CN106239534A - There is the planar three freedom parallel connection platform control device and method of bar air cylinder driven - Google Patents
There is the planar three freedom parallel connection platform control device and method of bar air cylinder driven Download PDFInfo
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- CN106239534A CN106239534A CN201610873242.0A CN201610873242A CN106239534A CN 106239534 A CN106239534 A CN 106239534A CN 201610873242 A CN201610873242 A CN 201610873242A CN 106239534 A CN106239534 A CN 106239534A
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- moving platform
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- axis acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a kind of planar three freedom parallel connection platform control device and method having bar air cylinder driven, described device includes planar three freedom parallel connection platform body and controls assembly；Planar three freedom parallel connection platform 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 bar cylinder and linear displacement transducer, bar cylinder is had to be driven by Pneumatic control circuit, linear displacement transducer has been fixed on bar cylinder, the part that linear displacement transducer stretches out and have the piston rod of bar cylinder to be all rotationally connected with moving platform；Control assembly to be connected with Pneumatic control circuit, the first single-axis acceleration sensors, the second single-axis acceleration sensors and single shaft angular-rate sensor and linear displacement transducer respectively.The present invention can preferably plan the operating path of moving platform.
Description
Technical field
The present invention relates to a kind of planar three freedom parallel connection platform and control device, a kind of have the flat of bar air cylinder driven
Face freedom degree parallel connection platform controller and method, belong to plane-parallel type motion platform technical field.
Background technology
Classifying from mechanism form, motion can be divided into serial kinematic mechanism and parallel moving mechanism.It is said that in general, string
Connection motion has simple in construction, and work space is big, flexible operation, and direct kinematics solves the advantages such as simplicity, in industrial quarters
It is widely used.But, owing to serial kinematic mechanism all drivings joint all concentrates in a movement branched chain, exist each
Drive the shortcomings such as the diarthrodial accumulation of error, end effector rigidity is low, load driving force is limited.Comparatively speaking, parallel kinematic
Mechanism is serial kinematic mechanism beneficial complement, and its highly branched chain closed-loop structure can offset the error in each joint of serial kinematic mechanism
Build-up effect, moving platform error presents the trend of downsizing smoothly.Further, the inverse kinematics of parallel moving mechanism solve simply,
Movement inertia is low, load capacity is strong, Static and dynamic stiffness is big, and these advantages make parallel moving mechanism become a potential high speed
Degree, high-precision motion platform.But, to really play the potential advantages of parallel moving mechanism, it is achieved at high speed, high-precision fixed
Position and operation still face the highly branched chain closed-loop structure of the problem of much reality, particularly parallel moving mechanism, respectively drive joint
The effect that intercouples is comprehensive to the dynamic analysis of parallel moving mechanism, parallel institution, precise flange proposes many
New challenge.
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 in science and engineering association area, the most caused the extensive concern of Chinese scholars.In docking mechanism compbined test
In platform, parallel motion platform based on Stewart mechanism is used for simulating the relative motion of two spacecrafts in docking operation, with support
The subsystem such as framework, high and low temperature environment completes the experiment of docking mechanism jointly.Further, parallel-connection structure is also utilized to have developed parallel machine
Bed carries out the processing of spatial complex curved surface.
Research in terms of ongoing parallel motion platform rigid multibody dynamics modeling: Dasgupta uses Newton-Euler
The inversion dynamic control of equation research parallel institution, Lebret uses Lagrange's equation to establish the kinetic simulation of parallel institution
Type, Li Bing and Koekebakker kane equation establishes the reduced mechanism of parallel machine.The fortune of parallel motion platform
With very extensive, also needing at present its motion analysis is made more optimization, traditional rigid multi-body dynamics mechanical modeling there is also
A lot of shortcoming and defect, such as utilize Newton-Euller method when modeling, to there will be substantial amounts of internal force and constraint, modeling process ratio
More complicated；When using Lagrange's equation modeling, calculating and the derivation process of various kinetic functions are comparatively laborious, and amount of calculation is non-
The problems such as Chang great.It is contemplated that sensor-based kinetic model identification or sensor-based control method.
In addition to space parallel mechanism, also the numerous studies of plane-parallel type structure work and application.For plane three certainly
By degree parallel motion platform, the both direction of two dimension acceleration sensor detection platform is installed at planar three freedom motion platform
Acceleration information, the angular velocity information of established angle rate gyroscope detection platform.The rotation measured when utilizing moving platform to move adds
Speed and the acceleration information of both direction, thus obtain three freedom of motion information of moving platform, utilize this information to transport
Dynamic and kinetic model identification, control method research based on sensor feedback.
Summary of the invention
The invention aims to solve the defect of above-mentioned prior art, it is provided that a kind of plane having bar air cylinder driven
Freedom degree parallel connection platform controller, this device controls having on bar cylinder of branch at each parallel drive and fixes a straight line
Displacement transducer, has the displacement information of bar cylinder corresponding to linear displacement transducer detection, uses two individual axis accelerations simultaneously
Sensor and the information of a single shaft angular-rate sensor collection moving platform three degree of freedom, certainty of measurement is high, it is possible to obtain dynamic
The dynamic characteristic of platform, and can have bar cylinder by Pneumatic control circuit driving, make moving platform relative movement rotate with necessarily
Attitude running fix is to target location.
Another object of the present invention is to provide a kind of planar three freedom parallel connection platform 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 parallel connection platform having bar air cylinder driven controls device, including planar three freedom parallel connection platform originally
Body and control assembly；
Described planar three freedom parallel connection platform 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
Include bar cylinder and linear displacement transducer, described in have bar cylinder to be driven by Pneumatic control circuit, described straight-line displacement sense
Device has been fixed on bar cylinder, the boom of linear displacement transducer and have the piston rod of bar cylinder all with a corner of moving platform
Place is rotationally connected；
Described control assembly passes with Pneumatic control circuit, the first single-axis acceleration sensors, the second individual axis acceleration respectively
Sensor, single shaft angular-rate sensor and linear displacement transducer connect.
As a kind of preferred version, described Pneumatic control circuit includes source of the gas, pneumatic triple piece and pneumatic proportion directional control
Valve processed, described air pump is connected with pneumatic proportional directional control valve by pneumatic triple piece, and described pneumatic proportional directional control valve divides
It is not connected with two air cavitys having bar cylinder；Described pneumatic triple piece is by air filter, pneumatic pressure-release valve and oil mist separator
Fit together, and with a Pressure gauge.
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, single shaft angular-rate sensor and linear displacement transducer connect, described D/A transition card and pneumatic proportional
Directional control valve connects；
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 directional control valve, controls the action having bar cylinder.
As a kind of preferred version, described pneumatic proportional directional control valve is also connected with two acoustic filters.
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, the boom of described linear displacement transducer is provided with flake universal joint, described in have bar gas
The piston rod of cylinder is provided with piston connector, described flake universal joint and piston connector by the first rotating shaft and the one of moving platform
Individual edge is rotationally connected.
As a kind of preferred version, described linear displacement transducer has been fixed on bar cylinder by fixed mount.
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, described in have bar cylinder to be provided with fixed lug in the one end away from piston rod,
Described fixed lug is connected with silent flatform by the second rotating shaft, and the base of described second rotating shaft is fixed on silent flatform.
As a kind of preferred version, the bottom of described silent flatform has four spikes, and four support the plane that bottoms becomes
It is provided with a gripper shoe.
Another object of the present invention can reach by adopting the following technical scheme that:
Planar three freedom parallel connection platform 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, obtain that three parallel drives control branch has bar
Required displacement, speed and the acceleration trajectory run of cylinder；
Step 2, three parallel drives control have the displacement of bar cylinder to believe corresponding to the 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, run needed for bar cylinder with step one having of obtaining
Track 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 directional control valve, control the action having bar cylinder, 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 and show that what three parallel drives controlled branch has bar cylinder piston position, and by straight
The closed loop location of linear movement pick-up control circuit controls the piston rod movement having bar cylinder so that moving platform arrives specific bit
Put, thus the location realizing moving platform 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 has bar cylinder to be driven moving platform, and each parallel drive controls the bar cylinder that has of branch and fixes one
Individual linear displacement transducer, has the displacement information of bar cylinder corresponding to linear displacement transducer detection；Additionally, moving platform is provided with
Two single-axis acceleration sensors and a single shaft angular-rate sensor, can detect the information of moving platform three degree of freedom, right
The dynamic analysis of moving platform and feedback control provide good measurement means, and have bar gas by Pneumatic control circuit driving
Cylinder, changes the elongation of piston rod, makes moving platform relative movement rotate with certain attitude running fix to target location, piston rod
Overhang selects relatively big, and corresponding work space is big, it is possible to preferably plan the operating path of moving platform.
2, the present invention uses single driving element, the most only by three have an identical Pneumatic control circuit have bar cylinder defeated
Entering moment, use Pneumatic control circuit, make whole device have simple in construction, efficiency advantage high, free of contamination, pneumatic control is returned
The structure on road is relatively simple, and three controls simultaneously, and multiloop can be avoided to interfere, and improves control accuracy, reduces and controls difficulty；With
Time, there is bar cylinder to have preferable compressibility, make whole device have good flexibility, use the dynamic flat of equilateral triangle structure
Platform, overall structure is steady, and contactless with ground unsettled, frictional force is minimized, and the light weight of whole device, energy consumption are low, structure
Simply.
Accompanying drawing explanation
Fig. 1 is that the planar three freedom parallel connection platform 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 parallel connection platform of the embodiment of the present invention 1 controls device for mechanical structure chart.
Fig. 3 is that the planar three freedom parallel connection platform 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 parallel connection platform 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 have bar cylinder and linear displacement transducer in branch
Annexation schematic diagram.
Fig. 7 a is the fixed mount axonometric chart having between bar cylinder and linear displacement transducer of the embodiment of the present invention 1.
Fig. 7 b be the embodiment of the present invention 1 have the front view between bar cylinder and linear displacement transducer.
Fig. 7 c is the fixed mount left view having between bar cylinder and linear displacement transducer of the embodiment of the present invention 1.
Fig. 7 d is the fixed mount right view having between bar cylinder and linear displacement transducer of the embodiment of the present invention 1.
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, and 9-has a bar cylinder, 10-linear displacement transducer,
11-fixed mount, 12-flake universal joint, 13-piston connector, 14-the first rotating shaft, 15-fixed lug, 16-the second rotating shaft, 17-
Source of the gas, 18-pneumatic triple piece, 19-pneumatic proportional directional control valve, 20-deafener, 21-computer, 22-A/D transition card, 23-
D/A transition 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 parallel connection platform and control device, this device
Including planar three freedom parallel connection platform body and control assembly.
Described planar three freedom parallel connection platform 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 bar cylinder 9 and linear displacement transducer 10, has bar cylinder 9 and straight-line displacement
As shown in Figure 6, described linear displacement transducer 10 has been fixed on bar cylinder 9 by fixed mount 11 to the annexation of sensor 10
On, the structure of fixed mount 11 is as shown in Fig. 7 a～Fig. 7 d；The boom length of linear displacement transducer 10 and the piston having bar cylinder 9
Pole length is identical, and for measuring the telescopic displacement of piston rod, the boom of linear displacement transducer 10 is provided with flake universal joint 12,
The piston rod having bar cylinder 9 is provided with piston connector 13, described flake universal joint 12 and piston connector 13 by first turn
Axle 14 is rotationally connected with an edge of moving platform 1, from the figure, it can be seen that three parallel drives control branch have bar gas
Cylinder 9 and linear displacement transducer 10 are arranged with symmetrical form, and the top of the first rotating shaft 14 is positioned at the upper of moving platform 1
Side, bottom is positioned at the lower section of moving platform 1, and flake universal joint 12 is connected with the top of the first rotating shaft 14, piston connector 13 and the
The bottom of one rotating shaft 14 connects；Described have bar cylinder 9 to be provided with fixed lug 15, described fixed lug in the one end away from piston rod
15 are connected with silent flatform 2 by the second rotating shaft 16, are capable of freely rotatable between fixed lug 15 and the second rotating shaft 16, described
The base of the second rotating shaft 16 is fixed on silent flatform 2；Described have bar cylinder 9 to be driven by Pneumatic control circuit；
Described Pneumatic control circuit includes source of the gas 17, pneumatic triple piece 18 and pneumatic proportion directional control valve 19, source of the gas 17
As energy source, it is responsible for providing energy to whole device, its gases at high pressure produced, by accessing after pneumatic triple piece 18 voltage stabilizing
Pneumatic proportional directional control valve 19, described pneumatic triple piece 18 is assembled by air filter, pneumatic pressure-release valve and oil mist separator
Together, and with a Pressure gauge；Wherein, described pneumatic proportional directional control valve 19 is three-position five-way pneumatic proportion directional control
Valve processed, the Centronics port of lower end is directly connected with the pneumatic pressure-release valve of pneumatic triple piece 18, and left and right two ports of its lower end divide
Not Lian Jie a deafener 20, and the two of its upper end ports are connected with the left air cavity having bar cylinder 9 and right air cavity respectively；Pneumatic
Control loop driving and have bar cylinder 9, change the elongation of piston rod, make moving platform 1 relative movement rotate and move with certain attitude
Navigate to target location；Owing to pneumatic control has quick characteristic, the movement velocity of device can be improved, improve moving platform
The key characteristic of 1.
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；
What three parallel drives controlled branch has bar cylinder 9 equivalently-sized, and type selecting is diameter 40mm, and extension bar Long travel is
The cylinder of the CA2 series that the SMC company of 200mm produces, use the Standard Cylinder of this model with four steady braces exposed,
Can preferably utilize bar cylinder 9 to carry out with linear displacement transducer 10 to be fixed by fixed mount 11；Linear displacement transducer
The type selecting of 10 is to use the KPC linear displacement transducer of the bright MIRAN of rice, and the feature of this linear displacement transducer is service life
Length, linearly excellent, resolution is high, and the speed of service is high, and material is superior, and cylinder is easily relatively fixed with cylinder simultaneously, KPC straight line
The flake universal joint 12 arranged on displacement transducer can be chosen, convenient installation, is coordinated with the first rotating shaft 14 by flake universal joint 12,
This mode makes the boom of KPC linear displacement transducer only by the axial force of an end, will not be produced by radial force and become
Shape, reduces the error that deformation produces；Fixed mount 11 be the deformation design according to KPC linear displacement transducer support out, former
This aluminium alloy post is to make KPC linear displacement transducer be fixed on plane, now changes being arranged on two of bar cylinder 9 into and exposes
Support on bar, this support uses in pairs, connects fixed position by two root length screws, leaves space and is clamped coordinating；Three
Individual parallel drive controls the main shaft of the band base that the second rotating shaft 16 is three identical diameter 20mm corresponding to branch, by two
Packing ring coordinates with the fixed lug 15 having bar cylinder 9, and the base of three main shafts is fixed on silent flatform 2, the base of three main shafts
Center of circle relative distance is mutually 1000mm, forms an equilateral triangle, and the change of work space is by the size of this triangle
And moving platform 1 size determines with the stroke etc. having bar cylinder 9, it is contemplated that three main shaft support moving platforms 1 and three parallel drives
Control the weight of branch, have the fixed lug 15 arranged on bar cylinder 9 to select two angular contact ball bearings to connect retaining element, subtract
Few deformation, determines that external diameter designs the basic size of this retaining element；
The quiet air compressor that source of the gas 17 selects model to be FB-0.017/7；In pneumatic triple piece 18, air filter
Model select AF30-03, the model of pneumatic pressure-release valve selects AR25-03, and the model of oil mist separator selects AFM30-03, pressure
The model of power table selects G36-10-01, and the model that pneumatic proportional directional control valve 19 selects the pneumatic company of SMC of Japan to produce is
VER2000-02 proportioning valve；Owing to there being bar cylinder 9 to be arranged with symmetrical form, therefore this matching requirements has three to have
The Pneumatic control circuit of bar cylinder 9.
Described control assembly includes computer 21, A/D transition card 22 and D/A transition card 23, described computer 21 respectively with
A/D transition card 22 and D/A transition card 23 connects, described A/D transition card 22 respectively with the first single-axis acceleration sensors 4, second
Single-axis acceleration sensors 5, single shaft angular-rate sensor 6 and linear displacement transducer 10 connect, described D/A transition card 23 and gas
Dynamic proportion directional control valve 19 connects；
Described computer 21, A/D transition card 22 and D/A transition card 23 coordinate, it is possible to achieve two control circuits, one is
Acceleration transducer and the control circuit of angular-rate sensor, the acceleration signal of the first single-axis acceleration sensors 4 detection, the
The acceleration signal of two single-axis acceleration sensors 5 detections obtains computer 21 after A/D transition card 22 carries out analog digital conversion
The digital signal controlled in card range ability, digital signal input computer 21, digital signal is processed by computer 21,
Obtaining respective feedback control signal, feedback control signal obtains analogue signal, mould after D/A transition card 23 carries out digital-to-analogue conversion
Intend signal and be input to pneumatic proportional directional control valve 19, control piston rod movement direction and the speed having bar cylinder 9, it is achieved that close
Ring controls；Another is the control circuit of linear displacement transducer 10, the displacement signal of linear displacement transducer 10 detection and speed
Degree signal, obtains digital signal, digital signal input computer 21, meter after carrying out analog digital conversion through A/D transition card 22
Digital signal is processed by calculation machine 21, obtains respective feedback control signal, and feedback control signal is changed by D/A transition card 23
For analogue signal, analogue signal is input to pneumatic proportional directional control valve 19, the piston rod movement direction that controls to have bar cylinder 9 and
Speed, it is achieved that closed loop control；Two control circuits all pass through same computer 21, and feedback channel has three, and sensor
A signal output only circuit of box 3, the signal of the linear displacement transducer 10 that three parallel drives control branch exports also
It is to be respectively arranged with a circuit, total three-line；
In the present embodiment, computer 21 can be selected for Taiwan and grinds China's IPC610 cabinet, PCA-6006 mainboard, production unit: platform
Gulf Advantech company, Pentium IV2.4G Intel CPU；The model of A/D transition card 22 is the limited public affairs of Taiwan Advantech
What department produced grinds China's PCI-1713U type 32 road isolation mode analog quantity data collecting card；D/A transition card 23 can be selected for Taiwan and grinds China
The PCI-1714 type 12 road D/A output card that Science and Technology Ltd. produces.
The present embodiment additionally provides a kind of planar three freedom parallel connection platform 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 (includes displacement, speed and acceleration operation track), it is considered to the concrete physical dimension of this moving platform 1 also passes through Inverse Kinematics
Solve, obtain three parallel drives and control the displacement, speed and the acceleration trajectory that there are the required operation of bar cylinder 9 of branch；
Step 2, three parallel drives control the linear displacement transducer 10 of branch detect corresponding to have the position of bar cylinder 9
Shifting signal, the first single-axis acceleration sensors 4 detects moving platform in the horizontal plane along the acceleration signal of X-direction, and second is single
Axle acceleration sensor 5 detects moving platform in the horizontal plane along the acceleration signal of Y direction, and single shaft angular-rate sensor 6 is examined
Surveying moving platform 1 angular velocity of rotation signal in the horizontal plane, the signal detected is after A/D transition card 22 carries out analog digital conversion
Obtain digital signal, digital signal input computer 21, computer 21 will the digital signal of input, have bar with step one obtains
The required track run of cylinder 9 obtains feedback control signal after processing together；
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 directional control valve 19, controls the action having bar cylinder 9, thus realize the desired motion requirement of moving platform 1；
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 and show that what three parallel drives controlled branch has bar cylinder 9 piston position, and by straight
The closed loop location of linear movement pick-up 10 control circuit controls the piston rod movement having bar cylinder 9 so that moving platform 1 arrives specifies
Position, thus the location realizing moving platform 1 controls requirement.
In sum, present invention employs moving platform that profile is equilateral triangle and three parallel drives control branch,
Each parallel drive control branch use have bar cylinder that moving platform is driven, each parallel drive control branch have bar gas
A linear displacement transducer fixed by cylinder, has the displacement information of bar cylinder corresponding to linear displacement transducer detection；Additionally, it is dynamic flat
Platform is provided with two single-axis acceleration sensors and a single shaft angular-rate sensor, can detect moving platform three degree of freedom
Information, dynamic analysis and feedback control to moving platform are provided good measurement means, and are driven by Pneumatic control circuit
Dynamic have bar cylinder, changes the elongation of piston rod, makes moving platform relative movement rotate with certain attitude running fix to target position
Putting, piston rod overhang selects relatively big, and corresponding work space is big, it is possible to preferably planning route.
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 parallel connection platform having bar air cylinder driven controls device, it is characterised in that: include planar three freedom
Parallel connection platform body and control assembly；
Described planar three freedom parallel connection platform 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
Have bar cylinder and linear displacement transducer, described in have bar cylinder to be driven by Pneumatic control circuit, described linear displacement transducer is solid
It is scheduled on bar cylinder, the boom of linear displacement transducer and have the piston rod of a bar cylinder edge all with moving platform to turn
It is dynamically connected；
Described control assembly respectively with Pneumatic control circuit, the first single-axis acceleration sensors, the second single-axis acceleration sensors,
Single shaft angular-rate sensor and linear displacement transducer connect.
The planar three freedom parallel connection platform having bar air cylinder driven the most according to claim 1 controls device, and its feature exists
In: described Pneumatic control circuit includes source of the gas, pneumatic triple piece and pneumatic proportion directional control valve, and described air pump passes through pneumatic three
Connection part is connected with pneumatic proportional directional control valve, and described pneumatic proportional directional control valve connects with two air cavitys having bar cylinder respectively
Connect；Described pneumatic triple piece is fitted together by air filter, pneumatic pressure-release valve and oil mist separator, and with a pressure
Table.
The planar three freedom parallel connection platform having bar air cylinder driven the most according to claim 2 controls device, and its feature exists
In: described control assembly includes computer, A/D transition card and D/A transition card, described computer respectively with A/D transition card and D/A
Transition card connect, described A/D transition card respectively with the first single-axis acceleration sensors, the second single-axis acceleration sensors, single shaft
Angular-rate sensor and linear displacement transducer connect, and described D/A transition card is connected with pneumatic proportional directional control 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 directional control valve, controls the action having bar cylinder.
4. control device, its feature according to the planar three freedom parallel connection platform having bar air cylinder driven described in Claims 2 or 3
It is: described pneumatic proportional directional control valve is also connected with two acoustic filters.
5. control device according to the planar three freedom parallel connection platform having bar air cylinder driven described in any one of claim 1-3,
It is characterized in that: on the geometric center position of described moving platform, be fixed with sensor box, described first single-axis acceleration sensors
Being separately fixed on two orthogonal sides of sensor box with the second single-axis acceleration sensors, described single shaft angular velocity passes
Sensor is fixed on the upper plane of sensor box.
6. control device according to the planar three freedom parallel connection platform having bar air cylinder driven described in any one of claim 1-3,
It is characterized in that: the boom of described linear displacement transducer is provided with flake universal joint, described in have on the piston rod of bar cylinder and set
Piston connector, described flake universal joint and piston connector is had to be rotated even by an edge of the first rotating shaft with moving platform
Connect.
7. control device according to the planar three freedom parallel connection platform having bar air cylinder driven described in any one of claim 1-3,
It is characterized in that: described linear displacement transducer has been fixed on bar cylinder by fixed mount.
8. control device according to the planar three freedom parallel connection platform having bar air cylinder driven described in any one of claim 1-3,
It is characterized in that: described planar three freedom parallel connection platform body also includes silent flatform, and described silent flatform is by some different lengths
Aluminium section bar and substrate composition, described in have bar cylinder to be provided with fixed lug in the one end away from piston rod, described fixed lug lead to
Crossing the second rotating shaft to be connected with silent flatform, the base of described second rotating shaft is fixed on silent flatform.
The planar three freedom parallel connection platform having bar air cylinder driven the most according to claim 8 controls device, and its feature exists
In: the bottom of described silent flatform has four spikes, and four planes supporting bottoms one-tenth are provided with a gripper shoe.
10. planar three freedom parallel connection platform control method based on device described in claim 3, 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
Considering the concrete physical dimension of this moving platform and by Inverse Kinematics Solution, obtain that three parallel drives control branch has bar cylinder institute
Displacement, speed and the acceleration trajectory that need to run；
Step 2, three parallel drives control the displacement signal having bar cylinder corresponding to the linear displacement transducer detection of branch,
First single-axis acceleration sensors detection moving platform is in the horizontal plane along the acceleration signal of X-direction, the second individual axis acceleration
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 exists
Angular velocity of rotation signal on horizontal plane, the signal detected obtains digital signal after A/D transition card carries out analog digital conversion,
Digital signal input computer, computer will the digital signal of input, have, with step one obtains, the rail run needed for bar cylinder
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 input to
Pneumatic proportional directional control valve, controls the action having bar cylinder, 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 and show that what three parallel drives controlled branch has bar cylinder piston position, and by straight line position
The closed loop location of displacement sensor control circuit controls the piston rod movement having bar cylinder so that moving platform arrives specifies position, from
And the location realizing moving platform controls requirement.
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