CN107160368A - The plane two-freedom-degree parallel mechanism control device and method of linear electric motors driving - Google Patents
The plane two-freedom-degree parallel mechanism control device and method of linear electric motors driving Download PDFInfo
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- CN107160368A CN107160368A CN201710506761.8A CN201710506761A CN107160368A CN 107160368 A CN107160368 A CN 107160368A CN 201710506761 A CN201710506761 A CN 201710506761A CN 107160368 A CN107160368 A CN 107160368A
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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Abstract
The invention discloses a kind of plane two-freedom-degree parallel mechanism control device and method of linear electric motors driving, described device includes parallel institution body, detection unit and control unit, and parallel institution body includes moving platform, passive movement side chain and two active movement side chains；Passive movement side chain includes first support, the first one-level bar, the second one-level bar, the one or two grade of bar, the two or two grade of bar and transverse link, and each active movement side chain includes linear electric motors module, second support, the first driving lever and the second driving lever；Moving platform profile is equilateral triangle, and its first side is connected with passive movement side chain, and the second side is connected with one of active movement side chain, and the 3rd side is connected with another active movement side chain.The present invention is by designing three movement branched chains, and two of which controls the motion of moving platform by linear motor direct drive driving lever, has the advantages that control accuracy is high, simple in construction, response is fast, rigidity is good, with good industrial applicibility.
Description
Technical field
The present invention relates to a kind of parallel institution control device, especially a kind of plane two degrees of freedom of linear electric motors driving is simultaneously
Online structure control device and method, belongs to the motion control field of plane mechanism.
Background technology
At present, with the development of technology, manufacturing automatization level more and more higher, it is meant that robot device is in industry
The application of production field will be more and more, and increasing robot device is used for industrial production, in order to improve production efficiency
And product quality, speed and required precision to robot device also more and more higher.Motor being used traditional robot device more
The type of drive such as acceleration and deceleration device or hydraulic-driven, the type of drive of motor acceleration and deceleration device often bring larger internal friction,
Friction, backlash in the unavoidable problems such as rotary inertia lifting, backlash, decelerator, elastic deformation can be caused
It is non-linear, cause the control bandwidth and operability of robot device all undesirable, it is difficult to meet at high speed, it is high-precision will
Ask, there is also the difficult shortcoming of poor reliability, maintaining for hydraulic-driven.
The content of the invention
The invention aims to the defect for solving above-mentioned prior art, there is provided the plane that a kind of linear electric motors drive
Two-freedom-degree parallel mechanism control device, the device is by designing three movement branched chains, and two of which movement branched chain passes through
Linear motor direct drive driving lever controls the motion of moving platform, with control accuracy is high, simple in construction, response is fast, rigidity
Good advantage, with good industrial applicibility.
Another object of the present invention is to provide a kind of plane two-freedom-degree parallel mechanism controlling party based on said apparatus
Method.
The purpose of the present invention can be reached by adopting the following technical scheme that：
The plane two-freedom-degree parallel mechanism control device of linear electric motors driving, including parallel institution body, detection unit
And control unit, the parallel institution body include moving platform, passive movement side chain and two active movement side chains；
The passive movement side chain includes first support, the first one-level bar, the second one-level bar, the one or two grade of bar, the two or two
One end of level bar and transverse link, the first one-level bar and the second one-level bar rotates with first support be connected respectively, the first one-level bar
The other end rotate and be connected with one end of the one or two grade of bar, one end rotation of the other end of the second one-level bar and the two or two grade of bar
Connection, the first one-level bar and the junction of the one or two grade of bar are with the junction of the second one-level bar and the two or two grade of bar by laterally connecting
Bar is connected；
Each active movement side chain includes linear electric motors module, second support, the first driving lever and the second driving lever, described
Linear electric motors module drives second support to move linearly, and one end of the first driving lever and the second driving lever turns with second support respectively
Dynamic connection；
The moving platform profile is equilateral triangle, the first side of moving platform and the one or two grade of bar of passive movement side chain and
Two or the two grade of bar other end rotates connection, the second side and the first driving lever and the second driving lever of one of active movement side chain
The other end rotates connection, and the 3rd side and the first driving lever and the second driving lever other end of another active movement side chain rotate company
Connect；
The detection unit includes the first angular displacement sensor, the second angular displacement sensor, displacement transducer and acceleration
Sensor, first angular displacement sensor is arranged in first support, and second angular displacement sensor is arranged on the one or two
On level bar, institute's displacement sensors are arranged on linear electric motors module, and the acceleration transducer is arranged on moving platform；
Described control unit respectively with the first angular displacement sensor, the second angular displacement sensor, displacement transducer, acceleration
Sensor and linear electric motors module are connected respectively.
Further, the linear electric motors module includes linear electric motors, guide rail, the first cushion block and contiguous block, the straight line
Motor arranges that the mover of linear electric motors and the sliding block of guide rail are located in same level, and the guide rail is fixed on guide rail parallel
On first cushion block, the contiguous block is fixed on the sliding block of guide rail, and is fixedly connected with the mover of linear electric motors, described second
Frame is fixed on contiguous block；
Institute's displacement sensors include magnetic railings ruler and magnetic grid reading head, and the magnetic railings ruler is attached to the side of the first cushion block, institute
Magnetic grid reading head is stated on contiguous block.
Further, two holes are equipped with three sides of the moving platform, two holes on the side of moving platform first pass through respectively
First rotating shaft is hinged with the one or two grade of bar of passive movement side chain and the two or the two grade of bar other end, and two holes on the second side lead to respectively
Cross the second rotating shaft and the first driving lever and the second driving lever other end of one of active movement side chain are hinged, the two of the 3rd side
Individual hole is hinged by the 3rd rotating shaft and the first driving lever and the second driving lever other end of another active movement side chain respectively.
Further, one end of the first one-level bar is hinged by the 4th rotating shaft with first support, the first one-level bar
The other end is hinged by the 5th rotating shaft and one end of the one or two grade of bar；One end of the second one-level bar passes through the 6th rotating shaft and the
One support is hinged, and the other end of the second one-level bar is hinged by the 7th rotating shaft and one end of the two or two grade of bar, the horizontal stroke
It is connected respectively with the 5th rotating shaft, the 7th rotating shaft to the two ends of connecting rod；
One end of first driving lever is hinged by eighth-turn axle and second support, and one end of second driving lever leads to
The 9th rotating shaft is crossed to be hinged with second support.
Further, first angular displacement sensor is the first code-disc, and first code-disc is fixed by the 3rd support
In first support, and the axle of the first code-disc is connected by first shaft coupling with the 4th rotating shaft；
Second angular displacement sensor is the second code-disc, and second code-disc is fixed on the one or two grade by the 4th support
On bar, and the axle of the second code-disc is connected by second shaft coupling with the 5th rotating shaft.
Further, the first support is provided with the first ear piece and the second ear piece with holes, first ear piece
Hole is hinged by the 4th rotating shaft and one end of the first one-level bar, and the hole on second ear piece passes through the 6th rotating shaft and the second one-level
One end of bar is hinged；
The hole that the second support is provided with third ear part and the 4th ear piece with holes, the third ear part passes through the 8th
Rotating shaft and one end of the first driving lever are hinged, and the hole on the 4th ear piece is cut with scissors by one end of the 9th rotating shaft and the second driving lever
Connect.
Further, for passive movement side chain, the length of the first one-level bar and the second one-level bar is identical, and described
The length of one or two grades of bars and the two or two grade of bar is identical, the distance between hole axle heart on two ear pieces of first support and moving platform
The distance between two hole axle hearts on the first side are identical；The line between the hole axle heart on two ear pieces of the first support,
First one-level bar, the second one-level bar and transverse link constitute the first parallelogram sturcutre, the transverse link, the one or two grade
Line between two hole axle hearts of bar, the two or two grade of bar and the side of moving platform first constitutes the second parallelogram sturcutre；
For one of active movement side chain, the length of the first driving lever and the second driving lever is identical, second support
The distance between hole axle heart on two ear pieces is identical with the distance between two hole axle hearts on the side of moving platform second；Described second
Two of the line between the hole axle heart, the first driving lever, the second driving lever and the side of moving platform second on two ear pieces of support
Line between the hole axle heart constitutes the 3rd parallelogram sturcutre；
For another active movement side chain, the length of the first driving lever and the second driving lever is identical, and the two of second support
The distance between hole axle heart on individual ear piece is identical with the distance between two hole axle hearts on the side of moving platform the 3rd；Described second
The line between the hole axle heart, the first driving lever, the second driving lever and two holes on the side of moving platform the 3rd on two ear pieces of frame
Line between axle center constitutes the 4th parallelogram sturcutre.
Further, the parallel institution body also includes silent flatform, and the silent flatform includes substrate, and the bottom of substrate is set
Have and a horizontal support is installed between four support feets, the adjacent support feet of each two；
The first support is fixed on the substrate of silent flatform by the second cushion block, and the linear electric motors and the first cushion block are flat
Row is fixed on the substrate of silent flatform.
Further, described control unit includes computer, motion control card, terminal board and Linear motor servo driving list
Member, the computer is connected with motion control card, and the motion control card is integrated with A/D and changed and step-by-step counting function, and with
Terminal board is connected, and the terminal board distinguishes the first angular displacement sensor, the second angular displacement sensor, displacement transducer, acceleration
Sensor and the connection of Linear motor servo driver element, the Linear motor servo driver element are connected with linear electric motors；
The acceleration transducer measures moving platform in the horizontal plane along the acceleration signal of both direction, described first jiao
Displacement sensor the first one-level bar is relative to the angular displacement signal of first support, second angular displacement sensor measurement the
One or two grades of bars are relative to the angular displacement signal of the first one-level bar, and acceleration signal and angular displacement signal are input to fortune by terminal board
Dynamic control card carries out A/D and is converted to data signal, and the feedback letter for obtaining moving platform is handled data signal progress by computer
Number；
The displacement signal of the displacement sensor linear motor rotor, displacement signal is input to motion by terminal board
Control card carries out step-by-step counting and obtains data signal, and the output letter for obtaining linear electric motors is handled data signal progress by computer
Number；
Computer obtains control signal, control signal according to the feedback signal of moving platform and the output signal of linear electric motors
Linear motor servo driver element is input to by motion control card, terminal board, the output of linear electric motors is controlled, realized to dynamic flat
The motion control of platform.
Another object of the present invention can be reached by adopting the following technical scheme that：
Plane two-freedom-degree parallel mechanism control method based on said apparatus, the described method comprises the following steps：
Step 1: the acceleration transducer measurement on moving platform obtains moving platform in horizontal plane translational motion along X, Y two
The acceleration signal in individual direction, while the first angular displacement sensor measurement obtains angle position of the first one-level bar relative to first support
Shifting signal, the second angular displacement sensor measurement obtains angular displacement signal of the one or the two grade of bar relative to the first one-level bar, to accelerating
Spend signal and angular displacement signal is carried out after Inverse Kinematics Solution, obtain the speed and component of acceleration signal of linear electric motors；
Changed Step 2: the analog signal that step one is measured is input to motion control card progress A/D by terminal board
To data signal, the feedback signal that obtains moving platform is handled data signal progress by computer；
Step 3: obtaining the displacement signal of linear motor rotor using displacement sensor, displacement signal passes through terminal
Plate is input to motion control card progress step-by-step counting and obtains data signal, and data signal progress is handled by computer and obtains straight line
The output signal of motor；
Step 4: computer is by the output signal of linear electric motors and the progress contrast processing of the feedback signal of moving platform, then with
Desired motion, location parameter are contrasted, and run corresponding control algolithm, obtain required control signal, control letter
Number Linear motor servo driver element is input to by motion control card, terminal board, Linear motor servo driver element is according to control
Signal processed controls the output of linear electric motors, so as to realize the motion control to moving platform.
The present invention has following beneficial effect relative to prior art：
1st, the present invention devises three movement branched chains, and one of them is as passive movement side chain, and two other is as actively
Movement branched chain, two active movement side chains use the type of drive that linear electric motors module directly drives, without intermediate transmission mechanism,
Therefore linear electric motors module can directly drive two driving lever motions, and two driving levers control the motion of moving platform again, directly
Type of drive need not reduce the influence that frictional force is brought using the intermediate transmission mechanism such as decelerator, and no backlash is asked
Topic, mechanical structure is simpler compact, greatly improves the motion control accuracy and response speed of parallel institution, reliability is more
Height, maintaining is simpler；In addition, being provided with acceleration transducer on moving platform, it can measure when moving platform is moved along water
Angle displacement transducer is provided with the acceleration signal of both direction in plane, the support of passive movement side chain and two grades of bars
Device, can measure angular displacement signal of the one-level bar relative to support, and angular displacement of the two grades of bars of measurement relative to one-level bar is believed
Number, displacement transducer is set on linear electric motors module, the displacement signal of linear electric motors module can be measured, according to these measurements
Parameter, realizes the motion control to moving platform.
2nd, in passive movement side chain of the invention, one-level bar and two grades of bars use rigid rod, and are hinged, each active
In movement branched chain, two driving levers use rigid rod so that the simple in construction of system, quality are big, rigidity is high, contrast flexible structure
Have the advantages that torque transmission is stable, system rigidity is big and plastic deformation influences small to movement locus, become while high rigidity has
The characteristics of shape is small, torque slippages are smaller, and motion parameter collecting and system motion control are more accurate.
3rd, in each active movement side chain of the invention, the line between the hole axle heart on two ear pieces of support, two
Driving lever and moving platform constitute a parallelogram sturcutre, passive movement side chain with the line between two hole axle hearts on one side
In, the line between the hole axle heart, two one-level bars and transverse link on two ear pieces of support constitute a parallelogram
Structure, transverse link, two two grades of bars and moving platform also constitute one parallel four with the line between two hole axle hearts on one side
Side shape structure, moving platform can only do translational motion, it is impossible to rotate, therefore under the constraint of movement branched chain parallelogram sturcutre
The free degree of moving platform only has two, and two degrees of freedom platform courses are simple, and Stability Analysis of Structures is widely used.
4th, the present invention uses the acceleration transducer installed on feedback control loop, moving platform to measure moving platform motion
When upper both direction along the horizontal plane acceleration signal, the code-disc in movement branched chain can measure the angle of the corresponding rod member of movement branched chain
The displacement signal of linear motor rotor is measured at displacement signal, linear electric motors using magnetic railings ruler, the parameter of each sensor measurement is led to
Cross terminal board be input to motion control card processing obtain data signal, data signal progress is handled by computer obtain control letter
Number, control signal controls electric rotating machine servo unit to control the output of electric rotating machine, so as to control the motion of moving platform.
Brief description of the drawings
Fig. 1 totally ties for the plane two-freedom-degree parallel mechanism control device that the linear electric motors of the embodiment of the present invention 1 drive
Structure schematic diagram.
It is in parallel in the plane two-freedom-degree parallel mechanism control device that Fig. 2 drives for the linear electric motors of the embodiment of the present invention 1
The structure chart of mechanism body.
It is in parallel in the plane two-freedom-degree parallel mechanism control device that Fig. 3 drives for the linear electric motors of the embodiment of the present invention 1
The top view of mechanism body.
It is in parallel in the plane two-freedom-degree parallel mechanism control device that Fig. 4 drives for the linear electric motors of the embodiment of the present invention 1
The passive movement branched structure schematic diagram of mechanism body.
It is in parallel in the plane two-freedom-degree parallel mechanism control device that Fig. 5 drives for the linear electric motors of the embodiment of the present invention 1
The linear electric motors modular structure schematic diagram of one of active movement side chain of mechanism body.
Wherein, 1- moving platforms, 2- silent flatforms, 3- substrates, 4- support feets, 5- horizontal supports, 6- first supports, 7- the 1st
Level bar, 8- the second one-level bars, the one or two grade of bar of 9-, the two or two grade of bar of 10-, 11- transverse links, the ear pieces of 12- first, 13- second
Ear piece, 14- second supports, the driving levers of 15- first, the driving levers of 16- second, 17- third ear parts, the ear pieces of 18- the 4th, 19- straight lines
Motor, 20- guide rails, the cushion blocks of 21- first, 22- contiguous blocks, the cushion blocks of 23- second, 24- acceleration transducers, the code-discs of 25- first,
The supports of 26- the 3rd, 27- first shaft couplings, the code-discs of 28- second, the supports of 29- the 4th, 30- second shaft couplings, 31- magnetic railings rulers, 32-
Magnetic grid reading head, 33- computers, 34- motion control cards, 35- terminal boards, 36- Linear motor servo driver elements.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Embodiment 1：
Parallel institution is due to higher bearing capacity, inertia bottom, rigidity height, compact conformation, easily realizing kinematics
The advantages of anti-solution, in numerous areas all by application value.Particularly plane two-freedom-degree parallel mechanism, because its structure is relatively simple
Single, stability is good, and control algolithm is simple, using more universal.
The present embodiment, from suitable linear electric motors, builds the drive control of coordination by mechanical structure reasonable in design
System is there is provided the plane two-freedom-degree parallel mechanism control device that a kind of linear electric motors drive, and the device is using direct drive
Mode, omits intermediate gearing, and load and motor are joined directly together, and can fundamentally solve because using transmission device
The various problems brought, greatly improve parallel institution control bandwidth and operability, with high speed, high-precision, lightweight, volume
Small, rigidity is high, safeguard the advantages of simple, Design of Mechanical Structure is simple, reliability is high, speed regulation is good.
As shown in FIG. 1 to 3, the plane two-freedom-degree parallel mechanism control device of the present embodiment includes parallel institution sheet
Body, detection unit and control unit, the parallel institution body include moving platform 1, silent flatform 2 and three active branched chains, wherein
One movement branched chain is passive movement side chain, and two other movement branched chain is active movement branched chain；Silent flatform is concealed in Fig. 1,
Dotted line connection represents the connection figure of electric signal and parallel institution body, and direction arrow indicates detection and the transmission of control signal stream
Direction.
The moving platform 1 is triangular plate, and profile is equilateral triangle, thirdly two holes are equipped with side, moving platform 1 first
Two holes on side are connected by first rotating shaft with passive movement side chain respectively, and two holes on the second side pass through the second rotating shaft and one
Active movement side chain is connected, and two holes on the 3rd side are connected by the 3rd rotating shaft with another active movement side chain, the first side, the
Two while and the distance between two hole axle hearts when the 3rd all same.
The silent flatform 2 is used to support moving platform 1 and three movement branched chains, including substrate 3, and substrate 3 is square substrate, its
Bottom is provided between four support feets 4, the adjacent support feet 4 of each two and installs a horizontal support 5, plays firm effect, base
Plate 3, support feet 4 and horizontal support 5 are constituted using aluminium section bar.
As shown in Figure 1 to 4, the passive movement side chain include first support 6, the first one-level bar 7, the second one-level bar 8,
One or two grade of bar 9, the two or two grade of bar 10 and transverse link 11, first support 6 are provided with the first ear piece 12 and the second ear with holes
Hole on part 13, the first ear piece 12 is hinged by the 4th rotating shaft and one end of the first one-level bar 7, the other end of the first one-level bar 7
It is hinged by the 5th rotating shaft and one end of the one or two grade of bar 9；Hole on second ear piece 13 passes through the 6th rotating shaft and the second one-level bar 8
One end be hinged, the other end of the second one-level bar 8 is hinged by the 7th rotating shaft and one end of the two or two grade of bar 10；One or two grade of bar
The other end of 9 and the 2nd 2 grades of bars 10 is hinged by first rotating shaft and two holes on the side of moving platform 1 first respectively；The transverse direction connects
The two ends of bar 11 are connected with the 5th rotating shaft, the 7th rotating shaft respectively, i.e. the hinged place of the first one-level bar 7 and the one or two grade of bar 9 and the
The hinged place of two one-level bars 8 and the two or two grade of bar 10 is connected by transverse link 11 so that the first one-level bar 7, the one or two grade of bar 9
A compound hinges structure is constituted with transverse link 11, can be rotated each other, the second one-level bar 8, the two or the two grade of and of bar 10
Transverse link 11 also constitutes a compound hinges structure, can rotate each other.
In the present embodiment, the first one-level bar 7 is identical with the length of the second one-level bar 8, the one or the two grade of bar 9 and second
The length of two grades of bars 10 is identical, the distance between hole axle heart on two ear pieces of first support 6 and the two of the side of moving platform 1 first
The distance between the individual hole axle heart is identical, the line between the hole axle heart, the first one-level bar 7 on two ear pieces of first support 6,
Two one-level bars 8 and transverse link 11 constitute the first parallelogram sturcutre, transverse link 11, the one or two grade of bar 9, the two or two grade of bar
Line between 10 and two hole axle hearts on the side of moving platform 1 first constitutes the second parallelogram sturcutre.
The structure of two active movement side chains is identical, by taking one of active movement side chain as an example, such as Fig. 1~Fig. 3,
Shown in Fig. 5, each active movement side chain includes linear electric motors module, second support 14, the first driving lever 15 and the second driving lever
16, linear electric motors module drives second support 14 to move linearly, and second support 14 is provided with third ear part 17 and the 4th with holes
Hole on ear piece 18, third ear part 17 is hinged by one end of eighth-turn axle and the first driving lever 15, on the 4th ear piece 18
Hole be hinged by the 9th rotating shaft and one end of the second driving lever 16, for one of active movement side chain, the first driving lever
15 and second the other end of driving lever 16 be hinged respectively by the second rotating shaft and two holes on the side of moving platform 1 second, for another
The other end of individual active movement side chain, the first driving lever 15 and the second driving lever 16 passes through the 3rd rotating shaft and moving platform 1 the respectively
Two holes on three sides are hinged.
The linear electric motors module of each active movement side chain includes linear electric motors 19, guide rail 20, the first cushion block 21 and connection
Block 22, the cushion block 21 of linear electric motors 19 and first is installed in parallel on the substrate 3 of silent flatform 2, and wherein linear electric motors 19 are lain on one's side installation
On silent flatform 2, and it is bolted, guide rail 20 is fixedly mounted on the first cushion block 21 by screw, and and linear electric motors
19 is parallel, and contiguous block 22 is L-shaped contiguous block, and a right-angle side of contiguous block 22 is fixedly mounted on the sliding block of guide rail 20 by screw
On, another right-angle side of contiguous block 22 is fixedly connected by screw with the mover of linear electric motors 19, and second support 14 is fixed on
On contiguous block 22, under the driving of linear electric motors 19, contiguous block 22 drives second support 14 can be along guide rail 20 in certain model
Interior rectilinear movement is enclosed, drives the first driving lever 15 and the second driving lever 16 to move, so as to control the motion of moving platform 1；Passive fortune
The first support 6 of dynamic side chain is fixed on the substrate 3 of silent flatform 2 by the second cushion block 23.
In the present embodiment, linear electric motors 19 are from the linear electric motors produced by Rockwell companies of the U.S., mover model
For LZ-030-0-240, corresponding stator model LZM-030-0-600；Guide rail 20 is produced from upper dried shrimps Si meter companies
SSE2B H16 type guide rails, use double-slider；For one of active movement side chain, the first driving lever 15 and the second master
The length of lever 16 is identical and keeping parallelism, the distance between hole axle heart on two ear pieces of second support 14 and moving platform 1
The distance between two hole axle hearts on the second side are identical, the line between the hole axle heart on two ear pieces of second support 14,
One driving lever 15, the second driving lever 16 and moving platform 1 second while two hole axle hearts between line constitute the three the parallel 4th while
Shape structure；For another active movement side chain, the first driving lever 15 is identical with the length of the second driving lever 16, second support 14
Two ear pieces on the distance between the hole axle heart it is identical with the distance between two hole axle hearts on the side of moving platform 1 the 3rd, second
The line between the hole axle heart, the first driving lever 15, the second driving lever 16 and the side of moving platform 1 the 3rd on two ear pieces of support 14
Two hole axle hearts between line constitute the 4th parallelogram sturcutre.
Two parallelogram sturcutres in three movement branched chains constrain moving platform 1 to do translation in the horizontal plane
Motion, possesses two frees degree, the moving platform 1 of two degrees of freedom is controlled simply, and Stability Analysis of Structures is widely used；In addition, the present embodiment
In the linear electric motors modules of two active movement side chains, be in 60 degree of angles between the first support of passive movement side chain, but
Do not constitute equilateral triangle.
The detection unit includes the first angular displacement sensor, the second angular displacement sensor, displacement transducer and acceleration
Sensor 24；First angular displacement sensor is the first code-disc 25, and the first code-disc 25 is fixed on first support 6 by the 3rd support 26
On, and the axle of the first code-disc 25 is connected by first shaft coupling 27 with the 4th rotating shaft, because the 4th rotating shaft is first support 6 and the
The rotating shaft being hinged between one one-level bar 7, therefore the first code-disc 25 can measure angle of the first one-level bar 7 relative to first support 6
Displacement signal；Second angular displacement sensor is the second code-disc 28, and the second code-disc 28 is fixed on the one or two grade by the 4th support 29
On bar 9, and the axle of the second code-disc 28 is connected by second shaft coupling 30 with the 5th rotating shaft, because the 5th rotating shaft is the one or two grade of bar
9 and first rotating shaft being hinged between one-level bar 7, therefore the second code-disc 28 can measure the one or two grade of bar 9 relative to the first one-level
The angular displacement signal of bar 7；Displacement transducer includes magnetic railings ruler 31 and magnetic grid reading head 32, and magnetic railings ruler 31 is attached to the first cushion block 21
Side, magnetic grid reading head 32 is arranged on contiguous block 22, can be moved under the driving of linear electric motors 19 with contiguous block 22, magnetic railings ruler
31 can measure the displacement signal of the mover of linear electric motors 19；Acceleration transducer 24 is arranged on moving platform 1, specific to be arranged on dynamic
The center of the upper surface of platform 1, can measure moving platform 1 in the horizontal plane along the acceleration signal of both direction (X to, Y-direction).
In the present embodiment, acceleration transducer 24 selects condenser type, the low-frequency accelerometer of Kistler companies of Switzerland,
Model 8395A2D0, the first code-disc 25 and the second code-disc 28 are all using the absolute value formula AC36 types of Hengstler companies production；
The PCMR29-12-6-A types that first shaft coupling 27 and second shaft coupling 30 are produced from Ruland companies of the U.S.；Magnetic railings ruler 31
The type model MSR50H produced using Ningbo Ai Baige observation and control technologies Co., Ltd magnetic railings ruler.
Described control unit includes computer 33, motion control card 34, terminal board 35 and Linear motor servo driver element
36, computer 33 is connected with motion control card 34, and motion control card 34 is connected with terminal board 35, terminal board 35 respectively with first yard
Disk 25, the second code-disc 28, magnetic railings ruler 31, acceleration transducer 24 and Linear motor servo driver element 36 are connected, linear electric motors
Servo drive unit 36 is connected with linear electric motors 19；
Acceleration transducer 24 measures moving platform 1 in the horizontal plane along the acceleration signal of both direction, the first code-disc 25
Measure angular displacement signal of the first one-level bar 7 relative to first support 6, the second code-disc 28 measures the one or two grade of bar 9 relative to the
The angular displacement signal of one one-level bar 7, acceleration signal and angular displacement signal are input to motion control card 34 by terminal board 35 and entered
Row A/D is converted to data signal, data signal progress is handled by computer 33 obtain moving platform 1 feedback signal (i.e. move
The movable information of platform 1)；
Magnetic railings ruler 31 measures the displacement signal of the mover of linear electric motors 19, and displacement signal is input to motion control by terminal board 35
Fabrication 34 carries out step-by-step counting and obtains data signal, and the output letter for obtaining linear electric motors is handled data signal progress by computer
Number；
Computer 33 obtains control signal according to the feedback signal of moving platform 1 and the output signal of linear electric motors 19, control
Signal is input to Linear motor servo driver element 36 by motion control card 34, terminal board 35, controls the defeated of linear electric motors 19
Go out, realize the motion control to moving platform 1.
In the present embodiment, the CPU model core i7 7700k that computer 33 is selected, inside save as 8GB, mainboard has
PCI-e necks, can insert motion control card；The GTS-400-PV-PCI series that motion control card 34 is produced from Gu Gao companies of the U.S.
Motion controller, the motion controller is integrated with multichannel A/D conversions, D/A conversions and step-by-step counting function, with 4 road axle moneys
(each axis signal is with analog output all the way, incremental encoder input, motor control output and ann reset work(for source channels
Can), the input of light-coupled isolation general-purpose digital signal and output Ge You 16 tunnels, quadruple increment type auxiliary coder input 2 tunnels, A/D
Analog quantity sampling inputs 8 tunnels, and the voltage range of analog input and output is：- 10V~+10V.
As shown in Fig. 1~Fig. 5, the present embodiment additionally provides a kind of plane two-freedom-degree parallel mechanism control method, the party
Method is realized based on said apparatus, is comprised the following steps：
Step 1: on moving platform 1 acceleration transducer 24 measurement obtain moving platform 1 in horizontal plane translational motion along X,
The acceleration signal of Y both directions, while the measurement of the first code-disc 25 obtains angle position of the first one-level bar 7 relative to first support 6
Shifting signal, the second code-disc 28 measurement obtains angular displacement signal of the one or the two grade of bar 9 relative to the first one-level bar 7, and acceleration is believed
Number and angular displacement signal carry out Inverse Kinematics Solution after, obtain the speed and component of acceleration signal of linear electric motors 19；
Step 2: the analog signal that step one is measured is input to motion control card 34 by terminal board 35 carries out A/D turns
Get data signal in return, running corresponding control algolithm by computer 33 is handled data signal, obtains the anti-of moving platform 1
Feedback signal；
Step 3: measuring the displacement signal for obtaining the mover of linear electric motors 19 using magnetic railings ruler 31, displacement signal passes through terminal
Plate 35 is input to the progress step-by-step counting of motion control card 34 and obtains data signal, and data signal progress is handled by computer 33
To the output signal of linear electric motors 19；
Step 4: the output signal of linear electric motors and the feedback signal of moving platform 1 are carried out contrast processing by computer 19, then
Contrasted with desired motion, location parameter, and run corresponding control algolithm, obtain required control signal, control
Signal is input to Linear motor servo driver element 36 by motion control card 34, terminal board 35, and Linear motor servo driving is single
Member 36 controls the output of linear electric motors 19 according to control signal, the first driving lever 15 and the second driving lever 16 is driven, so as to realize
Motion control to moving platform 1.
In summary, the present invention devises three movement branched chains, and one of them is used as passive movement side chain, two other work
For active movement branched chain, two active movement side chains use the type of drive that linear electric motors module directly drives, without middle biography
Motivation structure, therefore linear electric motors module can directly drive two driving lever motions, two driving levers control the fortune of moving platform again
Dynamic, direct drive mode need not be reduced between the influence that frictional force is brought, no flank using intermediate transmission mechanisms such as decelerators
The problem of gap, mechanical structure is simpler compact, greatly improves the motion control accuracy and response speed of parallel institution, can
Higher by property, maintaining is simpler；In addition, being provided with acceleration transducer on moving platform, moving platform motion can be measured
When upper both direction along the horizontal plane acceleration signal, be provided with angle position on the support of passive movement side chain and two grades of bars
Displacement sensor, can measure angular displacement signal of the one-level bar relative to support, and two grades of bars of measurement relative to the angle of one-level bar
Displacement transducer is set on displacement signal, linear electric motors module, the displacement signal of linear electric motors module can be measured, according to these
The parameter of measurement, realizes the motion control to moving platform.
It is described above, it is only patent preferred embodiment of the present invention, but the protection domain of patent of the present invention is not limited to
This, any one skilled in 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 its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (10)
1. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving, it is characterised in that：Including parallel institution body,
Detection unit and control unit, the parallel institution body include moving platform, passive movement side chain and two active movement side chains；
The passive movement side chain includes first support, the first one-level bar, the second one-level bar, the one or two grade of bar, the two or two grade of bar
And transverse link, one end of the first one-level bar and the second one-level bar is rotated with first support respectively to be connected, the first one-level bar it is another
One end is rotated with one end of the one or two grade of bar and is connected, and one end of the other end of the second one-level bar and the two or two grade of bar, which is rotated, to be connected
Connect, the junction and the junction of the second one-level bar and the two or two grade of bar of the first one-level bar and the one or two grade of bar pass through transverse link
Connection；
Each active movement side chain includes linear electric motors module, second support, the first driving lever and the second driving lever, the straight line
Motor module drives second support to move linearly, and one end of the first driving lever and the second driving lever is rotated with second support respectively to be connected
Connect；
The moving platform profile is equilateral triangle, the first side of moving platform and the one or two grade of bar and second of passive movement side chain
Two grades of bar other ends rotate connection, and the second side and the first driving lever and the second driving lever of one of active movement side chain are another
End rotates connection, and the 3rd side rotates with the first driving lever of another active movement side chain and the second driving lever other end and is connected；
The detection unit includes the first angular displacement sensor, the second angular displacement sensor, displacement transducer and acceleration sensing
Device, first angular displacement sensor is arranged in first support, and second angular displacement sensor is arranged on the one or two grade of bar
On, institute's displacement sensors are arranged on linear electric motors module, and the acceleration transducer is arranged on moving platform；
Described control unit respectively with the first angular displacement sensor, the second angular displacement sensor, displacement transducer, acceleration sensing
Device and linear electric motors module are connected respectively.
2. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 1, its feature exists
In：The linear electric motors module includes linear electric motors, guide rail, the first cushion block and contiguous block, the linear electric motors and guide rail parallel
Arrangement, the mover of linear electric motors and the sliding block of guide rail are located in same level, and the guide rail is fixed on the first cushion block, described
Contiguous block is fixed on the sliding block of guide rail, and is fixedly connected with the mover of linear electric motors, and the second support is fixed on contiguous block
On；
Institute's displacement sensors include magnetic railings ruler and magnetic grid reading head, and the magnetic railings ruler is attached to the side of the first cushion block, the magnetic
Grid reading head is arranged on contiguous block.
3. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 1, its feature exists
In：Be equipped with two holes on three sides of the moving platform, two holes on the side of moving platform first respectively by first rotating shaft with it is passive
One or two grade of bar of movement branched chain and the two or the two grade of bar other end are hinged, and two holes on the second side pass through the second rotating shaft and its respectively
In the first driving lever and the second driving lever other end of an active movement side chain be hinged, two holes on the 3rd side pass through respectively
Three rotating shafts and the first driving lever and the second driving lever other end of another active movement side chain are hinged.
4. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 3, its feature exists
In：
One end of the first one-level bar is hinged by the 4th rotating shaft with first support, and the other end of the first one-level bar passes through the 5th
Rotating shaft and one end of the one or two grade of bar are hinged；One end of the second one-level bar is hinged by the 6th rotating shaft with first support, institute
The other end for stating the second one-level bar is hinged by the 7th rotating shaft and one end of the two or two grade of bar, the two ends point of the transverse link
It is not connected with the 5th rotating shaft, the 7th rotating shaft；
One end of first driving lever is hinged by eighth-turn axle and second support, and one end of second driving lever passes through
Nine rotating shafts are hinged with second support.
5. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 4, its feature exists
In：
First angular displacement sensor is the first code-disc, and first code-disc is fixed in first support by the 3rd support,
And first the axle of code-disc be connected by first shaft coupling with the 4th rotating shaft；
Second angular displacement sensor is the second code-disc, and second code-disc is fixed on the one or two grade of bar by the 4th support
On, and the axle of the second code-disc is connected by second shaft coupling with the 5th rotating shaft.
6. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 4, its feature exists
In：
The hole that the first support is provided with the first ear piece and the second ear piece with holes, first ear piece passes through the 4th rotating shaft
It is hinged with one end of the first one-level bar, the hole on second ear piece is hinged by the 6th rotating shaft and one end of the second one-level bar；
The hole that the second support is provided with third ear part and the 4th ear piece with holes, the third ear part passes through eighth-turn axle
It is hinged with one end of the first driving lever, the hole on the 4th ear piece is hinged by the 9th rotating shaft and one end of the second driving lever.
7. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 6, its feature exists
In：
For passive movement side chain, the length of the first one-level bar and the second one-level bar is identical, the one or the two grade of bar and
The length of two or two grades of bars is identical, two with the side of moving platform first of the distance between hole axle heart on two ear pieces of first support
The distance between the hole axle heart is identical；The line between the hole axle heart, the first one-level bar on two ear pieces of the first support,
Two one-level bars and transverse link constitute the first parallelogram sturcutre, the transverse link, the one or two grade of bar, the two or two grade of bar and
Line between two hole axle hearts on the side of moving platform first constitutes the second parallelogram sturcutre；
For one of active movement side chain, the length of the first driving lever and the second driving lever is identical, two of second support
The distance between hole axle heart on ear piece is identical with the distance between two hole axle hearts on the side of moving platform second；The second support
Two ear pieces on the hole axle heart between line, the first driving lever, the second driving lever and two hole axles on the side of moving platform second
Line between the heart constitutes the 3rd parallelogram sturcutre；
For another active movement side chain, the length of the first driving lever and the second driving lever is identical, two ears of second support
The distance between hole axle heart on part is identical with the distance between two hole axle hearts on the side of moving platform the 3rd；The second support
Two hole axle hearts of the line between the hole axle heart, the first driving lever, the second driving lever and the side of moving platform the 3rd on two ear pieces
Between line constitute the 4th parallelogram sturcutre.
8. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 2, its feature exists
In：The parallel institution body also includes silent flatform, and the silent flatform includes substrate, and the bottom of substrate is provided with four support feets,
A horizontal support is installed between the adjacent support feet of each two；
The first support is fixed on the substrate of silent flatform by the second cushion block, and the linear electric motors and the first cushion block are parallel solid
It is scheduled on the substrate of silent flatform.
9. the plane two-freedom-degree parallel mechanism control device of linear electric motors driving according to claim 2, its feature exists
In：Described control unit includes computer, motion control card, terminal board and Linear motor servo driver element, the computer
It is connected with motion control card, the motion control card is integrated with A/D conversions and step-by-step counting function, and is connected with terminal board, institute
State terminal board and distinguish the first angular displacement sensor, the second angular displacement sensor, displacement transducer, acceleration transducer and straight-line electric
Machine servo drive unit is connected, and the Linear motor servo driver element is connected with linear electric motors；
The acceleration transducer measures moving platform in the horizontal plane along the acceleration signal of both direction, first angular displacement
Sensor measures angular displacement signal of the first one-level bar relative to first support, the second angular displacement sensor measurement the one or two
Level bar is relative to the angular displacement signal of the first one-level bar, and acceleration signal and angular displacement signal are input to motion control by terminal board
Fabrication carries out A/D and is converted to data signal, and the feedback signal for obtaining moving platform is handled data signal progress by computer；
The displacement signal of the displacement sensor linear motor rotor, displacement signal is input to motion control by terminal board
Stick into horizontal pulse and count to get data signal, the output signal for obtaining linear electric motors is handled data signal progress by computer；
Computer obtains control signal according to the feedback signal of moving platform and the output signal of linear electric motors, and control signal passes through
Motion control card, terminal board are input to Linear motor servo driver element, control the output of linear electric motors, realize to moving platform
Motion control.
10. the plane two-freedom-degree parallel mechanism control method based on claim 9 described device, it is characterised in that：The side
Method comprises the following steps：
Step 1: the acceleration transducer measurement on moving platform obtains moving platform in horizontal plane translational motion along two sides of X, Y
To acceleration signal, while the first angular displacement sensor measurement obtain the first one-level bar relative to first support angular displacement believe
Number, the second angular displacement sensor measurement obtains angular displacement signal of the one or the two grade of bar relative to the first one-level bar, and acceleration is believed
Number and angular displacement signal carry out Inverse Kinematics Solution after, obtain the speed and component of acceleration signal of linear electric motors；
Step 2: the analog signal that step one is measured is input to motion control card progress A/D by terminal board is converted to number
Word signal, the feedback signal for obtaining moving platform is handled data signal progress by computer；
Step 3: obtaining the displacement signal of linear motor rotor using displacement sensor, displacement signal is defeated by terminal board
Enter to motion control card progress step-by-step counting and obtain data signal, data signal progress is handled by computer and obtains linear electric motors
Output signal；
Step 4: the output signal of linear electric motors and the feedback signal of moving platform are carried out contrast processing by computer, then with institute's phase
The motion of prestige, location parameter are contrasted, and run corresponding control algolithm, obtain required control signal, and control signal is led to
Cross motion control card, terminal board and be input to Linear motor servo driver element, Linear motor servo driver element is believed according to control
The output of number control linear electric motors, so as to realize the motion control to moving platform.
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