CN107160362A - A kind of freedom degree parallel connection motion platform and its control method and control device - Google Patents
A kind of freedom degree parallel connection motion platform and its control method and control device Download PDFInfo
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- CN107160362A CN107160362A CN201710297248.2A CN201710297248A CN107160362A CN 107160362 A CN107160362 A CN 107160362A CN 201710297248 A CN201710297248 A CN 201710297248A CN 107160362 A CN107160362 A CN 107160362A
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention provides a kind of freedom degree parallel connection motion platform and its control method and control device.The freedom degree parallel connection motion platform includes base, moving platform and at least three drive mechanisms, and drive mechanism includes linear drive unit, rotating connector and slide assemblies；Linear drive unit is arranged to vertically be arranged on base；Slide assemblies include lower main body and upper main body；Lower main body is provided with chute；Upper main body is arranged to be fixedly connected with moving platform, and upper main body coordinates with slide.One purposes of the freedom degree parallel connection motion platform of the present invention is to be used for sensation simulation.
Description
Technical field
The present invention relates to lower-mobility motion platform field, more particularly, to a kind of freedom degree parallel connection motion platform
And its control method and control device.
Background technology
Multi-degree-of-freedom motion platform is widely used in the fields such as industrial production, sensation simulation.For example, Three Degree Of Freedom and
The lower-mobility motion platform of four-degree-of-freedom has simple in construction, low cost, work empty relative to the motion platform of six degree of freedom
Between it is big the features such as, with more wide application prospect.
Platform is driven to move by the way of driver element bearing diagonal more than existing lower-mobility motion platform.Above-mentioned driving
Unit bearing diagonal refers to there is certain angle between the driving outbound course of driver element and base all the time.It is this to employ drive
The motion platform size of moving cell bearing diagonal is larger, and floor space is big.In addition, this motion for employing driver element bearing diagonal
Requirement of the platform to its building block is high, the problem of cost directly resulted in is higher.
The content of the invention
It is an object of the present invention to provide a kind of new solution of freedom degree parallel connection motion platform.
There is provided a kind of freedom degree parallel connection motion platform according to the first aspect of the invention.
The freedom degree parallel connection motion platform includes base, moving platform and at least three drive mechanisms, wherein,
The drive mechanism includes linear drive unit, rotating connector and slide assemblies；
The linear drive unit is arranged to vertically be arranged on the base；
The slide assemblies include lower main body and upper main body；
One end of the rotating connector is fixedly connected with the drive output of the linear drive unit, the company of rotation
The other end of fitting is connected with the lower body rotation；
The lower main body is provided with chute；
The upper main body is arranged to be fixedly connected with the moving platform, and the upper main body is matched somebody with somebody with the slide
Close.
Alternatively, the linear drive unit is electric cylinders, cylinder or hydraulic cylinder.
Alternatively, the rotating connector is spherical plain bearing rod end；
The lower main body is provided with rotational installation hole；
The rod end of the spherical plain bearing rod end is fixedly connected with the drive output of the linear drive unit, the rod end
The joint shaft socket end of oscillating bearing is rotated with the rotational installation hole and is connected.
Alternatively, sleeve member is provided with the rotational installation hole；
The joint shaft socket end is rotated with the rotational installation hole by the sleeve member and is connected.
Alternatively, the 3-freedom parallel mechanism includes three drive mechanisms；
Straight line intersection where the glide direction of the upper main body of each drive mechanism in a bit, and it is adjacent it is described on
The angle between straight line where the glide direction of main body is 120 °.
Alternatively, the slide assemblies also include left limit arm, right limit arm, left bolster and right bolster, wherein,
The lower main body includes connector and cushion block, and the connector is rotated with the rotating connector and is connected, the company
Junctor is provided with cushion block mounting groove, and the cushion block is installed in the cushion block mounting groove, and the chute is located on the cushion block；
The two ends of the left limit arm and the right limit arm respectively with the upper main body are connected, the left limit arm and
The right limit arm is oppositely arranged with the lower main body；
The left bolster is connected with the left limit arm in face of the surface of the lower main body, with the main body edge on described
When the slide, the left bolster is contacted with the surface buffer of the lower main body；
The right bolster is connected with the right limit arm in face of the surface of the lower main body, with the main body edge on described
When the slide, the right bolster is contacted with the surface buffer of the lower main body.
Alternatively, the drive mechanism also includes support component；
The support component includes pinboard, fixture and buffer stopper, wherein,
The linear drive unit is arranged on the pinboard, and the pinboard is arranged on described by the fixture
On base, the buffer stopper is arranged to be used for the vibration that buffering is passed over from the linear drive unit.
Present invention also offers a kind of control method of the freedom degree parallel connection motion platform according to the present invention.
The control method of the freedom degree parallel connection motion platform includes：
Step S1：Send target output shift quantity signal；
Step S2：According to the target output shift quantity signal, the drive output of the linear drive unit is moved；
Step S3：Gather the reality output displacement of the drive output；
Step S4：The size of comparison object output shift quantity and the reality output displacement；
Step S5：If the reality output displacement is not equal to the target output shift quantity, adjustment carry-out bit is sent
Shifting amount signal；
Step S6：According to the adjustment output shift quantity signal, the drive output movement；
Step S7：Circulation step S3 to step S6；
Step S8：When the reality output displacement is equal to the target output shift quantity, stop circulation.
The present invention also provides a kind of control device of freedom degree parallel connection motion platform.
The control device of the freedom degree parallel connection motion platform includes receiving module, exercise data and resolves module, displacement
Module, control module and displacement acquisition module are resolved, wherein,
The receiving module is arranged to be used for receiving the peration data of the athletic posture of moving platform；
Exercise data resolves module and is arranged to be used for determining exercise data according to the peration data, wherein, the fortune
Dynamic data include turning over for the displacement, the luffing angle of the moving platform and the moving platform of the moving platform in the vertical direction
Roll angle degree；
Displacement resolves module and is arranged to the linear drive unit according to the exercise data determines at least three
The displacement of drive output；
The control module is arranged to be used for sending target output shift quantity signal, comparison object output shift quantity and reality
The size of border output shift quantity, if the target output shift quantity is not equal to the reality output displacement, sends adjustment defeated
Go out displacement signal；
The displacement acquisition module is arranged to be used for gathering the reality output displacement of the drive output.
Alternatively, the displacement acquisition module is position sensor.
Freedom degree parallel connection motion platform of the present invention by least three drive mechanisms realize freedom degree parallel connection move
The three-degree-of-freedom motion of platform.The freedom degree parallel connection motion platform of the present invention can effectively reduce the body of whole motion platform
Product, advantageously reduces cost.
By referring to the drawings to the detailed description of the exemplary embodiment of the present invention, further feature of the invention and its
Advantage will be made apparent from.
Brief description of the drawings
The accompanying drawing for being combined in the description and constituting a part for specification shows embodiments of the invention, and even
It is used for the principle for explaining the present invention together with its explanation.
Fig. 1 is the structural representation of freedom degree parallel connection motion platform embodiment of the present invention.
Fig. 2 is Fig. 1 explosive view.
Fig. 3 is the structural representation of the slide assemblies embodiment of freedom degree parallel connection motion platform of the present invention.
Fig. 4 is Fig. 3 explosive view.
Fig. 5 is the schematic flow sheet of the control method embodiment of freedom degree parallel connection motion platform of the present invention.
Fig. 6 is the frame principle figure of the control device embodiment of freedom degree parallel connection motion platform of the present invention.
Indicated in figure as follows：
Base -1, drive mechanism -2, linear drive unit -21, rotating connector -22, slide assemblies -23, lower main body -
231, connector -2311 are rotatablely installed hole -23111, and sleeve member -23112, cushion block mounting groove -23113, cushion block -2312 are sliding
Groove -23120, upper main body -232, left limit arm -233, right limit arm -234, left bolster -235, right bolster -236, support
Component -24, pinboard -241, fixture -242, buffer stopper -243, moving platform -3.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing.It should be noted that：Unless had in addition
Body illustrates that the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments does not limit this
The scope of invention.
The description only actually at least one exemplary embodiment is illustrative below, never as to the present invention
And its any limitation applied or used.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as a part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
In order to solve the problem of lower-mobility motion platform is present, the invention provides a kind of motion of freedom degree parallel connection is flat
Platform.
As shown in Figures 1 to 4, the freedom degree parallel connection motion platform includes base 1, the driving of moving platform 3 and at least three
Mechanism 2.According to demand, freedom degree parallel connection motion platform may include three drive mechanisms 2, or three with upper drive mechanism 2.
Drive mechanism 2 includes linear drive unit 21, rotating connector 22 and slide assemblies 23.Linear drive unit 21 can
Realize the output of linear motion.Linear drive unit 21 may be, for example, electric cylinders or cylinder or hydraulic cylinder etc..
Linear drive unit 21 is arranged to vertically be arranged on base 1.The vertical direction is typically referred to vertically
In the direction for being used to install the surface of linear drive unit 21 of base 1.Mounting means of the linear drive unit 21 on base 1
It the mode such as can be bolted to realize.Linear drive unit 21 has drive output, and the drive output refers to that straight line is transported
One end of dynamic output.The drive output of linear drive unit 21 may be, for example, the output shaft of linear electric machine.Pass through Linear Driving
Unit 21 is vertically-mounted on base 1, the exportable linear motion along vertical direction of linear drive unit 21.
Slide assemblies 23 include lower main body 231 and upper main body 232.The shape and structure of lower main body 231 and upper main body 232 can root
Set according to actual demand.For example, lower main body 231 and upper main body 232 are respectively provided with block structure.Or, lower main body 231 and upper main body
232 are respectively provided with column structure.It should be noted that the term " on ", " under " in the present invention merely illustrates freedom degree parallel connection
Relative position relation between each part of motion platform, without representing its position form in resulting devices, therefore when to three
Free degree parallel motion platform carry out displacement, upset or it is reverse when, this relative position relation will not change.
One end of rotating connector 22 is fixedly connected with the drive output of linear drive unit 21, rotating connector 22
The other end is rotated with lower main body 231 and is connected.Rotating connector 22 may be, for example, candan universal joint or oscillating bearing etc..Rotate connection
Being fixedly connected between part 22 and linear drive unit 21 can be realized by the mode such as welding or threaded connection.By rotating connection
Part 22, linear drive unit 21 can drive slide assemblies 23 to realize rotational motion, so as to drive moving platform 3 to move.
Lower main body 231, which is arranged to rotate with rotating connector 22, to be connected.When rotating connector 22 is spherical plain bearing rod end
When, it can be provided with lower main body 231 and rotate the cavernous structure being connected with the joint shaft socket end of spherical plain bearing rod end.In lower main body 231
Provided with chute 23120.
Upper main body 232 is arranged to be fixedly connected with moving platform 3, and upper main body 232 is slidably matched with chute 23120.This
Sample, with moving platform 3 that upper main body 232 is fixed together can with together with upper main body 232 along chute 23120 relative under
Main body 231 is slided.Being fixedly connected between upper main body 232 and moving platform 3 can be realized by modes such as welding or bolt connections.On
Being slidably matched between main body 232 and chute 23120 being slidably matched by the raised and chute 23120 in upper main body 232
Realize, or, outer surface and the realization that is slidably matched of chute 23120 by upper main body 232.
Linear drive unit 21 is along vertical direction linear movement output, the rotation being fixedly connected with linear drive unit 21
Connector 22 is driven by the linear motion that linear drive unit 21 is exported.Sliding part 23 is relative to powered rotating connector
22 rotate.By the self-movement of multiple drive mechanisms 2, band of the moving platform 3 being slidably matched with sliding part 23 in sliding part 23
Three-degree-of-freedom motion is realized under dynamic.The three-degree-of-freedom motion of moving platform 3 include above and below, left and right and move forward and backward.
When freedom degree parallel connection motion platform is applied to dynamic simulating device, seat, moving platform can be provided with moving platform 3
3 three-degree-of-freedom motion can be lifting, pitching and tumbling motion.
Freedom degree parallel connection motion platform of the present invention by least three drive mechanisms 2 realize freedom degree parallel connection move
The three-degree-of-freedom motion of platform.The freedom degree parallel connection motion platform of the present invention can effectively reduce the body of whole motion platform
Product, advantageously reduces cost.
In addition, it is the Stability Analysis of Structures of freedom degree parallel connection motion platform of the present invention, reliable, and Three Degree Of Freedom can be simplified simultaneously
The control algolithm of through transport moving platform athletic posture, obtains more accurately trajectory planning.
Alternatively, linear drive unit 21 is electric cylinders, cylinder or hydraulic cylinder.
Alternatively, rotating connector 22 is spherical plain bearing rod end.Lower main body 231 is provided with rotational installation hole 23111.It is actual
During installation, rotational installation hole 23111 can be arranged on the projection of lower main body 231 or hanger.
The rod end of spherical plain bearing rod end is fixedly connected with the drive output of linear drive unit 21, spherical plain bearing rod end
Joint shaft socket end is rotated with rotational installation hole 23111 and is connected.Rod end with drive output between be fixedly connected can be by screw thread
Connection is realized.
Further, in order to protect spherical plain bearing rod end and slide assemblies 23, rotational installation is provided with sleeve member in hole 23111
23112.Sleeve member 23112 is generally made up of high-abrasive material.Joint shaft socket end passes through sleeve member 23112 and rotational installation hole
23111 rotate connection.It that is to say, sleeve member 23112 is located between lower main body 231 and spherical plain bearing rod end.Sleeve member 23112
It is provided with beneficial to protection slide assemblies 23, and plays a part of noise reduction.Slided in addition, sleeve member 23112 also helps guarantee
Component 23 is relative to spherical plain bearing rod end rotation amplitude.
Alternatively, 3-freedom parallel mechanism includes three drive mechanisms 2.The slip of the upper main body 232 of each drive mechanism 2
Straight line intersection where direction is in a bit, and angle between straight line where the glide direction of adjacent upper main body 232 is 120 °.
The glide direction of above-mentioned upper main body 232 refers to main body 232 relative to the direction that moving platform 3 is slided.The three of this structure are freely
Spend parallel motion platform Stability Analysis of Structures, it is reliable, and the control algolithm of moving platform athletic posture can be simplified, obtain more accurate
Trajectory planning.
In one embodiment of freedom degree parallel connection motion platform of the present invention, slide assemblies 23 also include left limit arm
233rd, right limit arm 234, left bolster 235 and right bolster 236.It should be noted that the term "left", "right" in the present invention
The relative position relation between each part of freedom degree parallel connection motion platform is merely illustrated, without representing it in resulting devices
Position form, therefore when to freedom degree parallel connection motion platform carry out displacement, upset or it is reverse when, this relative position close
System will not change.
Lower main body 231 includes connector 2311 and cushion block 2312.Connector 2311 is rotated with rotating connector 22 and is connected.Even
Junctor 2311 is provided with cushion block mounting groove 23113, and cushion block 2312 is installed in cushion block mounting groove 23113.Cushion block 2312 is in cushion block
Mounting means in mounting groove 23113 may be, for example, interference fit or bolt connection etc..Chute 23120 is located on cushion block 2312.
Connector 2311 and being provided with for cushion block 2312 are beneficial to more easily assemble slide assemblies 23, it is ensured that the structure of slide assemblies 23 is steady
It is qualitative.
The two ends of left limit arm 233 and right limit arm 234 respectively with upper main body 232 are connected, left limit arm 233 and right limit
Position arm 234 is oppositely arranged with lower main body 232.Connection between left and right position limit arm and upper main body 232 can be bolted or sell
The modes such as connection are realized.Left limit arm 233 and right limit arm 234 can play a part of the sliding stroke of the upper main body 232 of limitation.
Left bolster 235 and left limit arm 233 are connected in face of the surface of lower main body 231, with upper main body 232 along cunning
When groove 23120 is slided, left bolster 235 is contacted with the surface buffer of lower main body 231.When upper main body 232 is slided in chute 23120
Move to left bolster 235 be in contact with the surface of lower main body 231 when, elastic deformation occurs for the left stress of bolster 235, so as to play
Protect slide assemblies 23, it is to avoid produce the effect of abnormal sound.In addition, left bolster 235 also advantageously improves freedom degree parallel connection fortune
Moving platform traveling comfort.When above-mentioned snubber contact refers to that left bolster 235 is in contact with the surface of lower main body 231, Zuo Huan
Elastic deformation occurs for stamping 235, the scattered decrease of power that lower main body 231 is subject to.
Right bolster 236 and right limit arm 234 are connected in face of the surface of lower main body 231, with upper main body 232 along cunning
When groove 23120 is slided, right bolster 236 is contacted with the surface buffer of lower main body 231.When upper main body 232 is slided in chute 23120
Move to right bolster 236 be in contact with the surface of lower main body 231 when, elastic deformation occurs for the right stress of bolster 236, so as to play
Protect slide assemblies 23, it is to avoid produce the effect of abnormal sound.In addition, right bolster 236 also advantageously improves freedom degree parallel connection fortune
Moving platform traveling comfort.When above-mentioned snubber contact refers to that right bolster 236 is in contact with the surface of lower main body 231, the right side is slow
Elastic deformation occurs for stamping 236, the scattered decrease of power that lower main body 231 is subject to.
When it is implemented, left bolster 235 and right bolster 236 are generally made up of elastomeric material, such as rubber or silica gel
Deng.The shape and structure of left bolster 235 and right bolster 216 can be set according to the actual requirements.For example, left bolster 235 and the right side
Bolster 236 has truncated conical shape, and the less bottom surface of area of the truncated cones faces lower main body 231.In another example, Zuo Huan
Stamping 235 and right bolster 236 have cylindrical shape.For another example left bolster 235 and right bolster 236 have blob-like shapes.
Generally, left bolster 235 and right bolster 216 are symmetrical arranged.
Slide assemblies 23 in the embodiment are slided flexibly, Stability Analysis of Structures, and reliability is high.
In another embodiment of freedom degree parallel connection motion platform of the present invention, drive mechanism 2 also includes support component
24。
Support component 24 includes pinboard 241, fixture 242 and buffer stopper 243.Linear drive unit 21 is arranged on switching
On plate 241.Linear drive unit 21 can be fixedly connected by its stator with pinboard 241, and above-mentioned be fixedly connected can be by welding
Or the mode such as bolt connection is realized.Pinboard 241 is arranged on base 1 by fixture 242.Fixture 242 may be, for example, spiral shell
Bolt or screw rod etc..
When it is implemented, welded nut can be set on pinboard 241, by between fixture 242 and welded nut
Screw thread coordinates, and pinboard 241 and fixture 242 are linked together；And pass through fixture 242 and the spiral shell of the mounting hole of base 1
Line coordinates, and pinboard 241 is arranged on base 1.
Buffer stopper 243 is arranged to be used for the vibration that buffering is passed over from linear drive unit 21, to play vibration damping
Effect.Buffer stopper 243 may be provided between pinboard 241 and base 1.The usual elasticity by being, for example, rubber etc. of buffer stopper 243
Material is made.The vibration that linear drive unit 21 is passed over may include vibration and the moving platform 3 of linear drive unit 21 itself
Vibration during motion etc..
Support component 24 be provided with beneficial to improve the present invention freedom degree parallel connection motion platform structure stability and
Reliability.
When it is implemented, all linear drive units 21 can be arranged in same support component 24.It that is to say, it is all
Linear drive unit 21 is arranged on same pinboard 241.
Or, the quantity identical support component 24 with linear drive unit 21, each linear drive unit can be set
21 are arranged in different support components 24.It that is to say, each linear drive unit 21 is arranged on different pinboards 241
On.Each support component 24 is respectively provided with independent pinboard 241, fixture 242 and buffer stopper 243.Each Linear Driving
Unit 21, which is arranged on different pinboards 221, to be conducive to further strengthening the effect of vibration damping.
Below, by taking the specific embodiment shown in Fig. 2 as an example, the freedom degree parallel connection motion platform of the present invention is illustrated：
As shown in Figure 2, the freedom degree parallel connection motion platform includes base 1, moving platform 3 and three drive mechanisms 2.
Drive mechanism 2 includes linear drive unit 21, rotating connector 22, slide assemblies 23 and support component 24.
Linear drive unit 21 is arranged to vertically be arranged on base 1.
Slide assemblies 23 include lower main body 231, upper main body 232, left limit arm 233, right limit arm 234, left bolster 235
With right bolster 236.Lower main body 231 includes connector 2311 and cushion block 2312.Connector 2311 is provided with rotational installation hole
23111st, sleeve member 23112 and cushion block mounting groove 23113, sleeve member 23112 are located in rotational installation hole 23111.Cushion block 2312
It is installed in cushion block mounting groove 23113.Chute 23120 is located on cushion block 2312.Upper main body 232 is arranged to solid with moving platform 3
Connect calmly, and upper main body 232 is slidably matched with chute 23120.Left limit arm 233 and right limit arm 234 respectively with upper main body 232
Two ends be connected, left limit arm 233 and right limit arm 234 are oppositely arranged with lower main body 232.
Left bolster 235 and left limit arm 233 are connected in face of the surface of lower main body 231, with upper main body 232 along cunning
When groove 23120 is slided, left bolster 235 is contacted with the surface buffer of lower main body 231.Right bolster 236 and the face of right limit arm 234
The surface of lower main body 231 is connected, with when upper main body 232 is slided along chute 23120, right bolster 236 and lower main body
231 surface buffer contact.Left bolster 235 and right bolster 236 have truncated conical shape.
Rotating connector 22 is spherical plain bearing rod end.The driving of the rod end of spherical plain bearing rod end and linear drive unit 21 is defeated
Go out end to be fixedly connected, the joint shaft socket end of spherical plain bearing rod end is rotated with rotational installation hole 23111 to be connected.
Support component 24 includes pinboard 241, fixture 242 and buffer stopper 243.Linear drive unit 21 is arranged on switching
On plate 241.Pinboard 241 is arranged on base 1 by fixture 242.Buffer stopper 243 be arranged on pinboard 241 and base 1 it
Between, to play a part of vibration damping.
Straight line intersection where the glide direction of the upper main body 232 of three drive mechanisms 2 in a bit, and adjacent upper main body
The angle between straight line where 232 glide direction is 120 °.
First linear drive unit 21 is along vertical direction linear movement output, and what is be connected with linear drive unit 21 turns
Follower link 22 is driven by the linear motion that linear drive unit 21 is exported.The lower main body 231 of slide assemblies 23 is relative to quilt
The rotating connector 22 of driving is rotated, and lower main body 231 drives upper main body 232 to be slided along chute 23120.When upper main body 232 exists
When being slided in chute 23120, left bolster 235 and right bolster 236 can be in contact with the surface of lower main body 231.
By the self-movement of multiple drive mechanisms 2, the moving platform 3 being fixedly connected with upper main body 232 is in slide assemblies 23
Drive under realize three-degree-of-freedom motion.The three-degree-of-freedom motion of moving platform 3 include above and below, left and right and move forward and backward.When three from
When being applied to dynamic simulating device by degree parallel motion platform, the three-degree-of-freedom motion of moving platform 3 can be lifting, pitching and rolling
Motion.
As shown in figure 5, the control method of the freedom degree parallel connection motion platform of the present invention may include following steps：
Step S1：Send target output shift quantity signal.Target output shift quantity signal is according to linear drive unit 21
The displacement of drive output demand output is determined.
Above-mentioned " target output shift quantity signal " can be obtained by user by manipulation bar, or, also can be by system
The gesture stability script corresponding with game content or display content is loaded directly into obtain.
Step S2：According to target output shift quantity signal, the drive output of linear drive unit 21 is moved.
Linear drive unit 21 exports the linear motion along vertical direction, and the drive output of linear drive unit 21 is moved
Dynamic, this causes rotating connector 22 to be risen or fallen along vertical direction, finally causes moving platform 3 to realize three-degree-of-freedom motion.
Step S3：Gather the reality output displacement of drive output.
Above-mentioned " reality output displacement " is the displacement of the mobile generation of drive output.Due to linear drive unit 21
Existed by the cooperation output shift quantity between its each part, therefore between target output shift quantity and reality output displacement
Certain difference.The difference is influenceed by factors such as the types or the degree of wear or use time of linear drive unit 21.
Reality output displacement can be acquired by displacement transducer particularly grid chi.
Step S4：The size of comparison object output shift quantity and reality output displacement.
Target output shift quantity is corresponding with target output shift quantity signal.
Step S5：If reality output displacement is not equal to target output shift quantity, adjustment output shift quantity signal is sent.
Adjust the signal that output shift quantity signal can be the voltage or electric current that adjust linear drive unit 21.It is defeated according to adjusting
Go out displacement signal, the drive output movement of linear drive unit 21.Generally, adjustment output shift quantity signal can be with certain
The corresponding signal of the output shift quantity that increaseds or decreases of step-length.Or, reality output displacement can be drawn according to practical experience
Amount, target output shift quantity and the form for adjusting output shift quantity three, draw adjustment output shift quantity by way of tabling look-up,
And then send adjustment output shift quantity signal.
When reality output displacement is less than target output shift quantity, the driving output for causing linear drive unit 21 is sent
The adjustment output shift quantity signal of the displacement increase at end.Now, the drive output of linear drive unit 21 is generally to reach
It is dynamic.
When reality output displacement is more than target output shift quantity, the driving output for causing linear drive unit 21 is sent
The adjustment output shift quantity signal that the displacement at end reduces.Now, before the drive output of linear drive unit 21 is usual backward
It is mobile.
Step S6：According to adjustment output shift quantity signal, drive output movement.Now, in linear drive unit 21
Under the driving of drive output, rotating connector 22 rises or falls along vertical direction.
Step S7：Circulation step S3 to step S6.
Because according to adjustment output shift quantity signal, drive output mobile range is smaller, therefore reality output displacement
It is generally necessary to be repeatedly compared with target output shift quantity, the mobile needs of drive output are repeatedly adjusted.
Step S8：When reality output displacement is equal to target output shift quantity, stop circulation.
When reality output displacement is equal to target output shift quantity, the drive output of linear drive unit 21 is moved to
Position, the movement locus of moving platform 3 is more accurate.
According to the control method of the freedom degree parallel connection motion platform of the present invention, the movement locus of moving platform 3 may be such that more
To be accurate, so as to be conducive to provide the sensation simulation experience of more high-quality.
For the control method of the freedom degree parallel connection motion platform of the present invention, it will be apparent to those skilled in the art that line
Property driver element 21 can also carry out self calibration to the displacement of output.Coded system for example by being set in linear drive unit 21
Error compensation is carried out to the difference deposited between target output shift quantity and reality output displacement, to reduce linear drive unit 21
Target output shift quantity and reality output displacement between error.
As shown in fig. 6, the control device of the freedom degree parallel connection motion platform of the present invention may include receiving module 610, fortune
Dynamic data calculation module 620, displacement resolve module 630, control module 640 and displacement acquisition module 650.
Receiving module 610 is arranged to be used for receiving the peration data of the athletic posture of moving platform 3.The peration data can be by
User is obtained by manipulation bar, or, it can be also loaded directly into by system corresponding with game content or display content
Gesture stability script obtain.
Exercise data resolves module 620 and is arranged to be used for determining exercise data according to peration data.Exercise data includes
The rolling angle of the displacement of the in the vertical direction of moving platform 3, the luffing angle of moving platform and moving platform.Bowed by moving platform 3
Face upward, roll and in the vertical direction displacement, freedom degree parallel connection motion platform can realize multi-posture motion.
Displacement resolves the drive output that module 630 is arranged to determine linear drive unit 21 according to exercise data
Displacement.
Control module 640 is arranged to be used for sending target output shift quantity signal, comparison object output shift quantity and reality
The size of border output shift quantity, if target output shift quantity is not equal to reality output displacement, sends adjustment output shift quantity
Signal.Control module 640 may be, for example, processor.
More specifically, control module 640 can be used for sending target output shift quantity signal, believed according to target output shift quantity
Number, the drive output movement of linear drive unit gathers the reality output displacement of drive output, comparison object carry-out bit
The size of shifting amount and reality output displacement, if reality output displacement is not equal to target output shift quantity, sends adjustment defeated
Go out displacement signal, according to adjustment output shift quantity signal, drive output movement.
Displacement acquisition module 650 is arranged to be used for gathering the reality output displacement of drive output.Displacement is adopted
The signal of the reality output displacement of the drive output for the linear drive unit 21 that collection module 650 is collected can be transmitted to control
Module 640.
Alternatively, displacement acquisition module 650 is position sensor.Further, displacement acquisition module 650 is grating
Chi.
Although some specific embodiments of the present invention are described in detail by example, the skill of this area
Art personnel are it should be understood that example above is merely to illustrate, the scope being not intended to be limiting of the invention.The skill of this area
Art personnel to above example it should be understood that can modify without departing from the scope and spirit of the present invention.This hair
Bright scope is defined by the following claims.
Claims (10)
1. a kind of freedom degree parallel connection motion platform, it is characterised in that including base, moving platform and at least three drive mechanisms,
Wherein,
The drive mechanism includes linear drive unit, rotating connector and slide assemblies；
The linear drive unit is arranged to vertically be arranged on the base；
The slide assemblies include lower main body and upper main body；
One end of the rotating connector is fixedly connected with the drive output of the linear drive unit, the rotating connector
The other end be connected with the lower body rotation；
The lower main body is provided with chute；
The upper main body is arranged to be fixedly connected with the moving platform, and the upper main body coordinates with the slide.
2. freedom degree parallel connection motion platform according to claim 1, it is characterised in that the linear drive unit is electricity
Cylinder, cylinder or hydraulic cylinder.
3. freedom degree parallel connection motion platform according to claim 1, it is characterised in that the rotating connector is rod end
Oscillating bearing；
The lower main body is provided with rotational installation hole；
The rod end of the spherical plain bearing rod end is fixedly connected with the drive output of the linear drive unit, the rod end joint
The joint shaft socket end of bearing is rotated with the rotational installation hole and is connected.
4. freedom degree parallel connection motion platform according to claim 3, it is characterised in that be provided with the rotational installation hole
Sleeve member；
The joint shaft socket end is rotated with the rotational installation hole by the sleeve member and is connected.
5. freedom degree parallel connection motion platform according to claim 1, it is characterised in that the 3-freedom parallel mechanism
Including three drive mechanisms；
Straight line intersection where the glide direction of the upper main body of each drive mechanism in a bit, and the adjacent upper main body
Glide direction where straight line between angle be 120 °.
6. the freedom degree parallel connection motion platform according to any one of claim 1 to 5, it is characterised in that the slip
Component also includes left limit arm, right limit arm, left bolster and right bolster, wherein,
The lower main body includes connector and cushion block, and the connector is rotated with the rotating connector and is connected, the connector
Cushion block mounting groove is provided with, the cushion block is installed in the cushion block mounting groove, the chute is located on the cushion block；
The two ends of the left limit arm and the right limit arm respectively with the upper main body are connected, the left limit arm and described
Right limit arm is oppositely arranged with the lower main body；
The left bolster and the left limit arm are connected in face of the surface of the lower main body, with described main body along institute
When stating slide, the left bolster is contacted with the surface buffer of the lower main body；
The right bolster and the right limit arm are connected in face of the surface of the lower main body, with described main body along institute
When stating slide, the right bolster is contacted with the surface buffer of the lower main body.
7. freedom degree parallel connection motion platform according to claim 1, it is characterised in that the drive mechanism also includes branch
Support component；
The support component includes pinboard, fixture and buffer stopper, wherein,
The linear drive unit is arranged on the pinboard, and the pinboard is arranged on the base by the fixture
On, the buffer stopper is arranged to be used for the vibration that buffering is passed over from the linear drive unit.
8. a kind of control method of the freedom degree parallel connection motion platform according to any one of claim 1 to 7, its feature exists
In, including：
Step S1：Send target output shift quantity signal；
Step S2：According to the target output shift quantity signal, the drive output of the linear drive unit is moved；
Step S3：Gather the reality output displacement of the drive output；
Step S4：The size of comparison object output shift quantity and the reality output displacement；
Step S5：If the reality output displacement is not equal to the target output shift quantity, adjustment output shift quantity is sent
Signal；
Step S6：According to the adjustment output shift quantity signal, the drive output movement；
Step S7：Circulation step S3 to step S6；
Step S8：When the reality output displacement is equal to the target output shift quantity, stop circulation.
9. a kind of control device of the freedom degree parallel connection motion platform according to any one of claim 1 to 7, its feature exists
In, including receiving module, exercise data resolving module, displacement resolving module, control module and displacement acquisition module, its
In,
The receiving module is arranged to be used for receiving the peration data of the athletic posture of moving platform；
Exercise data resolves module and is arranged to be used for determining exercise data according to the peration data, wherein, the motion number
According to the roll angle of the displacement including the moving platform in the vertical direction, the luffing angle of the moving platform and the moving platform
Degree；
Displacement resolves the drive output that module is arranged to determine the linear drive unit according to the exercise data
Displacement；
The control module is arranged to be used for sending target output shift quantity signal, and comparison object output shift quantity and reality are defeated
Go out the size of displacement, if the target output shift quantity is not equal to the reality output displacement, send adjustment carry-out bit
Shifting amount signal；
The displacement acquisition module is arranged to be used for gathering the reality output displacement of the drive output.
10. control device according to claim 9, it is characterised in that the displacement acquisition module is position sensor.
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