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Attitude angle control method of three-degree-of-freedom parallel mechanism

A control method and attitude angle technology, which can be applied in the direction of control without feedback, which can solve the problems of difficult attitude control and low precision of parallel mechanisms.

Inactive Publication Date: 2018-10-16
舒天艺
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Problems solved by technology

[0003] In view of this, the purpose of the embodiments of the present invention is to provide a method for controlling the attitude angle of a three-degree-of-freedom parallel mechanism, so as to improve the problem of difficult and low-precision attitude control of parallel mechanisms in the prior art

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  • Attitude angle control method of three-degree-of-freedom parallel mechanism

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Embodiment Construction

[0060] In the embodiment, the parallel mechanism includes three sets of actuators, three sets of support rods and a moving platform, one end of the three sets of actuators is respectively hinged to the moving platform, and the other ends of the three sets of actuators are respectively hinged to the foundation or the support rods; One end of the three sets of support rods is respectively hinged to the foundation, and the other ends of the three sets of actuators are respectively hinged to the moving platform or the actuator;

[0061] When the parallel mechanism is in the initial working position: the actuator, the support rod and the upper hinge point of the moving platform are in the same plane and located on a circle; the three support rods have the same length and are located on a circle with the lower hinge point of the foundation The center of the circle where the upper and lower hinge points are located is the vertical projection of the center of the moving platform on the...

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Abstract

The embodiment of the invention provides an attitude angle control method of a three-degree-of-freedom parallel mechanism. The method comprises the steps of establishing a body coordinate system Ob-XbYbZb at the center of a circle, where the hinge point on the movable platform is located, establishing a fixed reference coordinate system Op-XpYpZp on the ground, the body coordinate system overlapping with the reference coordinate system when parallel mechanism is located at the working initial position, describing the posture of the moving platform by applying a body coordinate system relativeto the generalized coordinates of the reference coordinate system, wherein the generalized coordinates comprise three euler angles including transverse rocking angles, longitudinal rocking angles andyaw angles; acquiring a rotation matrix of the body coordinate system relative to the reference coordinate system; and obtaining the relation between the angular velocity, the angular acceleration andthe eulerian angle derivative of the moving platform in the body coordinate system; obtaining translational displacement of the moving platform according to the expected attitude angle; and obtainingthe movement rule of each actuator in the parallel structure by means of a kinematics reversal method according to the attitude angle and the translation displacement of the moving platform.

Description

technical field [0001] The invention relates to the field of a three-degree-of-freedom swing test bench, in particular to a method for controlling an attitude angle of a three-degree-of-freedom parallel mechanism. Background technique [0002] The multi-degree-of-freedom swing test bench includes a parallel mechanism and a series mechanism. The parallel mechanism has the characteristics of high rigidity, large carrying capacity, large accumulated error, good dynamic characteristics, and compact structure. It has been widely used in simulated fighter planes, machine tools, and robots in recent years. The structure of each part of the parallel mechanism is complicated, and the kinematic relationship is complicated, which makes it difficult to control the attitude of the parallel mechanism and meet the expected motion requirements. Contents of the invention [0003] In view of this, the purpose of the embodiments of the present invention is to provide a method for controlling...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/10
CPCG05D3/10
Inventor 舒天艺王华舒涛徐静
Owner 舒天艺
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