Control device and method for planar three-degree-of-freedom parallel robot driven by rodless cylinder

Abstract

The invention discloses a control device and method of a rodless cylinder-driven plane three-degree-of-freedom parallel robot. The device comprises a plane three-degree-of-freedom parallel robot body and a control assembly, wherein the plane three-degree-of-freedom parallel robot body comprises a movable platform and three parallel drive control branches; the movable platform is a triangular disc; the outer shape of the movable platform is a equilateral triangle; a double-shaft acceleration sensor and a single-shaft angular velocity gyroscope are arranged on the movable platform; each parallel drive control branch comprises a rodless cylinder, a connecting block and a rigid rod; the rodless cylinders, the connecting blocks and the rigid rods are sequentially connected with the movable platform; the rodless cylinders are driven by a pneumatic control loop; grating ruler displacement sensors are arranged on one sides of the rodless cylinders; detection sliding blocks of the grating ruler displacement sensors are fixedly connected with the connecting blocks; and the control assembly is connected with the pneumatic control loop, the grating ruler displacement sensors, the double-shaft acceleration sensor and the single-shaft angular velocity gyroscope. According to the control device, the parallel robot can quickly, accurately and stably reach an assigned working position, and feedback regulation is achieved.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel robot control device, in particular to a rodless cylinder-driven planar three-degree-of-freedom parallel robot control device and method, belonging to the field of planar three-degree-of-freedom parallel robot device and control research. Background technique [0002] A parallel robot mainly refers to a robot composed of a parallel mechanism or a robot composed of a parallel mechanism and a series mechanism, and a parallel mechanism is a number of degrees of freedom. The end effector is connected to the fixed base through two or more independent motion branch chains. organization. The parallel robot consists of two platforms and several independent motion chains. The two platforms are a dynamic platform and a static platform (also called a fixed platform). The static platform is fixed on the base or connected to the end effector of another robot, and the dynamic platform moves relative to the...

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Problems solved by technology

Hydraulic pressure has the advantages of large power-to-weight ratio, simple and compact structure, good rigidity, can realize start and stop at any position, and can realize stepless speed regulation within a large adjustment range, etc., but its oil is easy to leak and cause environmental pollution, and oil Liquid viscosity changes with temperature

Electric drive has the advantages of good speed control characteristics, constant torque, low inertia and high energy conversion efficiency, but its control is complicated, the circuit design is relatively complicated, and it is difficult to realize stepless speed regulation or the cost of stepless speed regulation is high.

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