JPS63170679A - Control of rocking apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for controlling a shaking device, and more specifically, the present invention relates to a method for controlling a shaking device, and more specifically, a pair of upper universal joints are attached to each set of three sets of upper universal joints arranged at each vertex of a triangle and attached to a shaking table. The present invention relates to a control method for a six-degree-of-freedom swinging device including a pair of lower universal joints that move in a straight line, with the upper ends of the operating rods connected together and the lower ends of each pair of operating rods connected and moved in a straight line.

[Conventional technology]

Figures 5 and 6 show a conventional shaking device for which the present applicant previously applied for a patent (Japanese Patent Application No. 104849/1983).
1) On the top surface, 3 are located at each vertex of an equilateral triangle.
Bearing stands (2) are fixedly installed, and in the center between each bearing stand (2), a pair of bearing plates (
3) is permanently installed. Ball screws (6) each rotatably driven by an electric motor (5) via a gear (4) are supported between the bearing stand (2) and the bearing plate (3).

A guide rod (7) is provided parallel to the ball screw (6), and a slide bearing (8) fitted into the guide rod (7>
) and the nut (9) screwed onto the ball screw (6) are integrated with the lower universal joint (10).

Three sets of upper universal joints (12) are attached to the lower surface of the swing table (11) at each vertex of an equilateral triangle that is parallel and opposite to the triangle formed by the bearing table (2), An upper universal joint (12) and a corresponding pair of lower universal joints (
10), each pair of operating rods (13) is connected.

The white board (1) is attached to a fixed disc (15) via a roller (14).
It is supported so as to be able to turn, and is horizontally turned by a turning motor (16) and a gear (17). (18) is a guide pulley attached to the white plate (1) to prevent the white plate (1) from shifting during turning. (19) is electrical wiring, which is connected to an electric motor (5) and the like.

With the above configuration, - two ball screws on a straight line (
6) Each shaft is connected to an electric motor (
5), the nut (9) moves horizontally along the ball screw (6). Therefore, by controlling the two electric motors (5) separately, the pair of operating rods (13) can be opened and closed like a compass.
Correspondingly, the upper universal joint (12) is displaced up and down. In addition, the lower universal joint (10) of the pair of operating rods (13)
by moving in the same direction, the upper universal joint (12) can be displaced laterally. Such operation is similar for the three sets of upper universal joints (12).

In this way, by controlling each of the six electric motors (5) separately, the three vertices of the operating rod (13) are respectively displaced vertically and horizontally, so that the upper universal joint (12) ) is attached to the oscillating table (11), which can cause oscillating motion with six degrees of freedom.

[Problem that the invention seeks to solve]

In the conventional control method of the shaking device as described above, each of the six electric motors (5) is controlled separately, but a streamlined and rational control method suitable for real-time processing has not been realized. The problem was that it was not.

The present invention aims to solve these problems, and aims to provide a method for controlling an agitation device using a program that can be designed rationally and eliminate waste as much as possible so as to be suitable for real-time processing.

[Means for solving problems]

The control method for the shaking device according to the present invention includes a first process of obtaining the center of gravity position and posture data of the shaking table, and then obtaining the position of the upper fulcrum of each operating rod when there is no change in posture; A second process of obtaining a transformation matrix, and a third process of obtaining the position of the upper fulcrum of each operating rod processed by the transformation matrix.
and a fourth step of obtaining the position on the guide rod of the lower end of each operating rod.

[Effect]

In this invention, the position of the fulcrum at the upper end of each operating rod is calculated from the position and orientation input using a 3-by-3 matrix operation, but in the end, the position of the fulcrum at the lower end of the operating rod is For position calculation, a formula for finding the intersection between a sphere and a straight line is used, and by effectively using coordinate transformation, all outputs are obtained using the same formula.

〔Example〕

The program of this invention provides the required arbitrary speed of the shaking table (11).
Rank M with human power and 1, Hirouchi Cup (7) of Sho Sako (13)
The upper position is the output, and the position of the upper fulcrum of each operating rod (13) is calculated from the input of the posture and position using a matrix operation with 3 rows and 3 columns. To calculate the position of the fulcrum on the guide rod, a formula for finding the intersection of a sphere and a straight line is used, and by making effective use of coordinate transformation, all outputs can be obtained using the same formula. The basic outline is as follows: (a) The position and posture of the center of gravity of the upper reference triangle corresponding to the shaking table (11) are the basic human power.

(b) Obtain the coordinates of the upper end fulcrums of the six operating rods (13) from the basic human power.

(6) Intersection of a sphere whose radius is the length of the operating rod (13) and whose center is each point at the upper end of the operating rod (13) and the corresponding side of the lower reference triangle corresponding to the base plate (1) seek.

(d) Perform processing such as code conversion and offset to match the characteristics of the system.

(e) Output as position data on the guide rod (7) of the six operating rods (13).

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 1 to 5 in addition to FIGS. 6 and 7. Fig. 1 is a flowchart diagram, and Fig. 2 shows specific symbols and symbols for those in Fig. 1.
FIG. 3 is a flowchart diagram showing formulas and the like.

(1) About the coordinate system The three-dimensional reference coordinate is a Cartesian whose origin is the center of gravity of the lower reference triangle drawn by moving the lower fulcrum of the six operating rods (13), and whose Y axis is the direction of the first vertex. It is a coordinate system.

The axis names of the shaking table (11) are as follows.

Rotation around the X axis; pitch (Pitcl+) axis (θ) Y
II: Roll axis (φ) 7,
77; Yaw axis (ψ) (2) System constants The names and positions of the fulcrums at the top of the six operating rods (13) located on the bottom surface of the shaking table (11) are as shown in FIG.

No. 1-PB2 2I No PS1 3 Horn-PS2 4 n -P P 1 5 u -P P 2 5 n -P B 1 In addition, in Fig. 3, (3) Driving equation (a) Upper reference triangle (11^ ), obtain the coordinates of the six fulcrums at the top of each operating rod when there is no change in posture (Step-1).

The coordinates of the center of gravity are (CGx, CGy, CGz), and the coordinates of the six fulcrums when there is no change in posture are as follows.

PBI; (ABlx, AB ly, AB 1z) PB
2; (AB2x, AB2y, AB2z) Psi: (AS
lx, AS ly, AS lz>PS2; (AS2x
, AS2y, AS2z) PPI; (API, AP l
y, AP 1z) PP2; (AP2x, AP2y, A
P2z) Each formula is as follows.

^B1x=CGx-OF^ ^B2x= CGx
+ OF^^B1y= c(, y+ RDL
AB2y= c(y+RDL8Btoz=CGz
AB2z = C to 2^S1z; CGz
AS2z:CGz^P1z:CGz
AP2z:CGz(b) Obtain a transformation matrix corresponding to the posture change (step-2).

Define the matrix as follows.

If the posture is θ: pitch, φ: roll, ψ: yaw, then RA = cosφX cosψ RB −eosφX sinφ RC−sinφ RD= −5inθX sinφX eosψ−cos
θX sinψRE =-sinθX sinφX s
inψ+cosθX cosψRF−=sinθX c
osφ RG =-eosθX5inφX (!O8ψ+sin
θX5inψRH=-cosθX sinφX5inψ
−5inθX eO8ψR1=cosθX cosφ (C) Using the matrix of term (b), obtain the coordinates of the six supporting points (step-3).

The coordinates after coordinate transformation are as follows.

PB 1 ; (BB lx, BB ly, BB 1
z) PB2; (BB2x, BB2y, BB2z) Psi
; (BSlx, B51y, B51z) PS2; (BS2
x, B52y, B52z) PPI; (BPlx, BPl
y, BPlz) PP2; (BP2x, BP2y, BP2
z) Each formula is as follows.

(d) Obtain the position of the lower end of each operating rod (13) (step-4).

At this time, for the No. 6 and No. 1 operating rods, one of the It can be obtained with

For the other two sets of operating rods, namely No. 2 and No. 3, and No. 4 and No. 5 operating rods, rotate the fulcrum at the upper end of each operating rod by -120° and +120° around the Z-axis of the reference coordinates, respectively. Therefore, it can be treated in the same way as No. 6 and No. 1. If the position data of the lower end of each operating rod along the corresponding side of the lower reference triangle (1^) is OP^1 to OP80, then OP^1= (BB2x+F(BB2y, BB2z)
))+0Sop^2=(^3-F(B3,B51z))
+0SOP^3=-(^4+F(B4,B52z))+
0SOP^4=(^5-F(B5,BPlz)l+03
OP^5=-(^6+F(B6,BP2z)l+0so
p^6= (BBlx −F(BBly, BBlz
)) + becomes the OS. However, F (B, C) =, /i'i" door "jπ stone BL = operating rod (
13) Length between the upper and lower supporting points FIG. 4 shows the polarity and position data of the side corresponding to the operating rod of the lower reference triangle (1^) that matches the actual system.

The above position data (OP^1) to (OP^6) are sent to the monitor and give a predetermined shaking motion to the shaking table (11).

〔Effect of the invention〕

As described above, the present invention uses a program that inputs the required posture and position of the swing table and outputs the position of each operating rod on the guide rod, so it is suitable for real-time processing and is efficient with minimal waste. It has an effect that can be controlled.

[Brief explanation of the drawing]

Figures 1 to 4 are diagrams for explaining an embodiment of the present invention.
FIG. 2 is a flowchart showing each process in more detail, and FIGS. 3 and 4 are schematic diagrams of the main parts of the shaking device. FIG. 5 is a perspective view of a conventional shaking device, and FIG. 6 is a side view of the same. (1)... Base plate, (7)... Guide rod, (10)...
・Lower universal joint, (11)... Shaking table, (12)...
・Upper universal joint, (13)...Operating rod, (1^)...
・Lower reference triangle, (11^)...upper reference triangle. In each figure, the same reference numerals indicate the same or corresponding parts. Patent Applicant Mitsubishi Precision Co., Ltd. Figure 1 Fan 3 Figure 1 Dingyu Section 2

Claims (1)

[Claims] 3 whose upper ends are connected to each set of three sets of upper universal joints arranged at each vertex of the triangle and attached to the rocking table;
In a method for controlling a shaking device including a pair of operating rods and a pair of lower universal joints each of which is coupled to a lower end portion of each pair of operating rods and moves linearly along a guide rod, the center of gravity of the shaking table is provided. A first process of obtaining position and attitude data to obtain the positions of each fulcrum of the upper end of the operating rod when there is no change in the attitude of the shaking table, and a second process of obtaining a transformation matrix according to the change in the attitude of the shaking table. a third step of obtaining the position of the upper end fulcrum of each of the operating rods processed by the conversion matrix; and a fourth step of obtaining the position of the lower end of each of the operating rods on the guide rod. A method for controlling a shaking device, characterized by: