CN107791235A - A kind of 6-dof motion platform control system in parallel - Google Patents
A kind of 6-dof motion platform control system in parallel Download PDFInfo
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- CN107791235A CN107791235A CN201610733856.9A CN201610733856A CN107791235A CN 107791235 A CN107791235 A CN 107791235A CN 201610733856 A CN201610733856 A CN 201610733856A CN 107791235 A CN107791235 A CN 107791235A
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- control system
- valve
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- control
- motor
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Classifications
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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
Abstract
A kind of 6-dof motion platform control system in parallel, employs 3 direct control computers and a responsible motion planning, the computer of movement position monitoring constitute two-stage computer control system and go to control the Hydrauservo System in 6 joints of parallel robot.The system for changing with load and changing greatly for this kind of high-order of electrohydraulic servo system, non-linear, time-varying, dynamic characteristic, ANN Control have the Intelligent Information Processing abilities such as preferable adaptive learning ability, robustness and real-time control to it.
Description
Art
The present invention relates to a kind of 6-dof motion platform control system in parallel, suitable for mechanical field.
Background technology
6-dof parallel platform is that have major economic value and the high-grade, precision and advanced experimental facilities of defense strategy meaning.Earliest
Space six-degree-of-freedom parallel robot be that nineteen sixty-five D. SLewart is proposed and developed.6-SPS mechanisms are famous
SLewarL platform mechanisms are compared with traditional tandem movement mechanism with multiple degrees of freedom, and it has, and bearing capacity is strong, good rigidity, nothing
Accumulated error, the advantages that precision is high.According to the difference of upper and lower each six ball pivot Relative distributions, the mechanism can be divided into polytype,
Its kinematics oneself there are many scholars to be studied.Since the eighties particularly nineties, 6-dof motion platform is got over
Come be more widely used in robot, parallel machine, space articulation meter art, aviation and navigation equipment, wave simulation and amusement set
Shi Shang.
The six degree of freedom Platform Designing level and manufacture level gap or phase compared with western developed country in China at present
When work big, that the key subject in these fields of, control system theoretical to six degree of freedom platform courses and technical research is done
Make also very superficial.Therefore deep theoretical and experimental study is carried out to the key components of six degree of freedom, developed as early as possible
Go out the six degree of freedom platform of function admirable, improve the emulation technology level in China, there is great theory significance and practical application
Value.
The content of the invention
The present invention proposes a kind of 6-dof motion platform control system in parallel, employs 3 direct control computers
The computer monitored with a responsible motion planning, movement position constitutes two-stage computer control system and goes to control parallel manipulator
The Hydrauservo System in 6 joints of people.
The technical solution adopted in the present invention is.
The control system is organically coordinated 6 independent servo-drive systems, makes its requirement according to design, realizes
The various combination of 6 servoBcylinder telescopic levels and stretching speed, determine diverse location and athletic posture of the platform in 3-dimensional space.
The control system employs 3 direct control computers and a responsible motion planning, movement position monitor
Computer constitutes two-stage computer control system and goes to control the Hydrauservo System in 6 joints of parallel robot.
The electrohydraulic servo valve is by torque-motor (or force motor), hydraulic amplifier, feedback mechanism (or balanced controls) three
Part forms.The output torque or power very little of torque-motor or force motor, when the flow of valve is bigger, can not directly drive work(
The motion of rate step valve, now need to increase hydraulic pressure prestage, the output of torque-motor or force motor is amplified, then go to control
Power valve, this just constitutes two level or three-level electrohydraulic servo valve.The structure type of the first order has single-flapper valve, twin-jet nozzle gear
Plate valve, guiding valve, jet action valve and fluidic etc..
The beneficial effects of the invention are as follows：For this kind of high-order of electrohydraulic servo system, non-linear, time-varying, dynamic characteristic with load
The system for changing and changing greatly, ANN Control have preferable adaptive learning ability, robustness and control in real time to it
The Intelligent Information Processing abilities such as system.
Brief description of the drawings
Fig. 1 is the schematic diagram of mechanism of the present invention.
Fig. 2 is the electro-hydraulic position servo control systematic schematic diagram of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1,6-SPS parallel connection platforms are by lower platform, six hydraulic cylinders, upper mounting plate and 12 ball pivot (or universal hinge) groups
Into the motion of each hydraulic cylinder is respectively controlled by an electrohydraulic servo valve.Because the platform mechanism of this kind of structure has six-freedom degree,
Therefore each hydraulic cylinder can freely stretch is restricted by other hydraulic cylinders like that rather than common shake table.Also just because of
This structure, platform is set to produce regular motion, it is necessary to six hydraulic cylinders is acted in phase.
Compared with six degree of freedom serial manipulator with being widely used, very common, six degree of freedom platform underaction, show
The scope of activities of the upper motion platform Three dimensional rotation of its flexibility ratio is generally less than 60 °, and angle maximum does not reach 90 ° yet.Motion is empty
Between it is also not big enough, be only that a thickness above it does not include big mushroom-shaped space, but it have simultaneously it is following very prominent
Advantage.
（1）Rigidity is big, Stability Analysis of Structures.This is due to support of the upper motion platform via 6 hydraulic cylinders.
（2）Bearing capacity is strong.Because rigidity is big, compared with tandem mechanism in the case of identical deadweight or volume, have
Much higher bearing capacity.
（3）Error is small, and pose accuracy is high.Because without the error accumulation and amplification of serial mechanism.
（4）Power performance is good.The drive motor and transmission system of tandem mechanism are mostly placed on moving big forearm
On, the inertia of system is added, is degrading power performance, power source is placed on support by six degree of freedom platform, reduces motion
Load.
（5）Anti- solution is easy.Calculated in multiple-degree-of-freedom mechanism motion process, it is necessary to carry out anti-solution in real time.Serial mechanism it is anti-
Solution is very difficult, and is very easy to for parallel unit mechanism, the anti-solution of six degree of freedom platform.
Therefore striking contrast is configured to serial machine as a kind of parallel robot, six degree of freedom platform, it
In structure and performance characteristics be duality relation, upper in application is not substitution effect, but complementary relationship.Six degree of freedom platform
Appearance, expand the application of robot.
Such as Fig. 2, control system is organically coordinated 6 independent servo-drive systems, makes its requirement according to design, real
The various combination of existing 6 servoBcylinder telescopic levels and stretching speed, determine platform in the diverse location in 3-dimensional space and motion appearance
State.
Control system employs 3 direct control computers and a responsible motion planning, the calculating of movement position monitoring
Machine constitutes two-stage computer control system and goes to control the Hydrauservo System in 6 joints of parallel robot.
In electrohydraulic servo-controlling system, the function of servo valve is by electric signal（Voltage, electric current）Become hydraulic pressure signal（Pressure
Power, flow）Conversion.Both the transformation between electric signal and hydraulic pressure signal had been played, has played the amplification of signal again, therefore
Characteristic influence of its performance on system is very big, is the core parts in system.Electrohydraulic servo valve by torque-motor (or force motor),
Hydraulic amplifier, feedback mechanism (or balanced controls) three parts composition.The output torque or power very little of torque-motor or force motor,
When the flow of valve is bigger, the motion of power step valve can not be directly driven, now needs to increase hydraulic pressure prestage, by torque horse
Reach or the output of force motor is amplified, then go to control power valve, this just constitutes two level or three-level electrohydraulic servo valve.The first order
Structure type have single-flapper valve, twin flapper-and-nozzle valve, guiding valve, jet action valve and fluidic etc..
Claims (3)
1. a kind of 6-dof motion platform control system in parallel, it is characterized in that：The control system is 6 independent servo systems
System is organically coordinated to get up, and makes its requirement according to design, realize 6 servoBcylinder telescopic levels and stretching speed different groups
Close, determine diverse location and athletic posture of the platform in 3-dimensional space.
2. a kind of 6-dof motion platform control system in parallel according to claim 1, it is characterized in that：The control system
System employs 3 direct control computers and a responsible motion planning, the computer of movement position monitoring constitute two-stage meter
Calculation machine control system goes to control the Hydrauservo System in 6 joints of parallel robot.
3. a kind of 6-dof motion platform control system in parallel according to claim 1, it is characterized in that：It is described electro-hydraulic to watch
Valve is taken to be made up of torque-motor (or force motor), hydraulic amplifier, feedback mechanism (or balanced controls) three parts, torque-motor or
The output torque or power very little of force motor, when the flow of valve is bigger, can not directly drive the motion of power step valve, now need
Increase hydraulic pressure prestage, the output of torque-motor or force motor is amplified, then go to control power valve, this just constitutes two
Level or three-level electrohydraulic servo valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610733856.9A CN107791235A (en) | 2016-08-28 | 2016-08-28 | A kind of 6-dof motion platform control system in parallel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610733856.9A CN107791235A (en) | 2016-08-28 | 2016-08-28 | A kind of 6-dof motion platform control system in parallel |
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| CN107791235A true CN107791235A (en) | 2018-03-13 |
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| CN201610733856.9A Pending CN107791235A (en) | 2016-08-28 | 2016-08-28 | A kind of 6-dof motion platform control system in parallel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693776A (en) * | 2018-07-25 | 2018-10-23 | 长安大学 | A kind of robust control method of Three Degree Of Freedom Delta parallel robots |
| CN108942895A (en) * | 2018-09-05 | 2018-12-07 | 安徽理工大学 | A kind of six-freedom parallel power head with constant force output characteristics |
| CN109732645A (en) * | 2019-01-16 | 2019-05-10 | 嘉兴学院 | A kind of robot joints robustness test macro |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
-
2016
- 2016-08-28 CN CN201610733856.9A patent/CN107791235A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693776A (en) * | 2018-07-25 | 2018-10-23 | 长安大学 | A kind of robust control method of Three Degree Of Freedom Delta parallel robots |
| CN108942895A (en) * | 2018-09-05 | 2018-12-07 | 安徽理工大学 | A kind of six-freedom parallel power head with constant force output characteristics |
| CN109732645A (en) * | 2019-01-16 | 2019-05-10 | 嘉兴学院 | A kind of robot joints robustness test macro |
| CN110202547A (en) * | 2019-06-24 | 2019-09-06 | 中国科学院自动化研究所 | Six-degree-of-freedom parallel connection mechanism |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180313 |