
Annexation schematic diagram.
Figure 12 is that the planar three-freedom-degree parallel mechanism of the embodiment of the present invention 2 controls equipments overall structure schematic diagram, in figure
Conceal silent flatform.
Wherein, 1-moving platform, 2-silent flatform, 3-sensor box, 4-the first single-axis acceleration sensors, 5-the second single shaft adds
Velocity sensor, 6-single shaft angular-rate sensor, 7-props up spike, 8-gripper shoe, 9-airdraulic actuator, 10-linear displacement transducer,
11-left end cap, 12-intermediate end cover, 13-right end cap, 14-air cavity cylinder barrel, 15-oil pocket cylinder barrel, 16-piston, 17-piston rod, 18-
Steam vent, 19-the first air cavity, 20-the second air cavity, 21-oil pocket, 22-piston connector, 23-fixed mount, 24-flake universal joint,
25-the first rotating shaft, 26-fixed lug, 27-the second rotating shaft, 28-PCM valve group, 29-the first reversal valve, 30-the second reversal valve,
31-the first hydraulic switching valve, 32-the second hydraulic switching valve, 33-first drives source of the gas, and 34-second drives source of the gas, 35-back pressure gas
Source, 36-air-liquid converter, 37-computer, 38-A/D transition card, 39-I/O controls card, 40-pneumatic proportional valve, and 41-D/A changes
Card.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention do not limit
In this.
Embodiment 1:
As shown in Figure 1 to 4, present embodiments provide a kind of planar three-freedom-degree parallel mechanism and control device, this device
Including planar three-freedom-degree parallel mechanism body and control assembly.
Described planar three-freedom-degree parallel mechanism body is 3RPR (3 rotation-movement-rotation branches) type motion platform,
Control branch including moving platform 1, silent flatform 2 and three parallel drives, Fig. 1 conceals the structure of silent flatform 2, it is therefore intended that more
Adding the control assembly clearly describing device, have expressed out in detail by silent flatform 2 in Fig. 2, the dotted line in Fig. 1 connects and represents
The signal of telecommunication and the connection controlling assembly, solid line connects and represents that Pneumatic control circuit connects；
Described moving platform 1 is triangular plate, and profile is equilateral triangle, and the geometric center position of moving platform 1 is fixed with biography
Sensor box 3, the structure of described sensor box 3 is as it is shown in figure 5, be respectively fixed with the first single shaft on two orthogonal sides
Acceleration transducer 4 and the second single-axis acceleration sensors 5, the upper plane of sensor box 3 is provided with single shaft angular-rate sensor 6,
The detection axis of described first single-axis acceleration sensors 4 and the second single-axis acceleration sensors 5 is perpendicular, and the first single shaft accelerates
Degree sensor 4 is for detecting moving platform 1 in the horizontal plane along the acceleration signal of X-direction, the second single-axis acceleration sensors 5
For detecting moving platform 1 in the horizontal plane along the acceleration signal of Y direction, the detection axle of described single shaft angular-rate sensor 6
Line is perpendicular to moving platform 1 plane, for detecting moving platform 1 angular velocity of rotation signal in the horizontal plane；
Described silent flatform 2 is used for placing moving platform 1 and three parallel drives control branch, by the aluminium profiles of some different lengths
Material and substrate composition, have four spikes 7 bottom it, the plane that four spikes 7 surround is provided with a gripper shoe 8, four
Prop up spike 7 and gripper shoe 8 for silent flatform 2 is supported；
It is all identical that three parallel drives control the structure of branch, the most only controls branch with a parallel drive and carries out
Illustrating, each parallel drive controls branch and includes that airdraulic actuator 9 and linear displacement transducer 10, described airdraulic actuator 9 use duty post
Plug airdraulic actuator, its structure as shown in Figure 6, including left end cap 11, intermediate end cover 12, right end cap 13, air cavity cylinder barrel 14, oil pocket cylinder
Cylinder 15, piston 16, piston rod 17 and steam vent 18, described left end cap 11, air cavity cylinder barrel 14, intermediate end cover 12, oil pocket cylinder barrel 15
Being sequentially connected with right end cap 13, described left end cap 11 is provided with the first air cavity 19, and described intermediate end cover 12 is provided with the second air cavity
20, described right end cap 13 is provided with oil pocket 21, and described steam vent 18 is arranged on oil pocket cylinder barrel 15, and steam vent 18 is used for discharging oil
The air in chamber 21, is sealed by screw and sealing ring after discharging the air of oil pocket 21, described first air cavity 19 and the second air cavity 20
Being connected with air cavity cylinder barrel 14, described oil pocket 21 is connected with oil pocket cylinder barrel 15, and described piston 16 connects with one end of piston rod 17
Connecing, the other end of piston rod 17 stretches out right end cap 13, and is provided with piston connector 22, and described piston rod 17 drives piston 16 at gas
Move between chamber cylinder barrel 14 and oil pocket cylinder barrel 15, between piston 16 and oil pocket cylinder barrel 15, one end of piston rod 17 and intermediate end cover
Between 12, between the other end of piston rod 17 and right end cap 13, it is equipped with sealing ring；Airdraulic actuator 9 and linear displacement transducer 10
Annexation as it is shown in fig. 7, described linear displacement transducer 10 is fixed on airdraulic actuator 9 by fixed mount 23, fixed mount 23
Structure, as shown in Fig. 8～Figure 10, is configured to by left and right；The boom length of linear displacement transducer 10 and the piston of airdraulic actuator 9
Bar 17 length is identical, and for measuring the telescopic displacement of piston rod 17, it is universal that the boom of linear displacement transducer 10 is provided with flake
Joint 24, described flake universal joint 24 and piston connector 22 are rotated even by an edge of the first rotating shaft 25 with moving platform 1
Connect, from the figure, it can be seen that three parallel drives control the airdraulic actuator 9 of branch and linear displacement transducer 10 with symmetrical
Form is arranged, and the top of the first rotating shaft 25 is positioned at the top of moving platform 1, and bottom is positioned at the lower section of moving platform 1, and flake is universal
Joint 24 is connected with the top of the first rotating shaft 25, and piston connector 22 is connected with the bottom of the first rotating shaft 25；Described airdraulic actuator 9 is far
Be provided with fixed lug 26 from one end of piston rod 17, described fixed lug 26 is connected with silent flatform 2 by the second rotating shaft 27, fixing
Being capable of freely rotatable between earrings 26 and the second rotating shaft 27, the base of described second rotating shaft 27 is fixed on silent flatform 2；
The present embodiment is high as rigidity using passive hydraulic oil, damps big medium and is incorporated in pneumatic circuit, by active
Pneumatic middle introducing hydraulic transmission, add the damping of device, improve the stationarity of motion, both combinations can preferably improve dress
The precision put；Described airdraulic actuator 9 is driven by gas-liquid linked control unit, and airdraulic actuator 9 closes with the connection of gas-liquid linked control unit
As shown in figure 11, described gas-liquid linked control unit includes PCM valve group the 28, first reversal valve the 29, second reversal valve 30, first in system
Hydraulic switching valve the 31, second hydraulic switching valve 32, hydraulic throttle valve, the first driving source of the gas 33, second drive source of the gas 34, back pressure gas
Source 35 and air-liquid converter 36, wherein PCM valve group the 28, first reversal valve the 29, second reversal valve 30, first drive source of the gas 33, the
Two drive sources of the gas 34 and back pressure source of the gas 35 as pneumatic control part, first hydraulic switching valve the 31, second hydraulic switching valve 32, liquid
Pressure choke valve and air-liquid converter 36 control part as liquid；Described PCM valve group 28 is connected by six switch valves and choke valve
Composition, six choke valves have different passage section；First reversal valve 29 is connected with the first air cavity 19 of airdraulic actuator 9, and second changes
Being connected with the second air cavity 20 of airdraulic actuator 9 to valve 30, described first drives source of the gas 33 to be connected with the first reversal valve 29, and described second
Drive source of the gas 34 be connected with the second reversal valve 30, described back pressure source of the gas 35 respectively with PCM valve group the 28, first reversal valve 29 and second
Reversal valve 30 connects, and first drives source of the gas 33, second to drive source of the gas 34, back pressure source of the gas 35 to provide energy to produce fortune to airdraulic actuator 9
Dynamic, source of the gas is the cleaning gas with stable air pressure herein, and three sources of the gas are that the gases at high pressure of air pump output are through pneumatic
After three linked piece, respectively through obtaining the source of the gas of corresponding air pressure after three air pressure reducing devices, and the first reversal valve 29 and the second commutation
The control of piston 16 direction of motion of the control realization of valve 30 airdraulic actuator 9, first reversal valve 29 and the tune of the second reversal valve 30
Energy-conservation change airdraulic actuator 9 activity direction, during first reversal valve the 29, second reversal valve 30 no power, airdraulic actuator 9 connects the first driving gas
Source 33 and back pressure source of the gas 35, now piston rod 17 extends；When first reversal valve the 29, second reversal valve 30 is energized, airdraulic actuator 9 connects
Two drive source of the gas 34 and back pressure source of the gas 35, and now piston rod 17 shortens, and back pressure source of the gas 35 controls aperture area by PCM valve group 28
Size, it is possible to effectively control piston 16 movement velocity of airdraulic actuator 9；Described first hydraulic switching valve 31 and the oil of airdraulic actuator 9
Chamber 21 connects, and one end of described hydraulic throttle valve is connected with the oil pocket 21 of airdraulic actuator 9, and the other end and the second hydraulic switching valve 32 are even
Connecing, described second hydraulic switching valve 32 is connected with the first hydraulic switching valve 31, air-liquid converter 36 respectively, the first hydraulic switching valve
31, the control of the second hydraulic switching valve 32 is so that the oil in oil cylinder stops or slowly moving, and plays the damping effect of fluid
Really, the first hydraulic switching valve 31 is for realizing the switching of oil circuit, and the effect of the first hydraulic switching valve 31 is so that in airdraulic actuator 9 oil
The fluid that chamber 21 is got rid of by duty plunger is drained in air-liquid converter 36 by hydraulic throttle valve, increase system damping and
Throttle grverning；Second hydraulic switching valve 32 is for the break-make of oil circuit control, and when the second hydraulic switching valve 32 is closed, oil circuit is cut
Disconnected, the piston 16 of whole airdraulic actuator 9 realizes location, and described air-liquid converter 36 is air pressure to be converted into oil pressure (pressure ratio is
Element 1:1), is connected with the second air cavity 20 of airdraulic actuator 9 so that fluid obtains pressure, is the key of airdraulic actuator 9 driving；Gas
During piston 16 F.F. of fluid cylinder 9, first hydraulic switching valve the 31, second hydraulic switching valve 32 is energized, and the throttling being added without fluid is made
With, when piston 16 work of airdraulic actuator 9 is entered, the first hydraulic switching valve 31 power-off, the second hydraulic switching valve 32 is energized, and adds fluid
Throttling action；
In the present embodiment, moving platform 1 be designed as profile be equilateral triangle, the length of side be 250mm, thickness be the three of 25mm
Angle dish；The dimensional parameters of silent flatform 2 is 1500mm × 1300mm × 600mm, wherein, the dimensional parameters of substrate be 1500mm ×
1300mm × 15mm, aluminium section bar selection cross-sectional sizes is 80mm × 80mm, and aluminium section bar constitutes the length of silent flatform 2 length
For 1340mm, 1140mm, 500mm；
Selecting the least selecting sensor when, it is preferential for not affecting moving platform 1 movement effects, and the first single shaft adds as far as possible
Velocity sensor 4 and the second single-axis acceleration sensors 5 select the 8310B2 type acceleration transducer of KISTLER company, test
Frequency can start to measure 250Hz from static 0Hz, and quality only has 17g, single shaft angular-rate sensor 6 to select Switzerland
The CS-ARS-02C single axis gyroscope that KISTLER company produces, its feature is that volume is little, lightweight, and impact resistance is high, is used primarily in
On military shell field, this model basic size then selected is 28 × 18 × 14.8mm, the first individual axis acceleration sensing
Device the 4, second single-axis acceleration sensors 5 and single shaft angular-rate sensor 6 use the Switching Power Supply meeting voltage request to power, and pass
Sensor box 3 is to be designed, so that three sensors can be placed on same box surface with reference to these three sensor；
The airdraulic actuator 9 that three parallel drives control branch is equivalently-sized, and type selecting is diameter 40mm, and extension bar Long travel is
The airdraulic actuator of 200mm, with four fixing bars exposed, it is possible to preferably utilize airdraulic actuator 9 to carry out and linear displacement transducer
10 are fixed by fixed mount 23；The type selecting of linear displacement transducer 10 is to use the KPC linear displacement transducer of the bright MIRAN of rice,
The feature of this linear displacement transducer is that service life is long, and linearly excellent, resolution is high, and the speed of service is high, and material is superior, with
Time cylindrical be easily relatively fixed with cylinder, the flake universal joint 12 that KPC linear displacement transducer is arranged can be chosen, and facilitates and pacifies
Dress, coordinates flake universal joint 24 with the first rotating shaft 25, and this mode makes the boom of KPC linear displacement transducer only by one
The axial force of end, will not be deformed by radial force, reduces the error that deformation produces；Fixed mount 23 is according to KPC straight line
Out, aluminium alloy post originally is that to make the KPC linear displacement transducer be fixed on flat in the deformation design of displacement sensor bracket
Face, now changes being arranged on two supports exposing on bar of airdraulic actuator 9 into, and this support uses in pairs, is connected by two root length screws
Fixed position, leaves space and is clamped coordinating；Three parallel drives control the second rotating shaft 27 corresponding to branch be three identical
The main shaft of band base of diameter 20mm, coordinated with the fixed lug 26 of airdraulic actuator 9 by two packing rings, the base of three main shafts
Being fixed on silent flatform 2, the base center of circle relative distance of three main shafts is mutually 1800mm, forms an equilateral triangle, work
The change making space is determined by the size of this triangle, and this distance can regulate according to practice situation, it is contemplated that three
Individual main shaft support moving platform 1 and three parallel drives control the weight of branch, and the fixed lug 26 that airdraulic actuator 9 is arranged selects two
Individual angular contact ball bearing connects retaining element, reduces deformation, determines that external diameter designs the basic size of this retaining element；
In gas-liquid linked control unit, the first reversal valve 29 and the second reversal valve 30 are two-bit triplet reversal valve, by
The pneumatic company of SMC of Japan produces, and model is VK332-5G-01；First drives source of the gas 33, second to drive source of the gas 34, back pressure source of the gas
In 35, air pump is the quiet air compressor that model is FB-0.017/7 that Shanghai Jaguar Compressor Manufacturing company limited produces,
By air filter (model is AF30-03), (model is AR25-03) and oil mist separator, (model is gas-liquid linked three linked piece
AFM30-03) fitted together by 2 dividing plates (model is Y300T), and with Pressure gauge (model is G36-10-01)
Individual, the gas-liquid linked company of SMC of Japan produce, three air pressure reducing devices can be selected for the AR2000-that the pneumatic company of SMC of Japan produces
02 type pneumatic pressure-release valve, and with a Pressure gauge (model is G36-10-01)；First hydraulic switching valve the 31, second hydraulic pressure is opened
Closing valve 32, hydraulic throttle valve and air-liquid converter 36 and integrate composition solution-air converting unit, solution-air converting unit is by gas
Liquid converter 36 is the most integrated with valve cell, and the model selecting the pneumatic company of SMC of Japan to produce is CC63-200S115G
Solution-air converting unit.
Described control assembly include computer 37, A/D transition card 38 and I/O control card 39, described computer 37 respectively with
A/D transition card 38 and I/O control card 39 connection, described A/D transition card 38 respectively with the first single-axis acceleration sensors 4, second
Single-axis acceleration sensors 5 and single shaft angular-rate sensor 6 connect, and described I/O controls card 39 and is connected with PCM valve group 28；
The acceleration signal of the first single-axis acceleration sensors 4 detection, the acceleration of the second single-axis acceleration sensors 5 detection
Degree signal, the angular velocity of rotation signal of single shaft angular-rate sensor 6 detection and the displacement signal of linear displacement transducer 10 detection
Obtaining digital signal after A/D transition card 38 carries out analog digital conversion, digital signal input computer 37, computer 37 is according to defeated
The digital signal entered, obtains feedback control signal, and feedback control signal controls the card 39 corresponding on-off control of output through I/O
Amount, on-off control amount is input to PCM valve group 28, multiple switch valves of regulation PCM valve group 28 and choke valve, controls the stream of gas
Amount, and control two reversal valves and two hydraulic switching valves, to control piston rod 17 output action of airdraulic actuator 9, thus realize
The desired motion requirement of moving platform 1.
In the present embodiment, computer 37 can be selected for Taiwan grind China IPC610 cabinet, PCA-6006 mainboard, production unit:
Taiwan Advantech company, Pentium IV2.4G Intel CPU；The model of A/D converter 38 is that Taiwan Advantech is limited
The PCL-818HD that company produces.
The present embodiment additionally provides a kind of planar three-freedom-degree parallel mechanism control method, and the method is real based on said apparatus
Existing, comprise the following steps:
Step one, job requirement according to moving platform 1, it is thus achieved that track that moving platform 1 central point runs at work space and
Attitude, it is considered to the concrete physical dimension of this moving platform 1 by Inverse Kinematics Solution, obtains three parallel drives and controls the gas of branch
Required displacement, speed and the acceleration trajectory run of fluid cylinder 9；
Step 2, three parallel drives control the linear displacement transducer 10 of branch and detect the displacement of corresponding airdraulic actuator 9
Signal, the first single-axis acceleration sensors 4 detects moving platform 1 in the horizontal plane along the acceleration signal of X-direction, the second single shaft
Acceleration transducer 5 detects moving platform 1 in the horizontal plane along the acceleration signal of Y direction, and single shaft angular-rate sensor 6 detects
Moving platform 1 angular velocity of rotation signal in the horizontal plane, the signal detected obtains after A/D transition card 38 carries out analog digital conversion
To digital signal, digital signal input computer 37, computer 37 is by the digital signal of input, the airdraulic actuator obtained with step one
The 9 required tracks run obtain feedback control signal after processing together；
Step 3, feedback control signal control the card 39 corresponding on-off control amount of output through I/O, and on-off control amount inputs
To PCM valve group 28, multiple switch valves of regulation PCM valve group 28 and choke valve, control the flow of gas, and control two reversal valves
With two hydraulic switching valves, to control piston rod 17 output action of airdraulic actuator 9, thus the desired motion realizing moving platform 1 is wanted
Ask；
If moving platform 1 is carried out positioning control by step 4, the motion that controlling branch according to three parallel drives needs refers to
Location is put, and carries out Inverse Kinematics Solution and resolves piston 16 position of the airdraulic actuator 9 showing that three parallel drives control branch, and passes through
Gas-liquid linked closed loop location controls the piston rod 17 of airdraulic actuator 9 and moves so that moving platform 1 arrives specifies position, thus realizes dynamic
The location of platform 1 controls requirement, and the kinematic accuracy being made moving platform 1 by the control of airdraulic actuator 9 is higher.
Embodiment 2:
As shown in figure 12, the planar three-freedom-degree parallel mechanism of the present embodiment controls the device difference of device and embodiment 1
Part is: replace PCM valve group 28 by pneumatic proportional valve 40, therefore back pressure source of the gas 35 respectively with pneumatic proportional valve 40, first change
Connecting to valve 29 and the second reversal valve 30, described control assembly includes computer 37, A/D transition card 38 and D/A transition card 41, institute
Stating computer 37 to be connected with A/D transition card 38 and D/A transition card 41 respectively, described A/D transition card 38 adds with the first single shaft respectively
Velocity sensor the 4, second single-axis acceleration sensors 5 and single shaft angular-rate sensor 6 connect, described D/A transition card 41 and gas
Dynamic proportioning valve 40 connects, and the acceleration signal of the first single-axis acceleration sensors 4 detection, the second single-axis acceleration sensors 5 are examined
Acceleration signal, the angular velocity of rotation signal of single shaft angular-rate sensor 6 detection and linear displacement transducer 10 detection surveyed
Displacement signal obtains digital signal, digital signal input computer 37, computer after A/D transition card 38 carries out analog digital conversion
37, according to the digital signal inputted, obtain feedback control signal, and feedback control signal carries out digital-to-analogue conversion through D/A transition card 41
After obtain analogue signal, analogue signal is input to pneumatic proportional valve 40.
In the present embodiment, the model that pneumatic proportional valve 40 selects the pneumatic company of SMC of Japan to produce is VER2000-02 ratio
Valve.
The present embodiment additionally provides a kind of planar three-freedom-degree parallel mechanism control method, distinguishes with the method for embodiment 1
Part is step 3, as follows:
Step 3, feedback control signal obtain analogue signal, analogue signal after D/A transition card 23 carries out digital-to-analogue conversion
It is input to pneumatic proportional valve 40, and controls two reversal valves and two hydraulic switching valves, defeated to control the piston rod 17 of airdraulic actuator 9
Go out action, thus realize the desired motion requirement of moving platform 1.
In sum, present invention employs moving platform that profile is equilateral triangle and three parallel drives control branch,
Each parallel drive controls branch and uses airdraulic actuator to be driven moving platform, and the airdraulic actuator that each parallel drive controls branch is solid
A fixed linear displacement transducer, the displacement information of the corresponding airdraulic actuator of linear displacement transducer detection；Additionally, set on moving platform
There are two single-axis acceleration sensors and a single shaft angular-rate sensor, the information of moving platform three degree of freedom can be detected,
Dynamic analysis and feedback control to moving platform provide good measurement means, and are driven by gas-liquid linked control unit
Airdraulic actuator, controls the piston rod output action of airdraulic actuator, makes moving platform relative movement rotate with certain attitude running fix to mesh
Cursor position, owing to gas-liquid linked control unit introduces the liquid medium that rigidity is high, viscosity is big on pneumatic circuit so that device is transported
Dynamic more steady, speed is evenly, it is easier to controlling, positioning precision is higher, and it is flat that the combination of both gas-liquids can preferably improve motion
The precision of platform.
The above, patent preferred embodiment the most of the present invention, but the protection domain of patent of the present invention is not limited to
This, any those familiar with the art is in the scope disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and inventive concept equivalent or change in addition thereof, broadly fall into the protection domain of patent of the present invention.
Claims (10)
1. the planar three-freedom-degree parallel mechanism that airdraulic actuator drives controls device, it is characterised in that: include that planar three freedom is also
Connection mechanism body and control assembly；
Described planar three-freedom-degree parallel mechanism body includes that moving platform and three parallel drives control branch, and described moving platform is
Triangular plate, profile is equilateral triangle, and moving platform is provided with the first single-axis acceleration sensors, the second single-axis acceleration sensors
With single shaft angular-rate sensor, described first single-axis acceleration sensors and the detection axis phase of the second single-axis acceleration sensors
Vertically, the detection axis of described single shaft angular-rate sensor is perpendicular to moving platform plane；Each parallel drive controls branch and includes
Airdraulic actuator and linear displacement transducer, described airdraulic actuator is driven by gas-liquid linked control unit, and described linear displacement transducer is solid
Being scheduled on airdraulic actuator, the boom of linear displacement transducer and the piston rod of airdraulic actuator all edges with moving platform rotate even
Connect；
Described control assembly passes with gas-liquid linked control unit, the first single-axis acceleration sensors, the second individual axis acceleration respectively
Sensor, single shaft angular-rate sensor and linear displacement transducer connect.
The planar three-freedom-degree parallel mechanism that airdraulic actuator the most according to claim 1 drives controls device, it is characterised in that:
Described gas-liquid linked control unit includes PCM valve group, the first reversal valve, the second reversal valve, the first hydraulic switching valve, the second hydraulic pressure
Switch valve, hydraulic throttle valve, the first driving source of the gas, the second driving source of the gas, back pressure source of the gas and air-liquid converter；Described PCM valve group
Be composed in series by multiple switch valves and choke valve, described first reversal valve and the second reversal valve respectively with two air cavitys of airdraulic actuator
Connecting, described first drives source of the gas and the first reversal valve to connect, and described second drives source of the gas and the second reversal valve to connect, the described back of the body
Pressurized air source is connected with PCM valve group, the first reversal valve and the second reversal valve respectively；Described first hydraulic switching valve and the oil of airdraulic actuator
Chamber connects, and one end of described hydraulic throttle valve is connected with the oil pocket of airdraulic actuator, and the other end and the second hydraulic switching valve connect, described
Second hydraulic switching valve is connected with the first hydraulic switching valve, air-liquid converter respectively, described air-liquid converter and the one of airdraulic actuator
Individual air cavity connects.
The planar three-freedom-degree parallel mechanism that airdraulic actuator the most according to claim 2 drives controls device, it is characterised in that:
Described control assembly includes that computer, A/D transition card and I/O control card, and described computer is controlled with A/D transition card and I/O respectively
Fabrication connect, described A/D transition card respectively with the first single-axis acceleration sensors, the second single-axis acceleration sensors and single shaft angle
Velocity sensor connects, and described I/O controls card and is connected with PCM valve group；
The acceleration signal of the first single-axis acceleration sensors detection, the acceleration letter of the second single-axis acceleration sensors detection
Number, single shaft angular-rate sensor detection angular velocity of rotation signal and linear displacement transducer detection displacement signal through A/D
Transition card obtains digital signal after carrying out analog digital conversion, digital signal input computer, computer according to the digital signal of input,
Obtaining feedback control signal, feedback control signal controls card through I/O and exports corresponding on-off control amount, and on-off control amount inputs
To PCM valve group.
The planar three-freedom-degree parallel mechanism that airdraulic actuator the most according to claim 1 drives controls device, it is characterised in that:
Described gas-liquid linked control unit include pneumatic proportional valve, the first reversal valve, the second reversal valve, the first hydraulic switching valve, second
Hydraulic switching valve, hydraulic throttle valve, the first driving source of the gas, the second driving source of the gas, back pressure source of the gas and air-liquid converter；Described first
Reversal valve and the second reversal valve are connected with two air cavitys of airdraulic actuator respectively, and described first drives source of the gas and the first reversal valve even
Connecing, described second drives the connection of source of the gas and the second reversal valve, described back pressure source of the gas respectively with pneumatic proportional valve, the first reversal valve and
Second reversal valve connects；Described first hydraulic switching valve is connected with the oil pocket of airdraulic actuator, one end of described hydraulic throttle valve and gas
The oil pocket of fluid cylinder connects, and the other end and the second hydraulic switching valve connect, and described second hydraulic switching valve is opened with the first hydraulic pressure respectively
Close valve, air-liquid converter connects, and described air-liquid converter is connected with an air cavity of airdraulic actuator.
The planar three-freedom-degree parallel mechanism that airdraulic actuator the most according to claim 4 drives controls device, it is characterised in that:
Described control assembly includes computer, A/D transition card and D/A transition card, and described computer turns with A/D transition card and D/A respectively
Change card connect, described A/D transition card respectively with the first single-axis acceleration sensors, the second single-axis acceleration sensors and single shaft angle
Velocity sensor connects, and described D/A transition card is connected with pneumatic proportional valve；
The acceleration signal of the first single-axis acceleration sensors detection, the acceleration letter of the second single-axis acceleration sensors detection
Number, single shaft angular-rate sensor detection angular velocity of rotation signal and linear displacement transducer detection displacement signal through A/D
Transition card obtains digital signal after carrying out analog digital conversion, digital signal input computer, computer according to the digital signal of input,
Obtaining feedback control signal, feedback control signal obtains analogue signal, analogue signal after D/A transition card carries out digital-to-analogue conversion
It is input to pneumatic proportional valve.
6. the planar three-freedom-degree parallel mechanism driven according to the airdraulic actuator described in any one of claim 1-5 controls device, its
Be characterised by: on the geometric center position of described moving platform, be fixed with sensor box, described first single-axis acceleration sensors and
Second single-axis acceleration sensors is separately fixed on two orthogonal sides of sensor box, and described single shaft angular velocity senses
Device is fixed on the upper plane of sensor box.
7. the planar three-freedom-degree parallel mechanism driven according to the airdraulic actuator described in any one of claim 1-5 controls device, its
It is characterised by: described linear displacement transducer is fixed on airdraulic actuator by fixed mount, the boom of linear displacement transducer sets
There is flake universal joint；Described airdraulic actuator includes left end cap, intermediate end cover, right end cap, air cavity cylinder barrel, oil pocket cylinder barrel, piston, piston
Bar and steam vent, described left end cap, air cavity cylinder barrel, intermediate end cover, oil pocket cylinder barrel and right end cap are sequentially connected with, on described left end cap
Being provided with the first air cavity, described intermediate end cover is provided with the second air cavity, and described right end cap is provided with oil pocket, and described steam vent is arranged on
On oil pocket cylinder barrel, described first air cavity and the second air cavity are connected with air cavity cylinder barrel, and described oil pocket is connected with oil pocket cylinder barrel, institute
Stating piston to be connected with one end of piston rod, the other end of piston rod stretches out right end cap, and is provided with piston connector, described piston rod
Piston is driven to move between air cavity cylinder barrel and oil pocket cylinder barrel；Described flake universal joint and piston connector by the first rotating shaft with
One edge of moving platform is rotationally connected.
8. the planar three-freedom-degree parallel mechanism driven according to the airdraulic actuator described in any one of claim 1-5 controls device, its
It is characterised by: described planar three-freedom-degree parallel mechanism body also includes silent flatform, and described silent flatform is by some different lengths
Aluminium section bar and substrate composition, the bottom of silent flatform has four spikes, and four planes supporting bottoms one-tenth are provided with a support
Plate；Described airdraulic actuator is provided with fixed lug in the one end away from piston rod, and described fixed lug passes through the second rotating shaft and silent flatform
Connecting, the base of described second rotating shaft is fixed on silent flatform.
9. planar three-freedom-degree parallel mechanism control method based on device described in claim 3, it is characterised in that: described method
Comprise the following steps:
Step one, job requirement according to moving platform, it is thus achieved that track that moving platform central point runs at work space and attitude, examine
Consider the concrete physical dimension of this moving platform and by Inverse Kinematics Solution, needed for obtaining the airdraulic actuator that three parallel drives control branch
Displacement, speed and the acceleration trajectory run；
Step 2, three parallel drives control the displacement signal of the corresponding airdraulic actuator of linear displacement transducer detection of branch, the
One single-axis acceleration sensors detection moving platform is in the horizontal plane along the acceleration signal of X-direction, and the second individual axis acceleration passes
Sensor detection moving platform is in the horizontal plane along the acceleration signal of Y direction, and single shaft angular-rate sensor detection moving platform is at water
Angular velocity of rotation signal in plane, the signal detected obtains digital signal after A/D transition card carries out analog digital conversion, number
Word signal input computer, computer will the digital signal of input, the track one run needed for the airdraulic actuator obtained with step one
Rise and obtain feedback control signal after processing；
Step 3, feedback control signal control card through I/O and export corresponding on-off control amount, and on-off control amount is input to PCM
Valve group, multiple switch valves of regulation PCM valve group and choke valve, control the flow of gas, and control two reversal valves and two liquid
Compress switch valve, to control the piston rod output action of airdraulic actuator, thus realizes the desired motion requirement of moving platform；
If moving platform is carried out positioning control by step 4, control, according to three parallel drives, the motion specific bit that branch needs
Put, carry out Inverse Kinematics Solution and resolve the piston position of the airdraulic actuator showing that three parallel drives control branch, and joined by gas-liquid
Dynamic closed loop location controls the piston rod movement of airdraulic actuator so that moving platform arrives specifies position, thus realizes the location of moving platform
Control requirement.
10. planar three-freedom-degree parallel mechanism control method based on device described in claim 5, it is characterised in that: described side
Method comprises the following steps:
Step one, job requirement according to moving platform, it is thus achieved that track that moving platform central point runs at work space and attitude, examine
Consider the concrete physical dimension of this moving platform and by Inverse Kinematics Solution, needed for obtaining the airdraulic actuator that three parallel drives control branch
Displacement, speed and the acceleration trajectory run；
Step 2, three parallel drives control the displacement signal of the corresponding airdraulic actuator of linear displacement transducer detection of branch, the
One single-axis acceleration sensors detection moving platform is in the horizontal plane along the acceleration signal of X-direction, and the second individual axis acceleration passes
Sensor detection moving platform is in the horizontal plane along the acceleration signal of Y direction, and single shaft angular-rate sensor detection moving platform 1 is at water
Angular velocity of rotation signal in plane, the signal detected obtains digital signal after A/D transition card carries out analog digital conversion, number
Word signal input computer, computer will the digital signal of input, the track one run needed for the airdraulic actuator obtained with step one
Rise and obtain feedback control signal after processing；
Step 3, feedback control signal obtain analogue signal after D/A transition card carries out digital-to-analogue conversion, and analogue signal is input to
Pneumatic proportional valve, controls the flow of gas, and controls two reversal valves and two hydraulic switching valves, to control the piston of airdraulic actuator
Bar output action, thus realize the desired motion requirement of moving platform；
If moving platform is carried out positioning control by step 4, control, according to three parallel drives, the motion specific bit that branch needs
Put, carry out Inverse Kinematics Solution and resolve the piston position of the airdraulic actuator showing that three parallel drives control branch, and joined by gas-liquid
Dynamic closed loop location controls the piston rod movement of airdraulic actuator so that moving platform arrives specifies position, thus realizes the location of moving platform
Control requirement.
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| CN110405727A (en) * | 2018-04-26 | 2019-11-05 | 天津职业技术师范大学 | A kind of 3DOF parallel institution |
| CN112207824A (en) * | 2020-09-22 | 2021-01-12 | 慧灵科技（深圳）有限公司 | Method, system, device and storage medium for controlling multiple single-axis modules |
| US11389953B2 (en) | 2019-01-31 | 2022-07-19 | Caterpillar Inc. | Hydraulic delta robot control system |
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| CN106217383B (en) | 2018-09-14 |
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