CN107160362B - 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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- CN107160362B CN107160362B CN201710297248.2A CN201710297248A CN107160362B CN 107160362 B CN107160362 B CN 107160362B CN 201710297248 A CN201710297248 A CN 201710297248A CN 107160362 B CN107160362 B CN 107160362B
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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 present invention provides a kind of freedom degree parallel connection motion platform and its control method and control devices.The freedom degree parallel connection motion platform includes pedestal, moving platform and at least three driving mechanisms, and driving mechanism includes linear drive unit, rotating connector and slide assemblies；Linear drive unit is arranged to be mounted on the base along the vertical direction；Slide assemblies include lower main body and upper main body；Lower main body is equipped with sliding slot；Upper main body is arranged to be fixedly connected with moving platform, and upper main body is in sliding fit with the sliding chute.One purposes of freedom degree parallel connection motion platform of the invention is for sensation simulation.
Description
Technical field
The present invention relates to lower-mobility motion platform fields, more particularly, to a kind of freedom degree parallel connection motion platform
And its control method and control device.
Background technique
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 structure, low cost, work empty relative to the motion platform of six degree of freedom
Between it is big the features such as, have more extensive application prospect.
Existing lower-mobility motion platform mostly uses the mode of driving unit bearing diagonal that platform is driven to move.Above-mentioned driving
Unit bearing diagonal refers to has certain angle always between driving outbound course and the pedestal of driving unit.This use is driven
The motion platform size of moving cell bearing diagonal is larger, and space occupied is big.In addition, this movement using driving unit bearing diagonal
The problem of requirement of the platform to its building block is high, the higher cost directly resulted in.
Summary of the invention
It is an object of the present invention to provide a kind of new solutions of freedom degree parallel connection motion platform.
According to the first aspect of the invention, a kind of freedom degree parallel connection motion platform is provided.
The freedom degree parallel connection motion platform includes pedestal, moving platform and at least three driving mechanisms, wherein
The driving mechanism includes linear drive unit, rotating connector and slide assemblies；
The linear drive unit is arranged to be mounted on the base along the vertical direction；
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, and the rotation connects
The other end of fitting is connect with the lower body rotation；
The lower main body is equipped with sliding slot；
The upper main body is arranged to be fixedly connected with the moving platform, and the upper main body is matched with sliding slot sliding
It closes.
Optionally, the linear drive unit is electric cylinders, cylinder or hydraulic cylinder.
Optionally, the rotating connector is spherical plain bearing rod end；
The lower main body is equipped 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 and the rotational installation hole are rotatablely connected.
Optionally, sleeve member is equipped in the rotational installation hole；
The joint shaft socket end is rotatablely connected by the sleeve member and the rotational installation hole.
Optionally, the 3-freedom parallel mechanism includes three driving mechanisms；
Straight line intersection where the glide direction of the upper main body of each driving 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 °.
Optionally, the slide assemblies further 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 and the rotating connector are rotatablely connected, the company
Junctor is equipped with cushion block mounting groove, and the cushion block is installed in the cushion block mounting groove, and the sliding slot is located on the cushion block；
The left limit arm and the right limit arm are connected with the both ends of the upper main body respectively, 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, on the upper main body edge
The sliding slot sliding when, 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, on the upper main body edge
The sliding slot sliding when, the right bolster is contacted with the surface buffer of the lower main body.
Optionally, the driving mechanism further includes support component；
The support component includes pinboard, fixing piece and buffer stopper, wherein
The linear drive unit is mounted on the pinboard, and the pinboard is mounted on described by the fixing piece
On pedestal, the buffer stopper is arranged to be used for buffering the vibration passed over from the linear drive unit.
The present invention also provides a kind of control methods of 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: target output shift quantity signal is issued；
Step S2: according to the target output shift quantity signal, the drive output of the linear drive unit is mobile；
Step S3: the reality output displacement of the drive output is acquired；
Step S4: compare the size of target 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 bit is issued
Shifting amount signal；
Step S6: according to the adjustment output shift quantity signal, the drive output is mobile；
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 devices of freedom degree parallel connection motion platform.
The control device of the freedom degree parallel connection motion platform includes receiving module, exercise data resolving module, displacement
Resolve module, control module and displacement acquisition module, wherein
The receiving module is arranged to be used for receiving the operation 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 operation data, wherein the fortune
Dynamic data include displacement, the pitch angle of the moving platform and the turning over for the moving platform of the moving platform in the vertical direction
Roll angle degree；
Displacement resolves module and is arranged to determine at least three linear drive units according to the exercise data
The displacement of drive output；
The control module is arranged to be used for issuing target output shift quantity signal, compares target output shift quantity and reality
It is defeated to issue adjustment if the target output shift quantity is not equal to the reality output displacement for the size of border output shift quantity
Displacement signal out；
The displacement acquisition module is arranged to be used for acquiring the reality output displacement of the drive output.
Optionally, the displacement acquisition module is position sensor.
Freedom degree parallel connection motion platform of the present invention realizes freedom degree parallel connection movement by least three driving mechanisms
The three-degree-of-freedom motion of platform.Freedom degree parallel connection motion platform of the invention can effectively reduce the body of entire motion platform
Product, advantageously reduces cost.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the structural schematic diagram of freedom degree parallel connection motion platform embodiment of the present invention.
Fig. 2 is the explosive view of Fig. 1.
Fig. 3 is the structural schematic diagram of the slide assemblies embodiment of freedom degree parallel connection motion platform of the present invention.
Fig. 4 is the explosive view of Fig. 3.
Fig. 5 is the flow diagram 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.
It is indicated in figure as follows:
Pedestal -1, driving mechanism -2, linear drive unit -21, rotating connector -22, slide assemblies -23, lower main body -
231, connector -2311 is rotatablely installed hole -23111, sleeve member -23112, cushion block mounting groove -23113, cushion block -2312, cunning
Slot -23120, upper main body -232, left limit arm -233, right limit arm -234, left bolster -235, right bolster -236, support
Component -24, pinboard -241, fixing piece -242, buffer stopper -243, moving platform -3.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
In order to solve the problems, such as that lower-mobility motion platform exists, the present invention provides a kind of movement of freedom degree parallel connection is flat
Platform.
As shown in Figures 1 to 4, which includes pedestal 1, moving platform 3 and at least three drivings
Mechanism 2.According to demand, freedom degree parallel connection motion platform may include three driving mechanisms 2 or three with upper drive mechanism 2.
Driving 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 be mounted on along the vertical direction on pedestal 1.The vertical direction typically refers to vertically
In the direction on the surface for installing linear drive unit 21 of pedestal 1.Mounting means of the linear drive unit 21 on pedestal 1
It the modes such as can be bolted to realize.Linear drive unit 21 has drive output, which 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 pedestal 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
It is arranged according to actual demand.For example, lower main body 231 and upper main body 232 all have block structure.Alternatively, lower main body 231 and upper main body
232 all have column structure.It should be noted that the term " on ", "lower" in the present invention merely illustrate freedom degree parallel connection
Relative positional relationship between each component of motion platform, without representing its position form in resulting devices, therefore when to three
When freedom degree parallel motion platform is displaced, is overturn or is overturned, this relative positional relationship 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 and lower main body 231 are rotatablely connected.Rotating connector 22 may be, for example, candan universal joint or oscillating bearing etc..Rotation connection
Being fixedly connected between part 22 and linear drive unit 21 can be realized by the modes such as welding or being threadedly coupled.Pass through rotation connection
Part 22, linear drive unit 21 can drive slide assemblies 23 to realize rotational motion, so that moving platform 3 be driven to move.
Lower main body 231 is arranged to be rotatablely connected with rotating connector 22.When rotating connector 22 is spherical plain bearing rod end
When, the cavernous structure being rotatablely connected with the joint shaft socket end of spherical plain bearing rod end can be equipped in lower main body 231.In lower main body 231
Equipped with sliding slot 23120.
Upper main body 232 is arranged to be fixedly connected with moving platform 3, and upper main body 232 is slidably matched with sliding slot 23120.This
Sample, the moving platform 3 being fixed together with upper main body 232 can be as upper main body 232 be together along sliding slot 23120 relative under
Main body 231 is slided.Being fixedly connected between upper main body 232 and moving platform 3 can be realized by the modes such as welding or being bolted.On
Being slidably matched between main body 232 and sliding slot 23120 being slidably matched by the raised and sliding slot 23120 in upper main body 232
It realizes, alternatively, passing through the outer surface of upper main body 232 and the realization that is slidably matched of sliding slot 23120.
The linear movement output along vertical direction of linear drive unit 21, the rotation being fixedly connected with linear drive unit 21
Connector 22 is driven by the linear motion that linear drive unit 21 exports.Sliding part 23 is relative to driven rotating connector
22 rotations.By the self-movement of multiple driving mechanisms 2, the band of the moving platform 3 that is slidably matched with sliding part 23 in sliding part 23
Dynamic lower realization three-degree-of-freedom motion.The three-degree-of-freedom motion of moving platform 3 includes upper and lower, left and right and moves forward and backward.
When freedom degree parallel connection motion platform is applied to dynamic simulating device, seat, moving platform can be equipped on 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 realizes freedom degree parallel connection movement by least three driving mechanisms 2
The three-degree-of-freedom motion of platform.Freedom degree parallel connection motion platform of the invention can effectively reduce the body of entire motion platform
Product, advantageously reduces cost.
In addition, it is the stable structure of freedom degree parallel connection motion platform of the present invention, reliable, and can simplify Three Degree Of Freedom simultaneously
The control algolithm of through transport moving platform athletic posture obtains more accurately trajectory planning.
Optionally, linear drive unit 21 is electric cylinders, cylinder or hydraulic cylinder.
Optionally, rotating connector 22 is spherical plain bearing rod end.Lower main body 231 is equipped with rotational installation hole 23111.It is practical
When installation, rotational installation hole 23111 can be arranged on protrusion part or the lifting lug of lower main body 231.
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 and rotational installation hole 23111 are rotatablely connected.Rod end with drive output between be fixedly connected and can pass through screw thread
Connection is realized.
Further, in order to protect spherical plain bearing rod end and slide assemblies 23, rotational installation is equipped with sleeve member in hole 23111
23112.Sleeve member 23112 is usually made of wear-resistant material.Joint shaft socket end passes through sleeve member 23112 and rotational installation hole
23111 rotation connections.It that is to say, sleeve member 23112 is between lower main body 231 and spherical plain bearing rod end.Sleeve member 23112
It is provided with and is conducive to protection slide assemblies 23, and play the role of noise reduction.In addition, sleeve member 23112 also helps guarantee sliding
Component 23 is relative to spherical plain bearing rod end rotation amplitude.
Optionally, 3-freedom parallel mechanism includes three driving mechanisms 2.The sliding of the upper main body 232 of each driving mechanism 2
Straight line intersection where direction is in a bit, and the angle between the 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 the direction that main body 232 is slided relative to moving platform 3.The three of this structure are freely
Parallel motion platform stable structure, reliable is spent, and can simplify the control algolithm of moving platform athletic posture, is obtained more accurate
Trajectory planning.
In one embodiment of freedom degree parallel connection motion platform of the present invention, slide assemblies 23 further include left limit arm
233, 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 positional relationship between each component of freedom degree parallel connection motion platform is merely illustrated, without representing it in resulting devices
Position form, therefore when freedom degree parallel connection motion platform is displaced, is overturn or is overturned, this relative position is closed
System will not change.
Lower main body 231 includes connector 2311 and cushion block 2312.Connector 2311 and rotating connector 22 are rotatablely connected.Even
Junctor 2311 is equipped 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 be bolted.Sliding slot 23120 is located on cushion block 2312.
Connector 2311 and being provided with for cushion block 2312 are conducive to more easily assemble slide assemblies 23, guarantee that the structure of slide assemblies 23 is steady
It is qualitative.
Left limit arm 233 and right limit arm 234 are connected with the both ends of upper main body 232 respectively, 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 the role of limiting the sliding stroke of upper main body 232.
Left bolster 235 and left limit arm 233 are connected in face of the surface of lower main body 231, in upper main body 232 along cunning
When slot 23120 slides, left bolster 235 is contacted with the surface buffer of lower main body 231.When upper main body 232 is sliding in sliding slot 23120
It moves to left bolster 235 when being in contact with the surface of lower main body 231, elastic deformation occurs for left 235 stress of bolster, to play
Slide assemblies 23 are protected, the effect for generating abnormal sound is avoided.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, and the power dispersion that lower main body 231 is subject to weakens.
Right bolster 236 and right limit arm 234 are connected in face of the surface of lower main body 231, in upper main body 232 along cunning
When slot 23120 slides, right bolster 236 is contacted with the surface buffer of lower main body 231.When upper main body 232 is sliding in sliding slot 23120
It moves to right bolster 236 when being in contact with the surface of lower main body 231, elastic deformation occurs for right 236 stress of bolster, to play
Slide assemblies 23 are protected, the effect for generating abnormal sound is avoided.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, and the power dispersion that lower main body 231 is subject to weakens.
When it is implemented, left bolster 235 and right bolster 236 are usually made of elastic material, such as rubber or silica gel
Deng.The shape and structure of left bolster 235 and right bolster 216 can be arranged according to actual needs.For example, left bolster 235 and the right side
Bolster 236 has truncated conical shape, and the lesser bottom surface of the 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.
In general, left bolster 235 and right bolster 216 are symmetrical arranged.
Slide assemblies 23 in the embodiment slide flexibly, stable structure, high reliablity.
In another embodiment of freedom degree parallel connection motion platform of the present invention, driving mechanism 2 further includes support component
24。
Support component 24 includes pinboard 241, fixing piece 242 and buffer stopper 243.Linear drive unit 21 is mounted 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 pass through welding
Or it the modes such as is bolted and realizes.Pinboard 241 is mounted on pedestal 1 by fixing piece 242.Fixing piece 242 may be, for example, spiral shell
Bolt or screw rod etc..
When it is implemented, welded nut can be arranged on pinboard 241, by between fixing piece 242 and welded nut
It is threadedly engaged, pinboard 241 and fixing piece 242 is linked together；And pass through the spiral shell of fixing piece 242 and the mounting hole of pedestal 1
Line cooperation, pinboard 241 is mounted on pedestal 1.
Buffer stopper 243 is arranged to be used for buffering the vibration passed over from linear drive unit 21, to play vibration damping
Effect.Buffer stopper 243 may be provided between pinboard 241 and pedestal 1.Buffer stopper 243 usually by be, for example, rubber etc. elasticity
Material is made.The vibration that linear drive unit 21 passes over may include vibration and the moving platform 3 of linear drive unit 21 itself
Vibration etc. when movement.
Support component 24 be provided with the stability for being conducive to improve freedom degree parallel connection motion platform structure of the invention and
Reliability.
When it is implemented, all linear drive units 21 are mountable in same support component 24.It that is to say, it is all
Linear drive unit 21 is mounted on same pinboard 241.
Alternatively, settable support component 24 identical with the quantity of linear drive unit 21, each linear drive unit
21 are mounted in different support components 24.It that is to say, each linear drive unit 21 is mounted on different pinboards 241
On.Each support component 24 all has independent pinboard 241, fixing piece 242 and buffer stopper 243.Each Linear Driving
Unit 21 is mounted on the effect for being conducive to further enhance vibration damping on different pinboards 221.
In the following, illustrating freedom degree parallel connection motion platform of the invention by taking specific embodiment shown in Figure 2 as an example:
As shown in Figure 2, which includes pedestal 1, moving platform 3 and three driving mechanisms 2.
Driving mechanism 2 includes linear drive unit 21, rotating connector 22, slide assemblies 23 and support component 24.
Linear drive unit 21 is arranged to be mounted on along the vertical direction on pedestal 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 equipped with rotational installation hole
23111, 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.Sliding slot 23120 is located on cushion block 2312.Upper main body 232 is arranged to solid with moving platform 3
Fixed connection, and upper main body 232 is slidably matched with sliding slot 23120.Left limit arm 233 and right limit arm 234 respectively with upper main body 232
Both 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, in upper main body 232 along cunning
When slot 23120 slides, left bolster 235 is contacted with the surface buffer of lower main body 231.Right bolster 236 and 234 face of right limit arm
It is connected to the surface of lower main body 231, with when upper main body 232 is slided along sliding slot 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 rod end of spherical plain bearing rod end and the driving of linear drive unit 21 are defeated
Outlet is fixedly connected, and the joint shaft socket end of spherical plain bearing rod end and rotational installation hole 23111 are rotatablely connected.
Support component 24 includes pinboard 241, fixing piece 242 and buffer stopper 243.Linear drive unit 21 is mounted on switching
On plate 241.Pinboard 241 is mounted on pedestal 1 by fixing piece 242.The setting of buffer stopper 243 pinboard 241 and pedestal 1 it
Between, to play the role of vibration damping.
Straight line intersection where the glide direction of the upper main body 232 of three driving 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 linear movement output along vertical direction, what is be connected with linear drive unit 21 turns
Follower link 22 is driven by the linear motion that linear drive unit 21 exports.The lower main body 231 of slide assemblies 23 is relative to quilt
The rotating connector 22 of driving rotates, and lower main body 231 drives upper main body 232 to slide along sliding slot 23120.When upper main body 232 exists
In sliding slot 23120 when sliding, 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 driving 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 includes upper and lower, left and right and moves 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
Movement.
As shown in figure 5, the control method of freedom degree parallel connection motion platform of the invention may include following steps:
Step S1: target output shift quantity signal is issued.Target output shift quantity signal is according to linear drive unit 21
The displacement of drive output demand output determines.
Above-mentioned " target output shift quantity signal " can be obtained by user by manipulation bar, alternatively, can also be by system
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 mobile.
The linear motion of the output of linear drive unit 21 along vertical direction, the drive output of linear drive unit 21 are moved
Dynamic, this rises or falls rotating connector 22 along vertical direction, and moving platform 3 is finally made to realize three-degree-of-freedom motion.
Step S3: the reality output displacement of drive output is acquired.
Above-mentioned " reality output displacement " is the displacement of the mobile generation of drive output.Due to linear drive unit 21
By the cooperation output shift quantity between its each component, thus between target output shift quantity and reality output displacement there is
Certain difference.The difference is influenced by the type or the degree of wear of linear drive unit 21 or using factors such as times.
Reality output displacement can be acquired by displacement sensor especially grid ruler.
Step S4: compare the size of target 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 issued.
Adjusting output shift quantity signal can be the voltage of adjustment linear drive unit 21 or the signal of electric current.It is defeated according to adjusting
The drive output of displacement signal out, linear drive unit 21 is mobile.In general, adjustment output shift quantity signal can be for certain
The corresponding signal of output shift quantity that increaseds or decreases of step-length.Alternatively, can show that reality output is displaced based on practical experience
Amount, target output shift quantity and the table for adjusting output shift quantity three, obtain adjustment output shift quantity by way of tabling look-up,
And then issue adjustment output shift quantity signal.
When reality output displacement is less than target output shift quantity, issue so that the driving of linear drive unit 21 exports
The adjustment output shift quantity signal that the displacement at end increases.At this point, the drive output of linear drive unit 21 is usually to Forward
It is dynamic.
When reality output displacement is greater than target output shift quantity, issue so that the driving of linear drive unit 21 exports
The adjustment output shift quantity signal that the displacement at end reduces.At this point, the drive output of linear drive unit 21 usually backward before
It is mobile.
Step S6: according to adjustment output shift quantity signal, drive output is mobile.At this point, 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.
Since according to adjustment output shift quantity signal, drive output mobile range is smaller, therefore reality output displacement
It is generally necessary to repeatedly be 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 motion profile of moving platform 3 are more accurate.
The control method of freedom degree parallel connection motion platform according to the present invention, may make the motion profile of moving platform 3 more
To be accurate, to be conducive to provide more good sensation simulation experience.
For the control method of freedom degree parallel connection motion platform of the invention, it will be apparent to those skilled in the art that line
Property driving unit 21 can also to the displacement of output carry out self calibration.Such as the coded system 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 freedom degree parallel connection motion platform of the 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 operation data of the athletic posture of moving platform 3.The operation data can be by
User is obtained by manipulation bar, alternatively, can also be loaded directly 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 operation data.Exercise data includes
Displacement, the pitch angle of moving platform and the rolling angle of moving platform of moving platform 3 in the vertical direction.It is bowed by moving platform 3
It faces upward, roll and displacement in the vertical direction, freedom degree parallel connection motion platform can realize multi-posture motion.
Displacement resolves module 630 and is arranged to determine the drive output of linear drive unit 21 according to exercise data
Displacement.
Control module 640 is arranged to be used for issuing target output shift quantity signal, compares target output shift quantity and reality
The size of border output shift quantity issues adjustment output shift quantity if target output shift quantity is not equal to reality output displacement
Signal.Control module 640 may be, for example, processor.
More specifically, control module 640 can be used for issuing target output shift quantity signal, believed according to target output shift quantity
Number, the drive output of linear drive unit is mobile, acquires the reality output displacement of drive output, compares target output bit
It is defeated to issue adjustment if reality output displacement is not equal to target output shift quantity for the size of shifting amount and reality output displacement
Displacement signal out, according to adjustment output shift quantity signal, drive output is mobile.
Displacement acquisition module 650 is arranged to be used for the reality output displacement of acquisition drive output.Displacement is adopted
The signal for collecting the reality output displacement of the drive output of the collected linear drive unit 21 of module 650 can be transmitted to control
Module 640.
Optionally, displacement acquisition module 650 is position sensor.Further, displacement acquisition module 650 is grating
Ruler.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of freedom degree parallel connection motion platform, which is characterized in that including pedestal, moving platform and at least three driving mechanisms,
Wherein,
The driving mechanism includes linear drive unit, rotating connector and slide assemblies；
The linear drive unit is arranged to be mounted on the base along the vertical direction；
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 connect with the lower body rotation；
The lower main body is equipped with sliding slot；
The upper main body is arranged to be fixedly connected with the moving platform, and the upper main body is slidably matched with the sliding slot, respectively
Straight line intersection where the glide direction of the upper main body of the driving mechanism is in a bit.
2. freedom degree parallel connection motion platform according to claim 1, which is characterized in that the linear drive unit is electricity
Cylinder, cylinder or hydraulic cylinder.
3. freedom degree parallel connection motion platform according to claim 1, which is characterized in that the rotating connector is rod end
Oscillating bearing；
The lower main body is equipped 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 and the rotational installation hole are rotatablely connected.
4. freedom degree parallel connection motion platform according to claim 3, which is characterized in that be equipped in the rotational installation hole
Sleeve member；
The joint shaft socket end is rotatablely connected by the sleeve member and the rotational installation hole.
5. freedom degree parallel connection motion platform according to claim 1, which is characterized in that the 3-freedom parallel mechanism
Including three driving mechanisms；The angle between straight line where the glide direction of the adjacent upper main body is 120 °.
6. according to claim 1 to freedom degree parallel connection motion platform described in 5 any one, which is characterized in that the sliding
Component further 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 and the rotating connector are rotatablely connected, the connector
It is equipped with cushion block mounting groove, the cushion block is installed in the cushion block mounting groove, and the sliding slot is located on the cushion block；
The left limit arm and the right limit arm are connected with the both ends of the upper main body respectively, 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, in the upper main body along institute
When stating sliding slot sliding, 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, in the upper main body along institute
When stating sliding slot sliding, 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, which is characterized in that the driving mechanism further includes branch
Support component；
The support component includes pinboard, fixing piece and buffer stopper, wherein
The linear drive unit is mounted on the pinboard, and the pinboard is mounted on the pedestal by the fixing piece
On, the buffer stopper is arranged to be used for buffering the vibration passed over from the linear drive unit.
8. one kind is according to claim 1 to the control method of freedom degree parallel connection motion platform described in 7 any one, feature exists
In, comprising:
Step S1: target output shift quantity signal is issued；
Step S2: according to the target output shift quantity signal, the drive output of the linear drive unit is mobile；
Step S3: the reality output displacement of the drive output is acquired；
Step S4: compare the size of target 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 issued
Signal；
Step S6: according to the adjustment output shift quantity signal, the drive output is mobile；
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. one kind is according to claim 1 to the control device of freedom degree parallel connection motion platform described in 7 any one, feature exists
In, including receiving module, exercise data resolve module, displacement resolves module, control module and displacement acquisition module,
In,
The receiving module is arranged to be used for receiving the operation 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 operation data, wherein the movement number
According to displacement, the pitch angle of the moving platform and the roll angle of the moving platform including the moving platform in the vertical direction
Degree；
Displacement resolves module and is arranged to determine the drive output of the linear drive unit according to the exercise data
Displacement；
The control module is arranged to be used for issuing target output shift quantity signal, compares target output shift quantity and reality is defeated
The size of displacement out issues adjustment output bit if the target output shift quantity is not equal to the reality output displacement
Shifting amount signal；
The displacement acquisition module is arranged to be used for acquiring the reality output displacement of the drive output.
10. control device according to claim 9, which is characterized in that the displacement acquisition module is position sensor.
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| CN102023643A (en) * | 2010-09-30 | 2011-04-20 | 北京航空航天大学 | 3-PRP planar three-degree-of-freedom parallel mechanism positioning method |
| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
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| US20050277092A1 (en) * | 2004-06-01 | 2005-12-15 | Thong-Shing Hwang | Motion platform device for spatial disorientation simulation |
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| CN102023643A (en) * | 2010-09-30 | 2011-04-20 | 北京航空航天大学 | 3-PRP planar three-degree-of-freedom parallel mechanism positioning method |
| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
| CN102987771A (en) * | 2012-12-25 | 2013-03-27 | 大连理工计算机控制工程有限公司 | Three degree of freedom electric dynamic chair |
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