CN108501446B - A kind of restructural parallel institution and its reconfigurable control method - Google Patents

A kind of restructural parallel institution and its reconfigurable control method Download PDF

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Publication number
CN108501446B
CN108501446B CN201810265476.6A CN201810265476A CN108501446B CN 108501446 B CN108501446 B CN 108501446B CN 201810265476 A CN201810265476 A CN 201810265476A CN 108501446 B CN108501446 B CN 108501446B
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China
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revolute pair
rod
fixed platform
platform
sliding block
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CN108501446A (en
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刘伟
曹玲玲
曹亚斌
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Xian Polytechnic University
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Xian Polytechnic University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B31MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31BMAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
    • B31B50/00Making rigid or semi-rigid containers, e.g. boxes or cartons
    • B31B50/26Folding sheets, blanks or webs

Abstract

The restructural parallel institution of one kind disclosed by the invention, including fixed platform, sliding block, 5R mechanism, the corresponding two sides of fixed platform have been symmetrically arranged revolute pair F1, F2, the centerline axis parallel of revolute pair F1, F2 central axis and revolute pair D1, D2, fixed platform are connected by revolute pair F1, F2 with 5R mechanism.The invention also discloses a kind of reconfigurable control methods of restructural parallel institution, take the path data of operating point revolute pair C according to bellows track first, then acquire motor driven angle and move to control revolute pair C according to desired trajectory.The present invention solves the problems, such as that existing 5R plane parallel mechanism can not reconstruct.

Description

A kind of restructural parallel institution and its reconfigurable control method
Technical field
The invention belongs to Packaging Machinery Automation apparatus fields, are related to a kind of restructural parallel institution and its reconfigurable control Method.
Background technique
Development speed is swift and violent in recent years for delivery industry, and the mechanical equipment packed currently on the market to carton is generally simultaneously Online structure, this parallel institution are mostly to customize used in pipelining, are not suitable for small-sized electric business and use.In parallel institution, 5R Plane parallel mechanism is one of simplest parallel institution.The restructural of prior art implementation mechanism mainly has following some sides Method: by the coupling of kinematic chain, the conversion between 4R mechanism and 5R mechanism is realized;By the way that P pair is fixed on 3RRR Planar Mechanisms simultaneously Connecting rod in online structure branch changes size and the position of 3PRS fixed platform, so that implementation mechanism reconstructs;By using screw pair Driving connection, there are three the platforms of connecting rod to move, so that the size of the moving platform of Delta parallel mechanism and position is made to change, Implementation mechanism it is restructural;It is combined into workbench by hydraulic stem, the size of the flexible change workbench of hydraulic stem is real Now mechanism is restructural.A large amount of theoretical research discovery, mechanism it is restructural, in enlarging mechanism working space, improve mechanism control Aspect of performance processed has obvious action.However, the existing each size of 5R plane parallel mechanism is fixed at present.Size is solid Fixed 5R mechanism is able to achieve the performance of mechanism some aspects, but expects the 5R plane parallel mechanism of good combination property and do not allow Easily.
Summary of the invention
The object of the present invention is to provide a kind of restructural parallel institutions, and solving existing 5R plane parallel mechanism can not weigh The problem of structure.
The object of the invention is also to provide a kind of reconfigurable control methods of restructural parallel institution.
The first technical solution of the present invention is a kind of restructural parallel institution, including fixed platform, sliding block, 5R mechanism, fixed platform lower surface are connected rack, and fixed platform upper surface is vertically connected more symmetrical guide rails, and sliding block is passed through and led Rail is respectively arranged with threaded hole, through-hole one in corresponding position up and down with fixed platform parallel sliding, sliding block and fixed platform on guide rail,
It further include screw rod, screw rod lower part is smooth connecting shaft, and top is thread segment, and screw rod lower part is logical across through-hole one It crosses shaft coupling one to be connected with driving motor one, screw rod top and threaded hole cooperatively form screw pair and make sliding block along screw rod Lower movement,
Sliding block has been symmetrically arranged revolute pair D1, D2, sliding block on its corresponding two sides along center axis thereof direction Be connected respectively with one end of connecting rod two, connecting rod three by revolute pair D1, D2, connecting rod two, connecting rod three the other end respectively with 5R machine Structure is connected, and the corresponding two sides of fixed platform have been symmetrically arranged revolute pair F1, F2, revolute pair F1, F2 central axis with turn The centerline axis parallel of dynamic secondary D1, D2, fixed platform are connected by revolute pair F1, F2 with 5R mechanism,
5R mechanism includes the first branch being made of connecting rod four, connecting rod six, connecting rod eight, by connecting rod five, connecting rod seven, connecting rod nine Composition the second branch and driving motor two, driving motor three, connecting rod two, connecting rod three the other end pass through revolute pair respectively E1, E2 are connected with the connecting rod five of the connecting rod four of the first branch, the second branch, connecting rod four, connecting rod five one end by revolute pair F1, F2 is connected with fixed platform respectively, and the other end of connecting rod four is connected by revolute pair A1 with one end of connecting rod six, connecting rod six it is another End is connected by revolute pair B1 with one end of connecting rod eight, and the other end of connecting rod five passes through one end phase of revolute pair A2 and connecting rod seven Even, the other end of connecting rod seven is connected by revolute pair B2 with one end of connecting rod nine, and the other end of connecting rod eight and connecting rod nine is by turning Dynamic secondary C is connected, and driving motor two is connected by shaft coupling two with revolute pair A1, and driving motor three passes through shaft coupling three and revolute pair A2 is connected,
Fixed platform, sliding block are symmetrical platform, including ring-shaped platform, rectangular platform.
Other features of the invention also reside in,
The equal length of connecting rod two and connecting rod three, the equal length of connecting rod four and connecting rod five, the length of connecting rod six and connecting rod seven Spend equal, the equal length of connecting rod eight and connecting rod nine.
Through-hole one is located at the center that more guide rails surround, and more rail crowns are provided with limiting platform, limiting platform and fixed Platform parallel, limiting platform are equipped with the through-hole two that diameter is greater than screw rod bar diameter, and screw rod passes through through-hole two, and limiting platform limits The maximum height of slide block movement.
Second of technical solution of the present invention is a kind of reconfigurable control method of restructural parallel institution, tool Body is implemented in accordance with the following steps:
Step 1: determining movement locus of the carton in bellows forming process
The model that carton is constructed under SolidWorks2015 environment sets oxy plane coordinate system, the rotation of simulation operating point Secondary C operates the movement of carton boxboard, is that path carries out simulation crawl to the path curves in the space revolute pair C of operating point, Path data (the x of collecting work point revolute pair Cc, yc), (xc, yc) it is horizontal, vertical seat of the revolute pair C in oxy plane coordinate system Mark;
Step 2: calculating revolute pair A1, revolute pair A2, revolute pair B1, the position of revolute pair B2 using formula (1)
In formula: RfFor the distance of revolute pair F1 or F2 in fixed platform center origin to fixed platform;RrFor revolute pair on fixed platform F1 and revolute pair A1 or the distance between revolute pair F2 and revolute pair A2;α is the x in connecting rod four or connecting rod five and plane coordinate system The angle of axis forward direction;d3The projection in x-axis between revolute pair D1 or revolute pair D2 and screw rod in plane coordinate system away from From;d1Horizontal for fixed platform upper connecting rod four or connecting rod five and fixed platform, i.e. when α=0, sliding block and fixed platform are in plane coordinate system Y-axis on distance;P is the pitch of screw rod;It is screw rod using the y-axis in plane coordinate system as shaft
Corner;d2For revolute pair D1 or D2 to the linear distance between revolute pair E1 or revolute pair E2, solve formula (1):
Obtain the value of α:
Wherein k1、k2、k3Equal to following formula:
k2=2Rr(Rf-d3)(4)
Obtain the coordinate A of revolute pair A1, revolute pair A2 in plane coordinate system1、A2And revolute pair A1 and revolute pair A2 it Between distance | | A1A2| |:
A1=[- Rr·cosα-Rf, Rr·sin α]
A2=[Rr·cosα+Rf, Rr·sinα] (6)
||A1A2| |=| | 2 (Rrcosα+Rf)|| (7)
Know the coordinate B of revolute pair B1, revolute pair B2 in plane coordinate system1、B2:
B1=[A1x+L1cos q101,A1y+L1sin q101]
B2=[A2x+L1 cos q201,A2y+L1 sin q201] (8)
A in formula (8)1x、A1yAbscissa, ordinate for revolute pair A1, A2x、A2yAbscissa, vertical seat for revolute pair A2 Mark, q101, q201It is revolute pair A1, corner of the A2 relative to x-axis forward direction, i.e. driving angle, L respectively1For connecting rod six or connecting rod seven Bar is long;
Step 3: transverse and longitudinal coordinate (x of the operating point revolute pair C obtained according to step 1 in plane coordinate systemc、yc), connection Vertical (9) calculate Bix、Biy,
||L2| |=(Bix-xc)2+(Biy-yc)2 (9)
The bar of connecting rod eight or connecting rod nine length uses L in formula (9)2It indicates, Bix、BiyIt is sat for revolute pair B1 or revolute pair B2 in plane Abscissa, ordinate in mark system;
Step 4: B is obtained according to step 3ix、Biy, by Bix、BiyData substitute into formula (8) and calculate driving angle q101, q201, according to Drive angle q101, q201And the distance between revolute pair A1 and revolute pair A2 | | A1A2| | starting driving motor one, driving motor Two, driving motor three, so that operating point revolute pair C is according to original collected path data (xc、yc) i.e. bellows movement locus transport It is dynamic.
The invention has the advantages that a kind of restructural parallel institution and its reconfigurable control method, solve existing 5R The problem of plane parallel mechanism can not reconstruct, the present invention a kind of restructural parallel institution and its reconfigurable control method can pass through The rotation of screw rod changes conventional planar 5R mechanism size and carrys out the restructural of implementation mechanism, this dynamic mapping process is rapidly just Victory can quickly and effectively improve the synthesis movenent performance of 5R mechanism.This restructural parallel institution is realizing carton bellows work It when industry, can be adapted for the molding of the carton of different dimensional structures, improve its adaptability in job engineering.
Detailed description of the invention
Fig. 1 is the structure front view of the restructural parallel institution of one kind of the invention;
Fig. 2 is the structural side view of the restructural parallel institution of one kind of the invention;
Fig. 3 is the structure top view of the restructural parallel institution of one kind of the invention;
Fig. 4 is the equivalent structure schematic diagram of the restructural parallel institution of one kind of the invention.
In figure, 1. screw rods, 2. connecting rods two, 3. sliding blocks, 4. connecting rods four, 5. connecting rods three, 6. connecting rods six, 7. connecting rods seven, 8. Connecting rod eight, 9. connecting rods nine, 10. connecting rods five, 11. fixed platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The restructural parallel institution of one kind of the invention, as shown in 1 and Fig. 2, including fixed platform 11, sliding block 3,5R mechanism, 11 lower surface of fixed platform is connected rack, and rack carries fixed platform 11, so that the position of fixed platform 11 is fixed, on fixed platform 11 Surface is vertically connected more symmetrical guide rails, sliding block 3 pass through guide rail on guide rail with 11 parallel sliding of fixed platform, sliding block 3 It is respectively arranged with threaded hole, through-hole one with about 11 corresponding position of fixed platform,
It further include screw rod 1,1 lower part of screw rod is smooth connecting shaft, and top is thread segment, and 1 lower part of screw rod passes through through-hole One is connected by shaft coupling one with driving motor one, and 1 top of screw rod and threaded hole cooperatively form screw pair and make sliding block 3 along spiral shell Spinner handle 1 moves up and down, and sliding block 3 and screw rod 1 are threadedly coupled, and screw rod 1 rotates, and sliding block 3 constrains rotation freely due to guide rail Degree moves along a straight line to sliding block 3 along the axial direction of screw rod 1,
Sliding block 3 has been symmetrically arranged revolute pair D1, D2, sliding block on its corresponding two sides along center axis thereof direction 3 are connected respectively by revolute pair D1, D2 with one end of connecting rod 22, connecting rod 35, connecting rod 22, connecting rod 35 the other end respectively with 5R mechanism is connected, and the corresponding two sides of fixed platform 11 have been symmetrically arranged revolute pair F1, F2, revolute pair F1, F2 central axis The centerline axis parallel of line and revolute pair D1, D2 guarantees that plane motion is done by mechanism, and fixed platform 11 passes through revolute pair F1, F2 and 5R Mechanism is connected,
5R mechanism includes the first branch being made of connecting rod 44, connecting rod 66, connecting rod 88, by connecting rod 5 10, connecting rod 77, Connecting rod 99 form the second branch and driving motor two, driving motor three, connecting rod 22, connecting rod 35 the other end lead to respectively It crosses revolute pair E1, E2 to be connected with the connecting rod 5 10 of the connecting rod 44 of the first branch, the second branch, the one of connecting rod 44, connecting rod 5 10 End is connected with fixed platform 11 respectively by revolute pair F1, F2, and the other end of connecting rod 44 passes through revolute pair A1 and the one of connecting rod 66 End is connected, and the other end of connecting rod 66 is connected by revolute pair B1 with one end of connecting rod 88, and the other end of connecting rod 5 10 is by turning Dynamic secondary A2 is connected with one end of connecting rod 77, and the other end of connecting rod 77 is connected by revolute pair B2 with one end of connecting rod 99, connecting rod 88 are connected with the other end of connecting rod 99 by revolute pair C, and driving motor two is connected by shaft coupling two with revolute pair A1, are driven Motor three is connected by shaft coupling three with revolute pair A2,
Fixed platform 11, sliding block 3 are symmetrical platform, including ring-shaped platform, rectangular platform, guarantee revolute pair D1, revolute pair D2 positional symmetry, revolute pair F1, F2 positional symmetry.
The equal length of connecting rod 22 and connecting rod 35, the equal length of connecting rod 44 and connecting rod 5 10, connecting rod 66 and connecting rod 77 equal length, the equal length of connecting rod 88 and connecting rod 99 guarantee revolute pair A1, A2, B1, B2 between each connecting rod Centerline axis parallel, so that plane motion is done by mechanism.
As shown in figure 3, through-hole one is located at the center that more guide rails surround, more rail crowns are provided with limiting platform, limit Bit platform is parallel with fixed platform 11, and limiting platform is equipped with the through-hole two that diameter is greater than 1 bar diameter of screw rod, and screw rod 1 passes through through-hole Two, limiting platform limits the maximum height that sliding block 3 moves.
The restructural parallel institution of one kind of the invention can aiming at the problem that existing 5R plane parallel mechanism can not reconstruct With the restructural of implementation mechanism, compared with traditional 5R parallel institution, fixed platform, screw rod, connecting rod two, connects sliding block the present invention The mechanism module that bar three forms is equivalent to the fixed platform of traditional 5R mechanism, i.e. rack, and screw pair is by driving motor in this module One driving, so that sliding block realizes moving up and down along y-axis, sliding block is connect with connecting rod two, connecting rod three by revolute pair D1, D2, even Bar two, connecting rod three connect connecting rod four, connecting rod five by revolute pair E1, E2.When sliding block is moved along y-axis, connecting rod four, connecting rod five around The rotation of revolute pair F1, F2 shaft is equivalent to the fixed platform ruler for changing transmission 5R mechanism to change the position of revolute pair A1, A2 Very little, screw pair, revolute pair A1, revolute pair A2 are connected separately with driving motor one, driving motor two, driving motor three, are equivalent to Driving is secondary, and the first branch, second chain movement that connect respectively with revolute pair A1, revolute pair A2 finally change the position of revolute pair C It sets, revolute pair C is that is, tradition 5R is equivalent to the moving platform (manipulator) for changing conventional planar 5R mechanism.
The present invention is a kind of using a kind of reconfigurable control method of restructural parallel institution as described above, specifically according to such as Lower step is implemented:
Step 1: determining movement locus of the carton in bellows forming process
The model that carton is constructed under SolidWorks2015 environment sets oxy plane coordinate system, the rotation of simulation operating point Secondary C operates the movement of carton boxboard, is that path carries out simulation crawl to the path curves in the space revolute pair C of operating point, Path data (the x of collecting work point revolute pair Cc, yc), (xc, yc) it is horizontal, vertical seat of the revolute pair C in oxy plane coordinate system Mark;
Step 2: calculating revolute pair A1, revolute pair A2, revolute pair B1, the position of revolute pair B2 using formula (1)
In formula: RfFor the distance of revolute pair F1 or F2 in fixed platform 11 center origin to fixed platform 11;RrFor on fixed platform 11 Revolute pair F1 and revolute pair A1 or the distance between revolute pair F2 and revolute pair A2;α is that connecting rod 44 or connecting rod 55 and plane are sat The angle of x-axis forward direction in mark system;d3X-axis between revolute pair D1 or revolute pair D2 and screw rod 1 in plane coordinate system On projector distance;d1It is horizontal for 11 upper connecting rod 44 of fixed platform or connecting rod 55 and fixed platform 11, i.e. when α=0, sliding block 3 and fixed Distance of the platform 11 in the y-axis in plane coordinate system;P is the pitch of screw rod 1;It is screw rod 1 in plane coordinate system Y-axis be shaft corner;d2For revolute pair D1 or D2 to the linear distance between revolute pair E1 or revolute pair E2, formula is solved (1):
Obtain the value of α:
Wherein k1、k2、k3Equal to following formula:
k2=2Rr(Rf-d3)(4)
Obtain the coordinate A of revolute pair A1, revolute pair A2 in plane coordinate system1、A2And revolute pair A1 and revolute pair A2 it Between distance | | A1A2| |:
A1=[- Rr·cosα-Rf, Rr·sinα]
A2=[Rr·cosα+Rf, Rr·sinα] (6)
||A1 A2| |=| | 2 (Rr cosα+Rf)|| (7)
Know the coordinate B of revolute pair B1, revolute pair B2 in plane coordinate system1、B2:
B1=[A1x+L1 cos q101,A1y+L1 sin q101]
B2=[A2x+L1 cos q201,A2y+L1 sin q201] (8)
A in formula (8)1x、A1yAbscissa, ordinate for revolute pair A1, A2x、A2yAbscissa, vertical seat for revolute pair A2 Mark, q101, q201It is revolute pair A1, corner of the A2 relative to x-axis forward direction, i.e. driving angle, L respectively1For connecting rod 66 or connecting rod 77 Bar it is long;
Step 3: transverse and longitudinal coordinate (x of the operating point revolute pair C obtained according to step 1 in plane coordinate systemc、yc), connection Vertical (9) calculate Bix、Biy,
||L2| |=(Bix-xc)2+(Biy-yc)2 (9)
The bar of connecting rod 88 or connecting rod 99 length uses L in formula (9)2It indicates, Bix、BiyIt is revolute pair B1 or revolute pair B2 in plane Abscissa, ordinate in coordinate system;
Step 4: B is obtained according to step 3ix、Biy, by Bix、BiyData substitute into formula (8) and calculate driving angle q101, q201, according to Drive angle q101, q201And the distance between revolute pair A1 and revolute pair A2 | | A1A2| | starting driving motor one, driving motor Two, driving motor three, so that operating point revolute pair C is according to original collected path data (xc、yc) i.e. bellows movement locus transport It is dynamic.
The reconfigurable control method of the restructural parallel institution of one kind of the invention, is rotated according to the movement locus of bellows The path locus of secondary C, to acquire driving angle control driving motor two, driving motor three makes operating point revolute pair C according to pre- Fixed track movement, this dynamic mapping process is convenient rapidly, can quickly and effectively improve the synthesis movenent performance of 5R mechanism, so that When realizing the operation of carton bellows, it can be adapted for the molding of the carton of different dimensional structures, improve it in job engineering Adaptability.

Claims (4)

1. a kind of restructural parallel institution, which is characterized in that described to allocate including fixed platform (11), sliding block (3), 5R mechanism Platform (11) lower surface is connected rack, and fixed platform (11) upper surface is vertically connected more symmetrical guide rails, the sliding block (3) guide rail is passed through on guide rail with the fixed platform (11) vertical sliding motion, it is right above and below the sliding block (3) and the fixed platform (11) Should place be respectively arranged with threaded hole, through-hole one,
It further include screw rod (1), screw rod (1) lower part is smooth connecting shaft, and top is thread segment, under the screw rod (1) Portion passes through through-hole one and is connected by shaft coupling one with driving motor one, and screw rod (1) top and threaded hole cooperatively form spiral shell Rotation pair makes sliding block (3) move up and down along screw rod (1),
The sliding block (3) has been symmetrically arranged revolute pair D1, D2 on its corresponding two sides along center axis thereof direction, institute It states sliding block (3) to be connected with one end of connecting rod two (2), connecting rod three (5) respectively by revolute pair D1, D2, the connecting rod two (2) connects The other end of bar three (5) is connected with the 5R mechanism respectively, and the corresponding two sides of the fixed platform (11) are symmetrically arranged There is revolute pair F1, F2, the centerline axis parallel of revolute pair F1, the F2 central axis and revolute pair D1, D2 is described to allocate Platform (11) is connected by described revolute pair F1, F2 with the 5R mechanism,
The 5R mechanism includes the first branch being made of connecting rod four (4), connecting rod six (6), connecting rod eight (8), by connecting rod five (10), The second branch and driving motor two, driving motor three of connecting rod seven (7), connecting rod nine (9) composition, the connecting rod two (2) connect The other end of bar three (5) passes through the connecting rod five (10) of the connecting rod four (4) of revolute pair E1, E2 and the first branch, the second branch respectively Be connected, the connecting rod four (4), connecting rod five (10) one end be connected with the fixed platform (11) respectively by revolute pair F1, F2, institute The other end for stating connecting rod four (4) is connected by revolute pair A1 with one end of connecting rod six (6), and the other end of the connecting rod six (6) is logical It crosses revolute pair B1 to be connected with one end of connecting rod eight (8), the other end of the connecting rod five (10) passes through revolute pair A2 and connecting rod seven (7) One end be connected, the other end of the connecting rod seven (7) is connected by revolute pair B2 with one end of connecting rod nine (9), the connecting rod eight (8) it is connected with the other end of connecting rod nine (9) by operating point revolute pair C, the driving motor two passes through shaft coupling two and rotation Secondary A1 is connected, and the driving motor three is connected by shaft coupling three with revolute pair A2,
The fixed platform (11), sliding block (3) are symmetrical platform.
2. a kind of restructural parallel institution as described in claim 1, which is characterized in that the connecting rod two (2) and connecting rod three (5) equal length, the equal length of the connecting rod four (4) and connecting rod five (10), the connecting rod six (6) and connecting rod seven (7) Equal length, the equal length of the connecting rod eight (8) and connecting rod nine (9).
3. a kind of restructural parallel institution as described in claim 1, which is characterized in that the through-hole one is located at more guide rails The center surrounded, the more rail crowns are provided with limiting platform, and the limiting platform is parallel with fixed platform (11), the limit Bit platform is equipped with the through-hole two that diameter is greater than the screw rod (1) bar diameter, and screw rod (1) passes through the through-hole two, the limit Platform limits the maximum height of sliding block (3) movement.
4. a kind of reconfigurable control method of restructural parallel institution as described in any one of claims 1-3, which is characterized in that Specifically implement in accordance with the following steps:
Step 1: determining movement locus of the carton in bellows forming process
The model that carton is constructed under SolidWorks2015 environment, sets oxy plane coordinate system, simulates operating point revolute pair C The movement of carton boxboard is operated, is that path carries out simulation crawl to the path curves in the space revolute pair C of operating point, acquires Path data (the x of operating point revolute pair Cc, yc), (xc, yc) it is operating point revolute pair C horizontal, vertical in oxy plane coordinate system Coordinate;
Step 2: calculating revolute pair A1, revolute pair A2, revolute pair B1, the position of revolute pair B2 using formula (1)
In formula: RfFor the distance of revolute pair F1 or F2 in fixed platform (11) center origin to fixed platform (11);RrFor fixed platform (11) Upper revolute pair F1 and revolute pair A1 or the distance between revolute pair F2 and revolute pair A2;α be connecting rod four (4) or connecting rod five (5) with The angle of x-axis forward direction in plane coordinate system;d3In plane coordinate system between revolute pair D1 or revolute pair D2 and screw rod (1) In x-axis on projector distance;d1Horizontal, the i.e. α for fixed platform (11) upper connecting rod four (4) or connecting rod five (5) and fixed platform (11) When=0, sliding block (3) and fixed platform (11) in the y-axis in plane coordinate system at a distance from;P is the pitch of screw rod (1);For Screw rod (1) is using the y-axis in plane coordinate system as the corner of shaft;d2For revolute pair D1 or D2 to revolute pair E1 or revolute pair E2 Between linear distance, solve formula (1):
Obtain the value of α:
Wherein k1、k2、k3Equal to following formula:
Obtain the coordinate A of revolute pair A1, revolute pair A2 in plane coordinate system1、A2And between revolute pair A1 and revolute pair A2 Distance | | A1A2| |:
||A1A2| |=| | 2 (Rrcosα+Rf)|| (7)
Know the coordinate B of revolute pair B1, revolute pair B2 in plane coordinate system1、B2:
A in formula (8)1x、A1yAbscissa, ordinate for revolute pair A1, A2x、A2yAbscissa, ordinate for revolute pair A2, q101, q201It is revolute pair A1, corner of the A2 relative to x-axis forward direction, i.e. driving angle, L respectively1For connecting rod six (6) or connecting rod seven (7) Bar it is long;
Step 3: transverse and longitudinal coordinate (x of the operating point revolute pair C obtained according to step 1 in plane coordinate systemc、yc), joint type (9) B is calculatedix、Biy,
The bar of connecting rod eight (8) or connecting rod nine (9) length uses L in formula (9)2It indicates, Bix、BiyIt is revolute pair B1 or revolute pair B2 in plane Abscissa, ordinate in coordinate system;
Step 4: B is obtained according to step 3ix、Biy, by Bix、BiyData substitute into formula (8) and calculate driving angle q101, q201, according to driving Angle q101, q201And the distance between revolute pair A1 and revolute pair A2 | | A1A2| | starting driving motor one, drives driving motor two Dynamic motor three, so that operating point revolute pair C is according to original collected path data (xc、yc) i.e. bellows movement locus movement.
CN201810265476.6A 2018-03-28 2018-03-28 A kind of restructural parallel institution and its reconfigurable control method Expired - Fee Related CN108501446B (en)

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