CN207027492U - The redundancy plane parallel mechanism control device of combination drive - Google Patents
The redundancy plane parallel mechanism control device of combination drive Download PDFInfo
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- CN207027492U CN207027492U CN201720764367.XU CN201720764367U CN207027492U CN 207027492 U CN207027492 U CN 207027492U CN 201720764367 U CN201720764367 U CN 201720764367U CN 207027492 U CN207027492 U CN 207027492U
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Abstract
The utility model discloses a kind of redundancy plane parallel mechanism control device of combination drive, described device includes parallel institution body unit, detection unit and control unit, parallel institution body unit includes moving platform and three parallel branch, and each parallel branch includes the first electric machine assembly, driving plate, the second electric machine assembly, driving lever and follower lever；Detection unit includes three-dimensional acceleration transducer, angular acceleration transducer, the first unidirectional acceleration transducer and the second unidirectional acceleration transducer；Control unit is connected with the first electric machine assembly, the second electric machine assembly, three-dimensional acceleration transducer, angular acceleration transducer, the first unidirectional acceleration transducer and the second unidirectional acceleration transducer respectively.The utility model passes through two electric machine assembly combination drives, so that parallel institution is in larger Space-Work, realize stabilization, accurately and rapidly reach predeterminated position, and using multiple sensors detection vibration information and be used as feedback signal, the quick vibration for suppressing parallel institution.
Description
Technical field
A kind of plane parallel mechanism control device is the utility model is related to, the redundancy plane of especially a kind of combination drive is simultaneously
Online structure control device, belong to plane parallel mechanism design and control field.
Background technology
Parallel robot is the end effector of several frees degree and fixed ground pass through it is two or more solely
Vertical movement branched chain is connected, and parallel robot has high speed, high accuracy, the application of high bearing capacity excellent compared to serial manipulator
Gesture, the end moving platform of parallel robot can realize high-speed motion, be accurately positioned, carry big mass loading, but parallel institution
Also due to its design feature, causes working space small, Singularity be present, and the shortcomings of vibration, pole in motion process be present
The big performance that have impact on parallel institution.
With going deep into for parallel institution research, researcher proposes the certain methods for the treatment of parallel institution persistent ailment, wherein
Redundancy is a kind of effective method, and parallel institution redundancy can be divided into kinematic redundancy and actuation redundancy.Kinematic redundancy refers to
Driving joint number is equal to the institution freedom number of degrees, but is more than the task free degree；Actuation redundancy refers to that mechanism freedom is equal to task certainly
By spending, but less than driving joint number.What application was most in practice is exactly actuation redundancy.The form of actuation redundancy mainly has kind：One
It is the original configuration for not changing parallel institution, change passive joint is main movable joint, second, increase redundant drive side chain, third, both
Parallel.
System vibration can motion-affecting precision, and easily cause system destruction and failure, therefore to planar parallel
The control of vibration in the analysis of structure dynamic characteristics and drive characteristic and motion process is particularly important.
Utility model content
The purpose of this utility model is to solve the defects of above-mentioned prior art, there is provided a kind of redundancy of combination drive
Plane parallel mechanism control device, the device pass through two electric machine assembly combination drives so that parallel institution is in larger work
Space-Work, realize stabilization, accurately and rapidly reach predeterminated position, and using multiple acceleration transducers detection vibration information
And feedback signal is used as, the quick vibration for suppressing parallel institution.
The purpose of this utility model can be reached by adopting the following technical scheme that：
The redundancy plane parallel mechanism control device of combination drive, including parallel institution body unit, detection unit and control
Unit processed；
The parallel institution body unit includes moving platform and three parallel branch, and each parallel branch includes being sequentially connected
The first electric machine assembly, driving plate, the second electric machine assembly, driving lever and follower lever, the moving platform is triangle flat plate, is moved flat
Follower lever of three edges of platform respectively with three parallel branch is connected；
The detection unit includes three-dimensional acceleration transducer, angular acceleration transducer, the first unidirectional acceleration transducer
With the second unidirectional acceleration transducer, the three-dimensional acceleration transducer and angular acceleration transducer are arranged on moving platform, institute
State the first unidirectional acceleration transducer to be arranged in driving plate, the second unidirectional acceleration transducer is arranged on driving lever；
Described control unit respectively with the first electric machine assembly, the second electric machine assembly, three-dimensional acceleration transducer, angular acceleration
Sensor, the first unidirectional acceleration transducer and the second unidirectional acceleration transducer connection.
Further, the three-dimensional acceleration transducer is arranged at the center of moving platform, the angular acceleration transducer
It is arranged at the 50mm~70mm of moving platform center, and states three-dimensional acceleration transducer and angular acceleration transducer is respectively positioned on water
Level state.
Further, the described first unidirectional acceleration transducer is arranged at the center of driving plate.
Further, the described second unidirectional acceleration transducer is arranged at the 60mm~80mm of driving lever center, and
It is located remotely from the position of the second electric machine assembly.
Further, in each parallel branch, first electric machine assembly includes servomotor and ring flange exports
Type speed reducer；
The servomotor is connected with ring flange output type speed reducer, and one end and the ring flange output type of the driving plate subtract
The output end connection of fast device, the other end of driving plate are connected with the second electric machine assembly.
Further, in each parallel branch, second electric machine assembly includes direct drive electric rotating machine and method
Blue disk connector；
The output end of the direct drive electric rotating machine is connected with ring flange connector, and one end of the driving lever passes through spiral shell
Bolt is fixed on ring flange connector, and the other end of driving lever is rotatablely connected by one end of rotating shaft and follower lever, described driven
The other end of bar is rotatablely connected by an edge of rotating shaft and moving platform.
Further, the parallel institution body unit also includes silent flatform, servomotor and the ring flange output type
Decelerator is bolted on silent flatform.
Further, the silent flatform includes panel, framework and base, the panel, framework and base from top to bottom according to
Secondary connection, in each parallel branch, one end of the servomotor and ring flange output type speed reducer are bolted
On panel, the other end of servomotor is located in framework.
Further, described control unit includes computer, data collecting card, motion control card, A/D converter, servo
Motor driver and direct drive electric rotating machine driver, the computer are connected with data collecting card, motion control card respectively,
The data collecting card is unidirectionally accelerated with three-dimensional acceleration transducer, angular acceleration transducer, first respectively by A/D converter
Sensor and the second unidirectional acceleration transducer connection are spent, the motion control card passes through motor servo driver and servomotor
Connection, it is connected by directly driving electric rotating machine driver with direct drive electric rotating machine；
The three-dimensional acceleration transducer and angular acceleration transducer detect the translatory acceleration information of moving platform and turned
Dynamic acceleration information, the first unidirectional acceleration transducer detect the acceleration information of driving plate, and described second unidirectionally adds
Velocity sensor detects the acceleration information of driving lever, and these information carry out A/D conversions by A/D converter, are input to number
According in capture card, then it is input in computer and is handled；
Computer is according to the acceleration letter of the translatory acceleration information and rotation acceleration information of moving platform, and driving plate
Breath, is calculated controlled quentity controlled variable, controlled quentity controlled variable is transported in motor servo driver, and driving servomotor rotates, to suppress to drive
The vibration of plate；
Computer is according to the acceleration letter of the translatory acceleration information and rotation acceleration information of moving platform, and driving lever
Breath, is calculated controlled quentity controlled variable, and controlled quentity controlled variable is transported in direct drive electric rotating machine driver, driving direct drive electric rotating machine
Rotate, to suppress active vibration of bar.
The utility model has following beneficial effect relative to prior art：
1st, the utility model is transformed on the basis of 3-RRR (rotation-rotation-rotation branch) plane parallel mechanism,
3-RRRR (rotation-rotation-rotation-rotation branch) plane parallel mechanism is formed, specifically adds one on each parallel branch
Individual driving joint, the driving joint are made up of an electric machine assembly and a driving plate, i.e., possess two on each parallel branch
Joint is driven, and moving platform only moves horizontally and rotated three degree of freedom altogether, so whole parallel institution is actuation redundancy,
It is small greatly to improve 3-RRR plane parallel mechanism working spaces, the shortcomings of Singularity be present, and causes parallel institution motion
It is more flexible；Meanwhile multi-sensor fusion system is employed, set three-dimensional acceleration transducer and angle to accelerate on moving platform
Sensor is spent, unidirectional acceleration transducer is set respectively in driving plate and driving lever, is shaken according to what these sensors detected
Dynamic information, suppresses driving plate and active vibration of bar, so as to realize the vibration control of moving platform.
2nd, the utility model is driven using servomotor to driving plate, using direct drive electric rotating machine to driving lever
It is driven, coordination control is carried out by servomotor and direct drive electric rotating machine, different control strategies can be studied, it is real
Effective vibration control of existing plane parallel mechanism；In addition, direct drive controlled motor driving is free of decelerator, transmission mechanism is eliminated
Influence, during driving rub very little, stable movement, so driving and control effect it is more preferable, and servomotor connection subtract
During fast device is driven, the error caused by gap can be compensated by directly driving electric rotating machine so that plane is simultaneously
It is more accurate to join mechanism controls.
Brief description of the drawings
Fig. 1 is the redundancy plane parallel mechanism control device general structure schematic diagram of the utility model embodiment 1.
Fig. 2 is parallel institution body unit in the redundancy plane parallel mechanism control device of the utility model embodiment 1
Top view.
Fig. 3 is parallel institution body unit in the redundancy plane parallel mechanism control device of the utility model embodiment 1
Left view.
Fig. 4 installs three-dimensional for moving platform in the redundancy plane parallel mechanism control device of the utility model embodiment 1 and accelerated
Spend the structural representation of sensor and angular acceleration transducer.
Fig. 5 is driving plate in the redundancy plane parallel mechanism control device of the utility model embodiment 1 and driving lever installation
The structural representation of unidirectional acceleration transducer.
Wherein, 1- moving platforms, 2- silent flatforms, 3- panels, 4- frameworks, 5- bases, 6- driving plates, 7- driving levers, 8- are driven
Bar, 9- servomotors, 10- ring flanges output type speed reducer, 11- direct drive electric rotating machines, 12- ring flange connectors, 13- tri-
Passed to acceleration transducer, 14- angular acceleration transducers, the first unidirectional acceleration transducers of 15-, the second unidirectional acceleration of 16-
Sensor, 17- computers, 18- data collecting cards, 19- motion control cards, 20-A/D converters, 21- motor servo drivers, 22-
Directly drive electric rotating machine driver.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment 1：
As shown in FIG. 1 to 3, a kind of redundancy plane parallel mechanism control device of combination drive is present embodiments provided,
The device includes parallel institution body unit, detection unit and control unit；In Fig. 1 dotted line connection represent electric signal with it is in parallel
The connection figure of mechanism body unit, direction arrow indicate the direction of transfer of detection and control signal stream；
The parallel institution body unit includes moving platform 1, silent flatform 2 and three parallel branch；
The moving platform 1 is triangle flat plate, and the present embodiment preferably uses equilateral triangle flat board, had in three edges
Three holes, three edges are connected by rotating shaft with three parallel branch respectively.
The silent flatform 2 includes panel 3, framework 4 and base 5, and panel 3, framework 4 and base 5 are sequentially connected from top to bottom,
Wherein panel 3 is square steel plate, and framework 4 is steel frame construction, and base 5 is made up of marble branch, and whole silent flatform stability is strong,
Vibration isolating effect is good.
Each parallel branch includes the first electric machine assembly, driving plate 6, the second electric machine assembly, driving lever 7 and follower lever 8, the
One electric machine assembly includes servomotor 9 and ring flange output type speed reducer 10, and the second electric machine assembly includes direct drive electric rotating
Machine 11 and ring flange connector 12, servomotor 9 are connected with ring flange output type speed reducer 10, one end of driving plate 6 and flange
The output end connection of disk output type speed reducer 10, the other end of driving plate 6 are connected with direct drive electric rotating machine 11, directly driven
The output end of electric rotating machine 11 is connected with ring flange connector 12, and one end of driving lever 7 is directly embedded into ring flange connector 12
Keyway in, then be bolted on ring flange connector 12, the other end of driving lever 7 passes through rotating shaft and follower lever 8
One end is rotatablely connected, and the other end of follower lever 8 is rotatablely connected by an edge of rotating shaft and moving platform 1；The He of servomotor 9
After driving electric rotating machine 11 to drive, driving plate 6, driving lever 7 and follower lever 8 is driven to move, so that moving platform 1 moves.
In the present embodiment, the dimensional parameters of driving lever 7：260mm × 25mm × 10mm, the dimensional parameters of follower lever 8 are：
214mm × 25mm × 10mm, all material are aluminium alloy, and component surface carries out oxidation processes, can insulated；Servomotor 9
It is bolted on ring flange output type speed reducer 10 on silent flatform 2, is specially：One end of servomotor 9 and ring flange
Output type speed reducer 10 is bolted on the panel 3 of silent flatform 2, and the other end of servomotor 9 is located at the frame of silent flatform 2
In frame 4；Servomotor 9 is using the three-phase alternating-current servo motor of An Chuan Electric Machine Co., Ltd, model：SGMAV-08ADA61, volume
Determine power 750W, operating voltage 200V, incremental encoder precision is 20, ring flange export type speed reducer 10 using
The ring flange output decelerator of the Niu Kate companies production of Germany, model PLFN-90, speed reducing ratio 1:5；Direct drive rotation
Motor 11 thinks the motor of production using the Corvidae shellfish of Singapore, and model ADR110-A98, nominal torque 4.2Nm are specified
Rotating speed 119rpm, direct drive electric rotating machine 11 because its low-speed big, high accuracy positioning, high response speed, simple in construction,
Reduce the characteristics of mechanical loss, low noise, few maintenance etc. are exclusive, be widely used in all trades and professions；The material that rotating shaft uses for
No. 45 steel.
The detection unit includes three-dimensional acceleration transducer 13, angular acceleration transducer 14, the first unidirectional acceleration and passed
15 and second unidirectional acceleration transducer 16 of sensor；
As shown in figure 4, three-dimensional acceleration transducer 13 and angular acceleration transducer 14 are arranged on moving platform 1, specifically,
Three-dimensional acceleration transducer 13 is located at the center of moving platform 1, angular acceleration transducer 14 at the 60mm of moving platform center,
And state three-dimensional acceleration transducer 13 and angular acceleration transducer 14 is respectively positioned on horizontality, three-dimensional acceleration transducer 13 and angle
Acceleration transducer 14 is used for the translatory acceleration information and rotation acceleration information for detecting moving platform 1；
As shown in figure 5, the first unidirectional acceleration transducer 15 is arranged in driving plate 6, and specifically, the first unidirectional acceleration
Sensor 15 is located at the center of driving plate 6, and the first unidirectional acceleration transducer 15 is used for the acceleration letter for detecting driving plate 6
Breath；
As shown in figure 5, the second unidirectional acceleration transducer 16 is arranged on driving lever 7, specifically, the second unidirectional acceleration passes
Sensor 16 is located at the center 70mm of driving lever 7, and is located remotely from the second electric machine assembly (direct drive electric rotating machine 11 and method
Blue disk connector 12) position on, the second unidirectional acceleration transducer 16 is used to detect the acceleration information of driving lever 7.
In the present embodiment, the model 8688A10 of three-dimensional acceleration transducer 13, measurement frequency scope 0.5-
3000Hz, sensitivity 500mV/g, range ± 10g；The model 8838 of angular acceleration transducer 14, measurement frequency scope 1-
2000Hz, measurement range are ± 150krads/s2, sensitivity：35μV/rad/s2；First unidirectional acceleration transducer 15 and
The model 8640A10 of two unidirectional acceleration transducers 16, measurement frequency scope 0.5-3000Hz；Sensitivity is 500mV/g, amount
Journey is ± 10g.
Described control unit includes computer 17, data collecting card 18, motion control card 19, A/D converter 20, servo electricity
Machine driver 21 and direct drive electric rotating machine driver 22, computer 17 respectively with data collecting card 18, motion control card 19
Connection, data collecting card 18 by A/D converter 20 respectively with three-dimensional acceleration transducer 13, angular acceleration transducer 14, the
One unidirectional 15 and second unidirectional acceleration transducer 16 of acceleration transducer is connected, and motion control card 19 is driven by servomotor
Device 21 is connected with servomotor 9, is connected by directly driving the driver of electric rotating machine 22 with direct drive electric rotating machine 11.
Three-dimensional acceleration transducer 13 and angular acceleration transducer 14 detect the translatory acceleration information of moving platform 1 and turned
Dynamic acceleration information, the first unidirectional acceleration transducer 15 detect the acceleration information of driving plate 6, and the second unidirectional acceleration passes
Sensor 16 detects the acceleration information of driving lever 7, and these information carry out A/D conversions by A/D converter 20, are input to data
In capture card, then it is input in computer 17 and is handled；
Computer 17 is according to the translatory acceleration information and rotation acceleration information of moving platform 1, and the acceleration of driving plate 6
Information is spent, controlled quentity controlled variable is calculated by control algolithm, controlled quentity controlled variable is transported in motor servo driver 21, driving servo electricity
Machine 9 rotates, to suppress the vibration of driving plate 6；
Computer 17 is according to the translatory acceleration information and rotation acceleration information of moving platform 1, and the acceleration of driving lever 7
Information is spent, controlled quentity controlled variable is calculated by control algolithm, controlled quentity controlled variable is transported in direct drive electric rotating machine driver 22, driven
Dynamic direct drive electric rotating machine 11 rotates, to suppress the vibration of driving lever 7.
In the present embodiment, CPU models the intel-Core i74790, frequency 3.6Hz, internal memory 4G of computer 17；
The PCI-8193 of model Beijing Altay Science and Technology Ltd. production of data collecting card 18；Motion control card 19 is the U.S.
The PMAC2 of DELTA TAU companies PMAC cards series, enters to drive mode, electronic gear proportion, also PMAC2 cards I variables first
Row configuration, used motor pattern is position control mode, and during driver load is set to, respective value 1, rigidity is neutrality,
It is worth for 3, electronic gear proportion is set to each pulse and corresponds to motor to rotate 0.04 °；Motor servo driver 21 is watched with three-phase alternating current
Take electric drilling match use, model：SGDV-5R5A01A, the applicable capacity of maximum is 1000W, operating voltage 200V.
The redundancy plane parallel mechanism control device of the present embodiment is in 3-RRR (rotation-rotation-rotation branch) plane-parallel type
Transformation is carried out on the basis of mechanism and forms 3-RRRR (rotation-rotation-rotation-rotation branch) plane parallel mechanism, specifically every
A driving joint is added on individual parallel branch, that is, possesses two driving joints, moving platform 1 is only moved horizontally and rotated altogether
Three degree of freedom, so parallel institution is actuation redundancy, therefore the working space increase of parallel institution, motion is more flexible,
And Singularity can be eliminated.
As shown in Fig. 1~Fig. 5, the present embodiment additionally provides a kind of redundancy plane parallel mechanism control method, this method base
Realize, comprise the following steps in said apparatus：
Step 1: according to the target location of given moving platform 1 and pose, computer 17 calculates amount of exercise, is conveyed to
Motion control card 19, motion control card 19 send instructions to motor servo driver 9 and direct drive electric rotating machine driving respectively
Device 11, driving servomotor 9 and direct drive electric rotating machine 11 rotate, and drive driving plate 6, driving lever 7 and follower lever 8 to move,
So that moving platform 1 moves to target location with given pose；
Step 2: in the motion and vibration processes of parallel institution body unit, the three-dimensional acceleration sensing on moving platform 1
Device 13 and angular acceleration transducer 14 detect the vibration information of moving platform in real time, and the unidirectional acceleration of first in driving plate 6 passes
Sensor 15 measures the vibration information of driving plate in real time, and the second unidirectional sensor of acceleration 16 on driving lever 7 measures actively in real time
The vibration information of bar 7, the vibration information of detection is changed by A/D converter 20, is input in data collecting card 18, then input
Handled in computer 17；
Step 3: computer 17 calculates controlled quentity controlled variable by control algolithm, led to according to the vibration information detected in step 2
Cross motion control card 19 and controlled quentity controlled variable is respectively outputted to motor servo driver 21 and direct drive electric rotating machine driver 22, drive
Dynamic servomotor 21 and direct drive electric rotating machine 22 rotate, to suppress the vibration of driving plate 6 and driving lever 7, so as to realize
The vibration control of moving platform 1；
Step 4: repetition test, changes control parameter, obtains different control effects, analyzed and compared, final
To best control effect.
Embodiment 2：
The present embodiment is mainly characterized by：Angular acceleration transducer 14 on the moving platform 1 can also be arranged on distance
At moving platform center 50mm or 70mm.Remaining is the same as embodiment 1.
Embodiment 3：
The present embodiment is mainly characterized by：The second unidirectional acceleration transducer 16 on the driving lever 7 can also be installed
At driving lever 7 center 60mm or 80mm, and it is located remotely from the second electric machine assembly (direct drive electric rotating machine 11 and flange
Disk connector 12) position on.Remaining is the same as embodiment 1.
In summary, the utility model enters on the basis of 3-RRR (rotation-rotation-rotation branch) plane parallel mechanism
Row transformation, forms 3-RRRR (rotation-rotation-rotation-rotation branch) plane parallel mechanism, specifically increases on each parallel branch
A driving joint is added, the driving joint is made up of an electric machine assembly and a driving plate, i.e., gathered around on each parallel branch
There are two driving joints, and moving platform only moves horizontally and rotated three degree of freedom altogether, so whole parallel institution is driving
Redundancy, it is small greatly to improve 3-RRR plane parallel mechanism working spaces, the shortcomings of Singularity be present, and cause parallel connection
Mechanism kinematic is more flexible；Meanwhile multi-sensor fusion system is employed, three-dimensional acceleration transducer is set on moving platform
And angular acceleration transducer, unidirectional acceleration transducer is set respectively in driving plate and driving lever, according to these sensors
The vibration information of detection, suppress driving plate and active vibration of bar, so as to realize the vibration control of moving platform.
It is described above, only the utility model patent preferred embodiment, but the protection domain of the utility model patent is simultaneously
This is not limited to, any one skilled in the art is in the scope disclosed in the utility model patent, according to this
Technical scheme and its utility model design of utility model patent are subject to equivalent substitution or change, belong to the utility model patent
Protection domain.
Claims (9)
1. the redundancy plane parallel mechanism control device of combination drive, it is characterised in that：Including parallel institution body unit, detection
Unit and control unit；
The parallel institution body unit includes moving platform and three parallel branch, each parallel branch include being sequentially connected the
One electric machine assembly, driving plate, the second electric machine assembly, driving lever and follower lever, the moving platform are triangle flat plate, moving platform
Follower lever of three edges respectively with three parallel branch is connected；
The detection unit includes three-dimensional acceleration transducer, angular acceleration transducer, the first unidirectional acceleration transducer and the
Two unidirectional acceleration transducers, the three-dimensional acceleration transducer and angular acceleration transducer are arranged on moving platform, and described
One unidirectional acceleration transducer is arranged in driving plate, and the second unidirectional acceleration transducer is arranged on driving lever；
Described control unit senses with the first electric machine assembly, the second electric machine assembly, three-dimensional acceleration transducer, angular acceleration respectively
Device, the first unidirectional acceleration transducer and the second unidirectional acceleration transducer connection.
2. the redundancy plane parallel mechanism control device of combination drive according to claim 1, it is characterised in that：Described three
It is arranged on to acceleration transducer at the center of moving platform, the angular acceleration transducer is arranged on apart from moving platform center 50mm
At~70mm, and state three-dimensional acceleration transducer and angular acceleration transducer is respectively positioned on horizontality.
3. the redundancy plane parallel mechanism control device of combination drive according to claim 1, it is characterised in that：Described
One unidirectional acceleration transducer is arranged at the center of driving plate.
4. the redundancy plane parallel mechanism control device of combination drive according to claim 1, it is characterised in that：Described
Two unidirectional acceleration transducers are arranged at the 60mm~80mm of driving lever center, and are located remotely from the position of the second electric machine assembly
Put.
5. the redundancy plane parallel mechanism control device of combination drive according to claim 1, it is characterised in that：It is described every
In individual parallel branch, first electric machine assembly includes servomotor and ring flange output type speed reducer；
The servomotor is connected with ring flange output type speed reducer, one end and the ring flange output type speed reducer of the driving plate
Output end connection, the other end of driving plate is connected with the second electric machine assembly.
6. the redundancy plane parallel mechanism control device of combination drive according to claim 5, it is characterised in that：It is described every
In individual parallel branch, second electric machine assembly includes direct drive electric rotating machine and ring flange connector；
The output end of the direct drive electric rotating machine is connected with ring flange connector, and one end of the driving lever is consolidated by bolt
It is scheduled on ring flange connector, the other end of driving lever is rotatablely connected by one end of rotating shaft and follower lever, the follower lever
The other end is rotatablely connected by an edge of rotating shaft and moving platform.
7. the redundancy plane parallel mechanism control device of combination drive according to claim 6, it is characterised in that：It is described simultaneously
Online structure body unit also includes silent flatform, and servomotor and ring flange the output type speed reducer is bolted on quiet flat
On platform.
8. the redundancy plane parallel mechanism control device of combination drive according to claim 7, it is characterised in that：It is described quiet
Platform includes panel, framework and base, and the panel, framework and base are sequentially connected from top to bottom, each parallel branch
In, one end of the servomotor and ring flange output type speed reducer be bolted on panel, servomotor it is another
End is in framework.
9. the redundancy plane parallel mechanism control device of combination drive according to claim 6, it is characterised in that：The control
Unit processed includes computer, data collecting card, motion control card, A/D converter, motor servo driver and direct drive rotation
Motor driver, the computer are connected with data collecting card, motion control card respectively, and the data collecting card is turned by A/D
Parallel operation unidirectionally accelerates with three-dimensional acceleration transducer, angular acceleration transducer, the first unidirectional acceleration transducer and second respectively
Sensor connection is spent, the motion control card is connected by motor servo driver with servomotor, is rotated by directly driving
Motor driver is connected with direct drive electric rotating machine.
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| CN201720764367.XU CN207027492U (en) | 2017-06-28 | 2017-06-28 | The redundancy plane parallel mechanism control device of combination drive |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263446A (en) * | 2017-06-28 | 2017-10-20 | 华南理工大学 | The redundancy plane parallel mechanism control device and method of combination drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263446A (en) * | 2017-06-28 | 2017-10-20 | 华南理工大学 | The redundancy plane parallel mechanism control device and method of combination drive |
| CN107263446B (en) * | 2017-06-28 | 2024-01-02 | 华南理工大学 | Hybrid-driven redundant plane parallel mechanism control device and method |
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