CN114290318A - Multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and motion control inverse solution method thereof - Google Patents
Multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and motion control inverse solution method thereof Download PDFInfo
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Abstract
The invention provides a multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and a motion control inverse solution method thereof, wherein the motion platform comprises: an upper platform; a lower platform; a plurality of parallel-designed electric cylinders; each electric cylinder is provided with two Hooke joints, one is a bending Hooke joint, and the other is a vertical Hooke joint; a first crank at the tail end of a guide rod of each electric cylinder is hinged to the upper platform through a bending type hook hinge; and a second crank at the bottom of the cylinder body of each electric cylinder is hinged to the lower platform through a vertical Hooke hinge. According to the multi-degree-of-freedom motion platform, the position of the bending type hook joint and the rotation center of the tail end of the guide rod of the electric cylinder is determined through the position posture of the platform and the rotation center of the rotating shaft of the base of the bending type hook joint, the position limitation of the rotation center, the guide rod and the hinged part is realized, and the serious consequence that the motion platform enters the singular position due to incorrect control process is avoided, so that the structural fault of the whole motion platform is caused, and the serious safety problem is caused.
Description
Technical Field
The invention relates to the technical field of multi-degree-of-freedom motion platforms, in particular to a multi-degree-of-freedom motion platform suitable for large-angle composite attitude motion and a motion control inverse solution method thereof.
Background
The multi-degree-of-freedom motion platform is widely applied to the field of driving simulation, particularly vehicle driving simulation (armored cars, tanks and the like) and flight simulation, a closed-loop simulation system for simulating a human vehicle road based on the six-degree-of-freedom motion platform mainly comprises a visual simulation display system, a sound sensation simulation feedback system, a body sensation simulation feedback system and a dynamic model of a driving object. A control load simulation system is also designed in the flight simulation for simulating force feedback. The driving simulation system carries out training simulation, performance analysis, evaluation and the like in a semi-physical simulation mode, accurately simulates driving operation, obtains driving operation feeling of a real vehicle and an airplane, and has important significance for training and evaluation of personnel.
In the driving simulation systems, electric cylinders are usually adopted to design a multi-degree-of-freedom motion system to realize somatosensory feedback for a driver, manipulators such as a cockpit, an accelerator pedal, a steering wheel, a gearbox gear lever and the like are installed on an upper platform of a six-degree-of-freedom platform, the typical structure of the six-degree-of-freedom platform is shown in figure 1A, a plurality of electric cylinders are arranged between the upper platform and a lower platform, a crank at the end part of each electric cylinder is hinged with the upper platform through a vertical hooke hinge, the bottom of each electric cylinder is also hinged with a vertical hooke hinge on the lower platform, and multi-degree-of-freedom motion operation between the upper platform and the lower platform is realized through telescopic linear motion of each electric cylinder.
In the actual platform motion process, the vertical hooke joint can generate a guide rod rotation effect during the composite attitude angular motion, the hooke joint is damaged due to the fact that the guide rod and the hooke joint rotating shaft cannot rotate correspondingly and rapidly in the actual operation process, the hooke joint shaft rotation angular speed during 25-degree composite swinging motion with the period of 4s is tested by combining the figure 1B, the guide rod rapidly rotates in the composite attitude angular motion process of the six-degree-of-freedom platform adopting the vertical hooke joint to cause structural damage, and the actual effect of hooke joint plastic bending damage caused by the guide rod rotation effect is shown in the figure 1C. Therefore, the problem of plastic bending damage of a hinge piece caused by the rapid rotation effect of the guide rod of the electric cylinder is solved by adopting the inclined plane cushion block, for example, in the structural design of fig. 2A, the inclined plane cushion blocks of 30 degrees are arranged at the positions of upper hinge points, the vertical hooke hinge is arranged on an inclined plane, the problem caused by the rapid rotation effect of the guide rod is obviously solved by the added inclined plane cushion blocks according to the test result of 2B, the rotation angle speed of the vertical hooke hinge shaft is approximately stable, and the effect is improved better when the angle of the inclined plane is larger. In practice, however, we have found that the above design is effective in improving the small-angle 25 ° compound rocking motion, and basically no interference occurs within 40 °, but system interference may still occur during the 60 ° compound rocking motion, and as shown in fig. 3A-3C, it can be seen through 3C that not only interference may occur during the 60 ° compound rocking motion, but also a large and rapid change in the rotational angular velocity of the hooke hinge shaft still occurs, which is not desirable.
In the design of a typical structure of a six-degree-of-freedom platform in the prior art, in addition to the articulated connection of the upper and lower platforms of the electric cylinder by the vertical hooke joint, the horizontal hooke joint is adopted for articulated connection, as shown in fig. 4, but the motion range of the parallel motion platform in the connection mode of the horizontal hooke joint is limited, and the problem of interference between articulated parts is easy to occur during compound attitude angle motion, especially during large motion angle.
Prior art documents:
patent document 1: CN211479367U armored vehicle dynamic simulation motion platform
Patent document 2: CN110107599A Hooke hinge structure for electric six-degree-of-freedom motion platform
A academic thesis: metabolic, natural or natural: virtual reality-based six-degree-of-freedom driving simulation system development
Disclosure of Invention
The invention aims to provide a multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion, which adopts an improved bending type Hooke hinge structure to connect the hinge relation between an electric cylinder and an upper platform, solves the problem of interference of a horizontal Hooke hinge when the motion angle is large in the prior art and solves the problem of structural damage caused by rapid rotation of a guide rod when a vertical Hooke hinge is adopted to perform compound attitude angular motion
The invention provides a motion control inverse solution method of a multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion, which is characterized in that an improved bending type hooke joint structure is adopted, so that the positions of a hooke joint and a rotation center at the tail end of an electric cylinder guide rod are influenced not only by the position attitude of a robot but also by the rotation of a rotating shaft of a hooke joint base.
In an optional embodiment of the invention, in the motion control inverse solution method of the six-degree-of-freedom parallel multi-degree-of-freedom platform based on the bending type hooke joint, the position of the base rotation center of the bending type hooke joint is determined through calculation of the position and the posture of the parallel motion platform, then the distance between the base rotation center of the hooke joint and the lower hinge point of the base platform (namely the lower platform) and the distance between the bending intersection of the hooke joint and the lower hinge point of the base platform are determined, and finally the distance between the rotation center of the tail end of the guide rod of the hooke joint electric cylinder and the lower hinge point of the lower platform is obtained through inverse solution, so that inverse solution is obtained, and the control progress and the motion safety of the system platform are ensured.
In order to achieve the above object, a first aspect of the present invention provides a multiple degree of freedom motion platform suitable for large-angle compound posture motion, including: an upper platform; a lower platform; the electric cylinders are arranged between the upper platform and the lower platform to form a parallel design; each electric cylinder is provided with a cylinder body and a guide rod capable of stretching and linearly moving along the axial direction of the cylinder body, and the tail end of the guide rod is provided with a first crank; the bottom of the cylinder body is provided with a second crank; each electric cylinder is provided with two Hooke joints, one Hooke joint is a bending Hooke joint and is arranged at the bottom of the upper platform, and the other Hooke joint is a vertical Hooke joint and is arranged on the upper surface of the lower platform; wherein: the first crank at the tail end of the guide rod of each electric cylinder is hinged to the upper platform through a corresponding bending type hook hinge; the second crank at the bottom of the cylinder body of each electric cylinder is hinged to the lower platform through a corresponding vertical hooke hinge;
the bending type hook joint is in an L-shaped shape, and is provided with a first part and a second part, wherein the first part and the second part are coaxially arranged on a hook joint base, the second part and the first part form 90 degrees, the first part is installed in the hook joint base, the tail end of the second part forms a shaft hole, and a first crank is installed on two sides of the shaft hole through a crank shaft to form rotary connection.
In a preferred embodiment, the position of the rotation center of the bending type hooke joint and the tail end of the guide rod of the electric cylinder is determined by the position posture of the multi-degree-of-freedom motion platform and the rotation center of a rotating shaft of a base of the bending type hooke joint.
In a preferred embodiment, the position of the bending type hooke joint and the rotation center of the end of the guide rod of the electric cylinder is obtained based on a position posture inverse solution of a multi-degree-of-freedom motion platform, and the method includes: the position of the base rotation center of the bending type hooke joint is calculated based on the position posture of the multi-degree-of-freedom motion platform, then the distance between the base rotation center of the bending type hooke joint and the lower hinge point of the lower platform and the distance between the hooke joint bending intersection and the lower hinge point of the lower platform are determined, and finally the distance between the bending type hooke joint and the rotation center of the tail end of the electric cylinder guide rod and the lower hinge point of the lower platform is obtained through solving, so that inverse solution is obtained.
In a preferred embodiment, the inverse solution specifically includes:
for any one electric cylinder i, i is 1,2,3,4,5,6 in the multi-degree-of-freedom motion platform, the hinged position of the electric cylinder i and the upper platform is used as an upper hinged point, namely the position where a first crank at the tail end of a guide rod is hinged with a bending type hooke hinge of the upper platform; the hinged position of the lower platform is used as a lower hinged point, namely the hinged position of a second crank at the bottom of the electric cylinder and a vertical hooke hinge of the lower platform;
taking the point A as the center of a bearing seat of an upper hinge point, namely the center of a base of the bending type Hooke hinge;
taking the point B as a bending intersection point of a shaft of the bending type Hooke hinge;
taking the point C as the center of a pin shaft of an upper hinge point, namely the center of a crank shaft of the bending Hooke hinge;
taking the point D as the center of a pin shaft of the lower hinge point, namely the center of a crank shaft of the vertical hooke hinge;
wherein the aforementioned dots ABCD are in the same plane;
and 2, performing inverse solution operation based on the hinge point and the hinge point plane to obtain the distance between the bending type hook hinge and the rotating center of the tail end of the electric cylinder guide rod and the lower hinge point of the lower platform.
According to a second aspect of the object of the invention, a motion control inverse solution method of a multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion is provided, which comprises the following steps:
for any one electric cylinder i, i is 1,2,3,4,5,6 in the multi-degree-of-freedom motion platform, the hinged position of the electric cylinder i and the upper platform is used as an upper hinged point, namely the position where a first crank at the tail end of a guide rod is hinged with a bending type hooke hinge of the upper platform; the hinged position of the lower platform is used as a lower hinged point, namely the hinged position of a second crank at the bottom of the electric cylinder and a vertical hooke hinge of the lower platform;
taking the point A as the center of a bearing seat of an upper hinge point, namely the center of a base of the bending type Hooke hinge;
taking the point B as a bending intersection point of a shaft of the bending type Hooke hinge;
taking the point C as the center of a pin shaft of an upper hinge point, namely the center of a crank shaft of the bending Hooke hinge;
taking the point D as the center of a pin shaft of the lower hinge point, namely the center of a crank shaft of the vertical hooke hinge;
wherein the aforementioned dots ABCD are in the same plane;
and 2, performing inverse solution operation based on the hinge point and the hinge point plane to obtain the distance between the bending type hook hinge and the rotating center of the tail end of the electric cylinder guide rod and the lower hinge point of the lower platform.
According to the technical scheme of the invention, the multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and the motion control inverse solution method thereof have the remarkable beneficial effects that:
1. the multi-degree-of-freedom parallel motion platform based on the bent Hooke's hinge can realize large-angle and composite-attitude motion simulation control in the design process of simulators such as an aircraft driving simulator, an armored car driving simulator, a tank driving simulator, an underwater robot and the like, is not limited to the influence of small telecontrol space range and mutual interference of articulated elements of the traditional six-degree-of-freedom robot, not only solves the interference problem of the original horizontal Hooke's hinge when the motion angle is large, but also solves the structural damage problem caused by rapid rotation of a guide rod when the original vertical Hooke's hinge moves at the composite-attitude angle;
2. the invention provides a multi-degree-of-freedom parallel motion platform based on a bending type hooke joint, which is characterized in that an improved bending type hooke joint structure is adopted, so that the positions of a hooke joint and a rotating center at the tail end of an electric cylinder guide rod are influenced by the position and the posture of a robot and the rotation of a rotating shaft of a hooke joint base, the position of the rotating center at the top end of the hooke joint electric cylinder guide rod cannot be directly calculated according to the position and the posture, and the serious position deviation influence can be caused.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1A is a schematic diagram of a six-degree-of-freedom motion platform using a vertical hooke joint in the prior art.
Fig. 1B is a schematic diagram of the test result of the hooke hinge rotation angular velocity when the motion platform in fig. 1A is used to test 25 ° compound swing motion with a 4s period.
Fig. 1C is a diagram illustrating an actual effect of the vertical hooke joint plastic bending failure caused by the guide rod rotation effect of the motion platform illustrated in fig. 1A.
FIG. 2A is a schematic diagram of a six degree-of-freedom motion platform employing a bevel pad to improve the leader rotation effect;
fig. 2B is a diagram illustrating the results of the test of the hooke hinge rotation angular velocity of the motion platform of fig. 2A during the test of the 25 ° compound rocking motion with the period of 4 s.
Fig. 3A and 3B are schematic interference diagrams of a six-degree-of-freedom motion platform adopting a bevel cushion block during a 60-degree compound swinging motion.
Fig. 3C is a diagram illustrating the results of the test of the hooke hinge rotational angular velocity of the moving platform illustrated in fig. 3A during the test of the 60 ° compound rocking motion with the period of 4 s.
Fig. 4 is a schematic diagram of a six-degree-of-freedom motion platform using a horizontal hooke joint in the prior art.
FIG. 5 is a schematic diagram of a multiple degree of freedom motion platform suitable for large angle compound stance motion according to an exemplary embodiment of the invention.
Fig. 6 is an isometric view of the multiple degree of freedom motion platform of the exemplary embodiment of fig. 5.
Fig. 7A and 7B are schematic structural diagrams of a bending type hooke joint according to an exemplary embodiment of the present invention, where 7A is a schematic perspective structural diagram, and fig. 7B is a schematic perspective structural diagram
Fig. 8 is a schematic diagram of a hinge point for motion control de-solving in conjunction with the multiple degree of freedom motion platform illustrated in fig. 6.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
The multi-degree-of-freedom parallel motion platform 100 suitable for large-angle compound posture motion according to the exemplary embodiment of the present invention shown in fig. 5 and 6 includes an upper platform 10, a lower platform 20, a plurality of electric cylinders 30, and hooke joints provided corresponding to each electric cylinder. Each electric cylinder 30 is hinged to the upper platform 10 and the lower platform 20 by a hooke hinge.
As shown in connection with fig. 1, the lower platform 10 serves as a base platform for carrying the entire motion platform.
It should be understood that the multiple degrees of freedom parallel motion platform 100 proposed by the present invention further includes a power supply system, a main control system, an electric cylinder driver, and a bus system, which are not shown, wherein the power supply system is used for providing a working power supply for the driving of the whole motion platform, especially for the electric cylinder driving. The main control system adopts an industrial host, particularly an embedded host system, supports a multi-channel and multi-channel independent control loop, performs data communication with the electric cylinder driver through an ECAT bus system, and outputs a control signal. And the electric cylinder driver is used for driving the linear telescopic motion of the electric cylinder according to the driving control signal, so that the multi-freedom-degree motion of the upper platform 10 is promoted, and the transformation of the position posture is realized.
As shown in fig. 5 and 6, a plurality of electric cylinders 30 are disposed between the upper deck 10 and the lower deck 20, forming a typical parallel type structural design.
Each electric cylinder 30 has a cylinder 31 and a guide rod 32 capable of linearly moving along the cylinder axis in an extending and contracting manner, and the end of the guide rod 31 is provided with a first crank 33; the bottom of the cylinder 32 is provided with a second crank 34.
As shown in fig. 5, each electric cylinder 30 is provided with two hooke joints, one of the hooke joints is a bending hooke joint 41 and is disposed at the bottom of the upper platform 10, and the other hooke joint is a vertical hooke joint 42 and is disposed on the upper surface of the lower platform 10.
The first crank 33 at the end of the guide rod of each electric cylinder 30 is hinged to the upper platform 10 by a corresponding bent-type hooke joint 41.
The second crank 34 at the bottom of the cylinder body of each electric cylinder 30 is hinged to the lower platform by a corresponding vertical hooke's joint 42.
Referring to fig. 7A and 7B, the bending type hooke joint provided by the present invention is L-shaped, and has a first portion 41A coaxial with the base of the hooke joint and a second portion 41B at 90 ° to the first portion. Alternatively, the first part and the second part of the bending type hooke joint are integrally formed, for example, high-hardness high-temperature alloy materials are adopted, and a specific shape is prepared through tight finishing. Wherein, the first part 41A is installed in the Hooke's hinge base, and the end of the second part 41B forms the shaft hole 41C, so that the first crank 33 is installed on both sides of the shaft hole through the crank shaft to form the rotary connection.
Referring to fig. 5, the vertical hooke joint 42 may be a vertical hooke joint structure in the existing design, and is fixed to the lower platform 20 through a base (i.e., a bearing seat) thereof, and the vertical hooke joint forms a rotary connection with the second crank 34 at the bottom of the electric cylinder through a crank shaft thereof.
Therefore, the upper part and the lower part of the electric cylinder are hinged with the upper platform and the lower platform through different Hooke joints.
In the embodiment of the invention, different from the hinging mode that the upper platform and the lower platform are both provided with vertical hooke joints in the prior art, the hooke joints in the traditional mode are provided with two rotating shafts, and the positions of the hooke joints and the rotating centers of the guide rod ends of the electric cylinders are not influenced by the rotation of the rotating shafts of the hooke joint bases. In the embodiment of the invention, because the improved bending type hooke joint structure is adopted, the positions of the hooke joints and the rotating center of the tail end of the electric cylinder guide rod are influenced not only by the position posture of the robot but also by the rotation of the rotating shaft of the hooke joint base, so that when the motion inverse solution is calculated, the position of the rotating center of the top end of the hooke joint electric cylinder guide rod cannot be directly calculated by the position posture, and the serious influence of position deviation can be caused.
Therefore, the invention provides a motion control inverse solution method according to the pose transformation of the motion platform on the basis of adopting the two-section type bending Hooke hinge, so that the stability and the control precision of the six-freedom-degree parallel motion platform are ensured, and the serious consequence that the entering position of the motion platform is singular due to incorrect inverse solution control can be avoided.
Because the multi-degree-of-freedom motion platform is applied to flight control simulation or driving simulation of tanks and armored vehicles or simulation process of underwater robots, the load can reach hundreds of kilograms to thousands of kilograms, the displacement speed in the XYZ axial direction reaches 300 plus or minus 60 degrees/s, and particularly the acceleration reaches plus or minus 60 degrees/s2If position singularity or interference occurs, serious structural damage and safety accidents can be caused.
In the embodiment of the invention, the position of the rotation center of the bending type Hooke's hinge and the tail end of the guide rod of the electric cylinder is determined by the position posture of the multi-freedom-degree motion platform and the rotation center of the rotating shaft of the base of the bending type Hooke's hinge.
In one example, the position of the bending type Hooke's hinge and the rotating center of the tail end of the guide rod of the electric cylinder is set to be obtained based on the inverse solution of the position and the posture of the multi-freedom-degree motion platform, and the inverse solution process comprises the following steps:
the position of the base rotation center of the bending type hooke joint is calculated based on the position posture of the multi-degree-of-freedom motion platform, then the distance between the base rotation center of the bending type hooke joint and the lower hinge point of the lower platform and the distance between the hooke joint bending intersection and the lower hinge point of the lower platform are determined, and finally the distance between the rotation center of the bending type hooke joint and the tail end of the electric cylinder guide rod and the lower hinge point of the lower platform is obtained through solving, so that the inverse solution is obtained.
Referring to fig. 5,6 and 8, we take an arbitrary electric cylinder in a six-degree-of-freedom parallel motion platform as an example to specifically describe the inverse solution process, which includes:
for any one electric cylinder i, i is 1,2,3,4,5,6 in the multi-degree-of-freedom motion platform, the hinged position of the electric cylinder i and the upper platform is used as an upper hinged point, namely the position where a first crank at the tail end of a guide rod is hinged with a bending type hooke hinge of the upper platform; the hinged position of the lower platform is used as a lower hinged point, namely the hinged position of a second crank at the bottom of the electric cylinder and a vertical hooke hinge of the lower platform;
taking the point A as the center of a bearing seat of an upper hinge point, namely the center of a base of the bending type Hooke hinge;
taking the point B as a bending intersection point of a shaft of the bending type Hooke hinge;
taking the point C as the center of a pin shaft of an upper hinge point, namely the center of a crank shaft of the bending Hooke hinge;
taking the point D as the center of a pin shaft of the lower hinge point, namely the center of a crank shaft of the vertical hooke hinge;
wherein the aforementioned dots ABCD are in the same plane;
step 2, performing inverse solution operation based on the hinge point and the hinge point plane, specifically comprising
(1) The point A and the point B are obtained by the pose transformation of the multi-degree-of-freedom motion platform, and the length L is further obtainedAD、LBD：
(2) Length L is confirmed in size design based on type of bending hooke jointABCombined with the length L determined in step (1)AD、LBDCalculating the angle & lt BAD of the triangle ABD;
(3) in triangle ABC, based on the known length LAB、LBC、LACCalculating an angle BAC;
(4) based on the obtained angles of < BAD and < BAC, determining an angle of < CAD, namely < CAD ═ BAD- < BAC;
(5) in triangular ACDBased on a known length LAD、LACAnd (5) reversely solving L through the angle CAD obtained in the step (5)CD：
Wherein L isCDNamely the distance between the rotating center of the bending type hook joint and the tail end of the guide rod of the electric cylinder and the lower hinge point of the lower platform.
Wherein, in the step (1), the length L is obtained through the pose transformation of the multi-degree-of-freedom motion platformAD、LBDThe resolving process comprises the following steps:
the coordinates of point A, point B, and point D are known and defined as A (X)A，YA，ZA)、B(XB，YB，ZB)、D(XD，YD，ZD)；
Setting the position and the attitude of the motion of the multi-degree-of-freedom motion platform as (X, Y, Z, alpha, beta, gamma), and setting the transformation matrix T of the tail end point of the multi-degree-of-freedom motion platform as:
wherein, X, Y and Z are coordinates of hinge points of the multi-degree-of-freedom motion platform respectively; alpha, beta and gamma are respectively a pitch angle, a roll angle and a yaw angle of the multi-degree-of-freedom motion platform;
point A coordinate transformation after motion to (X)A1，YA1，ZA1) Coordinate transformation of point B to (X)B1，YB1，ZB1)：
Then length LAD、LBDRespectively calculated as:
wherein, the inverse solution process of the angle CAD comprises the following steps:
firstly, based on the calculated angle ≈ BAD:
then, based on the calculated angle ≈ BAC:
finally, calculating an angle & CAD based on the angle & BAD and the angle & BAC:
∠CAD＝∠BAD-∠BAC。
in view of the above, realize the inverse solution control process to whole six degrees of freedom parallel motion platform, guarantee that the platform not only can satisfy the swing demand of wide angle, complicated gesture in structural design, but also guarantee simultaneously that guide arm and articulated elements do not interfere and the quick biography effect of articulated elements, avoid arousing system operation trouble and structural damage. Meanwhile, the positions of the bending type hooke joint and the rotating center of the tail end of the guide rod of the electric cylinder are determined through the position posture of the multi-freedom-degree motion platform and the rotating center of the rotating shaft of the base of the bending type hooke joint through control inverse solution operation of the new motion platform, position limitation of the rotating center, the guide rod and the hinged piece is achieved, and the serious consequence that the motion platform enters the singularity position due to incorrect control process is avoided, so that structural faults of the whole motion platform are caused, and serious safety problems are caused.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (11)
1. A multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion is characterized by comprising:
an upper platform;
a lower platform;
the electric cylinders are arranged between the upper platform and the lower platform to form a parallel design; each electric cylinder is provided with a cylinder body and a guide rod capable of stretching and linearly moving along the axial direction of the cylinder body, and the tail end of the guide rod is provided with a first crank; the bottom of the cylinder body is provided with a second crank;
each electric cylinder is provided with two Hooke joints, one Hooke joint is a bending Hooke joint and is arranged at the bottom of the upper platform, and the other Hooke joint is a vertical Hooke joint and is arranged on the upper surface of the lower platform;
wherein:
the first crank at the tail end of the guide rod of each electric cylinder is hinged to the upper platform through a corresponding bending type hook hinge;
the second crank at the bottom of the cylinder body of each electric cylinder is hinged to the lower platform through a corresponding vertical hooke hinge;
the bending type hook joint is in an L-shaped shape, and is provided with a first part and a second part, wherein the first part and the second part are coaxially arranged on a hook joint base, the second part and the first part form 90 degrees, the first part is installed in the hook joint base, the tail end of the second part forms a shaft hole, and a first crank is installed on two sides of the shaft hole through a crank shaft to form rotary connection.
2. The multi-degree-of-freedom motion platform suitable for large-angle compound posture motion according to claim 1, wherein the bending type hooke joints are integrally formed.
3. The multi-degree-of-freedom motion platform suitable for large-angle compound posture motion according to claim 1, wherein the vertical hooke joint is fixed on the lower platform through a base of the vertical hooke joint, and the vertical hooke joint is in rotary connection with a second crank at the bottom of the electric cylinder through a crank shaft.
4. The multi-degree-of-freedom motion platform suitable for large-angle compound posture motion according to claim 1, wherein the position of the rotation center of the bending type hooke joint and the tail end of the guide rod of the electric cylinder is determined by the position posture of the multi-degree-of-freedom motion platform and the rotation center of the rotating shaft of the base of the bending type hooke joint.
5. The multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion according to claim 4, wherein the position of the bending type hooke joint and the rotation center of the tail end of the guide rod of the electric cylinder is set to be obtained based on inverse solution of the position and attitude of the multi-degree-of-freedom motion platform, and the multi-degree-of-freedom motion platform comprises: the position of the base rotation center of the bending type hooke joint is calculated based on the position posture of the multi-degree-of-freedom motion platform, then the distance between the base rotation center of the bending type hooke joint and the lower hinge point of the lower platform and the distance between the hooke joint bending intersection and the lower hinge point of the lower platform are determined, and finally the distance between the rotation center of the bending type hooke joint and the tail end of the electric cylinder guide rod and the lower hinge point of the lower platform is obtained through solving, so that the inverse solution is obtained.
6. The multi-degree-of-freedom motion platform suitable for large-angle compound posture motion according to claim 5, wherein the inverse solution specifically comprises:
step 1, defining a hinge point and a hinge point plane of the multi-degree-of-freedom motion platform, and specifically comprising:
for any one electric cylinder i, i is 1,2,3,4,5,6 in the multi-degree-of-freedom motion platform, the hinged position of the electric cylinder i and the upper platform is used as an upper hinged point, namely the position where a first crank at the tail end of a guide rod is hinged with a bending type hooke hinge of the upper platform; the hinged position of the lower platform is used as a lower hinged point, namely the hinged position of a second crank at the bottom of the electric cylinder and a vertical hooke hinge of the lower platform;
taking the point A as the center of a bearing seat of an upper hinge point, namely the center of a base of the bending type Hooke hinge;
taking the point B as a bending intersection point of a shaft of the bending type Hooke hinge;
taking the point C as the center of a pin shaft of an upper hinge point, namely the center of a crank shaft of the bending Hooke hinge;
taking the point D as the center of a pin shaft of the lower hinge point, namely the center of a crank shaft of the vertical hooke hinge;
wherein the aforementioned dots ABCD are in the same plane;
step 2, performing inverse solution operation based on the hinge point and the hinge point plane, specifically comprising
(1) The point A and the point B are obtained by the pose transformation of the multi-degree-of-freedom motion platform, and the length L is further obtainedAD、LBD：
(2) Length L is confirmed in size design based on type of bending hooke jointABCombined with the length L determined in step (1)AD、LBDCalculating the angle & lt BAD of the triangle ABD;
(3) in triangle ABC, based on the known length LAB、LBC、LACCalculating an angle BAC;
(4) based on the obtained angles of < BAD and < BAC, determining an angle of < CAD, namely < CAD ═ BAD- < BAC;
(5) in a triangular ACD, the length L is knownAD、LACAnd (5) reversely solving L through the angle CAD obtained in the step (5)CD：
LCDNamely the distance between the rotating center of the bending type hook joint and the tail end of the guide rod of the electric cylinder and the lower hinge point of the lower platform.
7. The multi-degree-of-freedom motion platform suitable for large-angle compound posture motion according to claim 6, wherein in the step (1), the length L is obtained through pose transformation of the multi-degree-of-freedom motion platformAD、LBDThe method comprises the following steps:
the coordinates of point A, point B, and point D are known and defined as A (X)A，YA，ZA)、B(XB，YB，ZB)、D(XD，YD，ZD)；
Setting the position and the attitude of the motion of the multi-degree-of-freedom motion platform as (X, Y, Z, alpha, beta, gamma), and setting the transformation matrix T of the tail end point of the multi-degree-of-freedom motion platform as:
wherein, X, Y and Z are coordinates of hinge points of the multi-degree-of-freedom motion platform respectively; alpha, beta and gamma are respectively a pitch angle, a roll angle and a yaw angle of the multi-degree-of-freedom motion platform;
point A coordinate transformation after motion to (X)A1，YA1，ZA1) Coordinate transformation of point B to (X)B1，YB1，ZB1)：
Then length LAD、LBDRespectively calculated as:
8. the multiple degree of freedom motion platform suitable for large-angle compound attitude motion according to claim 6, wherein the inverse solution process of the angle CAD comprises:
firstly, based on the calculated angle ≈ BAD:
then, based on the calculated angle ≈ BAC:
finally, calculating an angle & CAD based on the angle & BAD and the angle & BAC:
∠CAD＝∠BAD-∠BAC。
9. the motion control inverse solution method of the multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion based on the claim 1 is characterized by comprising the following steps of:
step 1, defining a hinge point and a hinge point plane of the multi-degree-of-freedom motion platform, and specifically comprising:
for any one electric cylinder i, i is 1,2,3,4,5,6 in the multi-degree-of-freedom motion platform, the hinged position of the electric cylinder i and the upper platform is used as an upper hinged point, namely the position where a first crank at the tail end of a guide rod is hinged with a bending type hooke hinge of the upper platform; the hinged position of the lower platform is used as a lower hinged point, namely the hinged position of a second crank at the bottom of the electric cylinder and a vertical hooke hinge of the lower platform;
taking the point A as the center of a bearing seat of an upper hinge point, namely the center of a base of the bending type Hooke hinge;
taking the point B as a bending intersection point of a shaft of the bending type Hooke hinge;
taking the point C as the center of a pin shaft of an upper hinge point, namely the center of a crank shaft of the bending Hooke hinge;
taking the point D as the center of a pin shaft of the lower hinge point, namely the center of a crank shaft of the vertical hooke hinge;
wherein the aforementioned dots ABCD are in the same plane;
step 2, performing inverse solution operation based on the hinge point and the hinge point plane, specifically comprising
(1) The point A and the point B are obtained by the pose transformation of the multi-degree-of-freedom motion platform, and the length L is further obtainedAD、LBD：
(2) Length L is confirmed in size design based on type of bending hooke jointABCombined with the length L determined in step (1)AD、LBDCalculating the angle & lt BAD of the triangle ABD;
(3) in triangle ABC, based on the known length LAB、LBC、LACCalculating an angle BAC;
(4) based on the obtained angles of < BAD and < BAC, determining an angle of < CAD, namely < CAD ═ BAD- < BAC;
(5) in a triangular ACD, the length L is knownAD、LACAnd (5) reversely solving the length L through the angle CAD obtained in the step (5)CD：
LCDNamely the distance between the rotating center of the bending type hook joint and the tail end of the guide rod of the electric cylinder and the lower hinge point of the lower platform.
10. The motion control inverse solution method of a multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion according to claim 9, wherein in the step (1), the length L is obtained by pose transformation of the multi-degree-of-freedom motion platformAD、LBDThe method comprises the following steps:
the coordinates of point A, point B and point D are known and defined asA(XA，YA，ZA)、B(XB，YB，ZB)、D(XD，YD，ZD)；
Setting the position and the attitude of the motion of the multi-degree-of-freedom motion platform as (X, Y, Z, alpha, beta, gamma), and setting the transformation matrix T of the tail end point of the multi-degree-of-freedom motion platform as:
wherein, X, Y and Z are coordinates of hinge points of the multi-degree-of-freedom motion platform respectively; alpha, beta and gamma are respectively a pitch angle, a roll angle and a yaw angle of the multi-degree-of-freedom motion platform;
point A coordinate transformation after motion to (X)A1，YA1，ZA1) Coordinate transformation of point B to (X)B1，YB1，ZB1)：
Then length LAD、LBDRespectively calculated as:
11. the method for reversely solving the motion control of the multi-degree-of-freedom motion platform suitable for the large-angle compound attitude motion, as recited in claim 9, wherein the process of reversely solving the angle CAD comprises:
firstly, based on the calculated angle ≈ BAD:
then, based on the calculated angle ≈ BAC:
finally, calculating an angle & CAD based on the angle & BAD and the angle & BAC:
∠CAD＝∠BAD-∠BAC。
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