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Motion control method of six degrees of freedom parallel platform based on virtual model

A technology of virtual model and motion control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., to achieve the effect of ensuring stability, improving performance and broadening the application field

Active Publication Date: 2019-11-29
SHANDONG UNIV OF SCI & TECH
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  • Description
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  • Application Information

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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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  • Motion control method of six degrees of freedom parallel platform based on virtual model
  • Motion control method of six degrees of freedom parallel platform based on virtual model
  • Motion control method of six degrees of freedom parallel platform based on virtual model

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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

A six-degree-of-freedom parallel platform motion control method based on a virtual model. Static analysis is performed on the moving platform. Between the actual position and the expected position of the moving platform, a virtual spring stiffness-damping model is added to construct a six-dimensional dynamic platform. Force model; necessary simplification of the platform model, derivation of the mapping relationship between the driving force of the platform driving rod and the virtual force acting on the center of mass of the moving platform; according to the motion requirements, planning the motion trajectory of the moving platform based on the quintic curve; using The established virtual force model of the six-degree-of-freedom parallel platform, the virtual force mapping relationship, and the expected motion trajectory of the moving platform can be used to calculate the required virtual force, and then calculate the output thrust of each driving rod, and then drive the six-freedom The parallel platform completes the desired motion according to the planned motion trajectory. This method effectively guarantees the stability of the platform movement, the movement error is small, and the movement stability is high.

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 Patents(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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