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Virtual model-based six-freedom-degree parallel platform motion control method

A virtual model, motion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of simplifying dynamic control, ensuring motion accuracy, and broadening application fields

Active Publication Date: 2017-09-01
SHANDONG UNIV OF SCI & TECH
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  • Description
  • Claims
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Problems solved by technology

[0005] Aiming at the deficiencies of the existing force control method for the six-degree-of-freedom parallel platform and the defects of the motion trajectory planning method, the present invention provides a motion control method for the six-degree-of-freedom parallel platform based on a virtual model

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  • Virtual model-based six-freedom-degree parallel platform motion control method
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  • Virtual model-based six-freedom-degree parallel platform motion control method

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0049] by figure 1 The six-degree-of-freedom parallel platform shown is taken as an example, and the motion control method of the six-degree-of-freedom parallel platform based on the virtual model is described in detail.

[0050] 1. Virtual model of parallel platform

[0051] First, combined with the structural characteristics of the six-DOF parallel platform and the kinematic characteristics of the moving platform, the static force analysis of the moving platform is carried out during the movement of the moving platform of the parallel platform. Vertical downward gravity. in the coordinate system {O 1}, decompose the thrust of the driving rod on the moving platform at its center of mass to obtain its static force diagram, as shown in figure 2 shown.

[0052] Secondly, between the actual position and the desired position of the moving platform, a ...

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Abstract

The invention provides a virtual model-based six-freedom-degree parallel platform motion control method. According to the technical scheme of the invention, the static force of a mobile platform is analyzed, and a virtual spring stiffness-damping model is additionally arranged between the actual position and the desired position of the mobile platform. In this way, a six-dimensional mechanical model of the mobile platform is constructed. The model of the platform is necessarily simplified, and the mapping relation between the driving force of the platform for driving a rod piece and a virtual force applied onto the centroid point of the mobile platform is derived. According to a motion requirement, a quintic curve-based mobile platform motion track is planned. The magnitude of the required virtual force is figured out through establishing a virtual force model of a six-freedom-degree parallel platform, the mapping relation of the virtual force, and the desired motion track of the mobile platform. Furthermore, each output pushing force for driving the rod piece is calculated. After that, the six-freedom-degree parallel platform is driven to complete the desired motion according to the planned motion track. Based on the method, the motion stability of the platform is effectively ensured. The motion error is relatively small, and the motion stability is higher.

Description

technical field [0001] The invention relates to a force control method based on a virtual model for a six-degree-of-freedom parallel platform. Using the method, the six-degree-of-freedom parallel platform can complete the desired motion according to the plan through force control, and can effectively ensure the continuity of its motion process , which belongs to the field of six-degree-of-freedom parallel platform motion control. Background technique [0002] Compared with the mechanism formed in series, the parallel mechanism has many incomparable advantages: First, the dynamic platform and the static platform of the parallel mechanism are connected through the driving rod module, and the working platform is supported by multiple rods, so the structural rigidity is large , strong load-bearing capacity; second, the control error of the series mechanism at the end position is the accumulation of the errors of each joint, and the end error is relatively large, while the end po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张帅帅樊铭渠唐兴鹏刘明朱志强李贻斌
Owner SHANDONG UNIV OF SCI & TECH
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