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Equivalent mass determination method of 3-PRS series-parallel mechanism

A technology of equivalent mass and determination method, applied in the field of determination of effective mass, can solve the problem of difficulty in determining equivalent mass, and achieve the effect of easy calculation and application, optimization of structure and control system, and easy realization.

Active Publication Date: 2017-08-04
HENAN POLYTECHNIC UNIV
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Problems solved by technology

[0004] Aiming at the problem that the equivalent mass is difficult to determine when analyzing the dynamic characteristics of the series-parallel mechanism, the present invention provides a method for determining the equivalent mass of the 3-PRS series-parallel mechanism

Method used

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  • Equivalent mass determination method of 3-PRS series-parallel mechanism
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  • Equivalent mass determination method of 3-PRS series-parallel mechanism

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Embodiment Construction

[0037] In order to make the purpose, technical solution and beneficial effect of the present invention clearer, the present invention will be further described in detail through the implementation modes below.

[0038] The structure diagram of 3-PRS series-parallel mechanism is as follows: figure 1 shown. The system consists of a moving platform 4, a fixed platform 5, three servo motors (11, 21, 31), three couplings (12, 22, 32), three ball screws (13, 23, 33), and three columns (14, 24, 34), three cylindrical hinges (15, 25, 35), three sliders (16, 26, 36), three connecting rods (17, 27, 37), three spherical hinges (18, 28, 38), three ranging grating rulers (19, 29, 39). Wherein slide block (16,26,36) slides on the vertical guide rail of column (14,24,34), slide block (16,26,36) and connecting rod (17,27,37) pass cylinder hinge (15 , 25, 35) are connected, and connecting rod (17, 27, 37) is connected with moving platform 4 by spherical hinge (18, 28, 38).

[0039] like ...

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Abstract

The invention discloses an equivalent mass determination method of a 3-PRS series-parallel mechanism. Servo motors are set to work in a torque mode; the known torques of the servo motors are converted to axial forces of ball screws and acting forces of slide blocks on stand columns; system generalized force of the whole 3-PRS series-parallel mechanism is obtained by solving through a geometric method; then, a fixed coordinate system and a local coordinate system are respectively built on a static platform and a movable platform to calculate kinetic energy and potential energy of each system component to build a lagrange equation of the whole mechanism; and such multiple parameters as generalized velocity and acceleration in the equation are calculated through distance measurement grating rulers of the mechanism to obtain equivalent mass of the 3-PRS series-parallel mechanism. The method provides technical guidance for robot structure design and optimization, path planning and control system optimization.

Description

technical field [0001] The invention relates to a method for determining the equivalent mass of a 3-PRS series-parallel mechanism, belonging to the field of robot dynamics. Background technique [0002] As a class of robots, parallel robots have the advantages of high precision, high rigidity, fast speed and strong carrying capacity. Six degrees of freedom Stewart type parallel robot has been quite fully researched and widely used in engineering. Parallel robots with few degrees of freedom figure 1 The 3-PRS (3—number of degrees of freedom, P—moving pair, R—rotating pair, S—spherical pair) series-parallel mechanism shown has simple structure, easy control, relatively low cost, etc., and can meet the requirements of special occasions , so it has broad application prospects. [0003] The equivalent mass is an important indicator of the dynamic performance of parallel robots, and it is the basis and main means to study the dynamic characteristics of serial-parallel robots. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/003B25J9/1602
Inventor 黄俊杰张孟营陈国强黄存捍闫勇刚邓小玲赵俊伟
Owner HENAN POLYTECHNIC UNIV
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