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Planar parallel mechanism device driven by double five-bar mechanisms, and control method thereof

A mechanism device, five-bar mechanism technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of the influence of the transmission accuracy of the mechanism, the energy loss of the reducer, etc., to achieve smooth and fast motion, reduced precision, drive and control good effect

Active Publication Date: 2019-01-04
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The reducer often has a backlash that is difficult to eliminate, which has a great impact on the transmission accuracy of the mechanism. The friction in the reducer will also cause energy loss

Method used

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  • Planar parallel mechanism device driven by double five-bar mechanisms, and control method thereof
  • Planar parallel mechanism device driven by double five-bar mechanisms, and control method thereof
  • Planar parallel mechanism device driven by double five-bar mechanisms, and control method thereof

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Embodiment

[0049] Such as Figure 1-Figure 6 As shown, a planar parallel mechanism device and control method driven by a double five-bar mechanism, its hardware equipment includes a parallel mechanism body part, a detection part and a control part;

[0050] The body part of the parallel mechanism includes two planar five-bar mechanisms, a moving platform 12 and a static platform 1, and the static platform 1 is a square profile seat, which is used as a test bench to support the whole device. The moving platform 12 is divided into two parts, the lower part is a parallelogram platform, wherein two bearing holes are arranged at the upper and lower diagonal positions, and is connected with each driving branch chain through a rotating shaft, and the upper part is an equilateral triangle platform.

[0051]The two planar five-bar mechanisms have the same structure, both including two rigid driven rod body units, and the two rigid driven rod body units have the same structure, both including a ri...

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Abstract

The invention discloses a planar parallel mechanism device driven by double five-bar mechanisms, and a control method thereof. The planar parallel mechanism device comprises a parallel mechanism bodypart, a detection part and a control part; the parallel mechanism body part comprises the two planar five-bar mechanisms, a dynamic platform and a static platform; a laser displacement sensor mountedon the static platform is used for measuring displacement and attitude information of the dynamic platform; and a magnetic railing ruler sensor is used for measuring position information of motors, the position information is processed through a computer, then a control signal is output to control movement of the linear motors, and then movement of the dynamic platform is controlled. The planar parallel mechanism device takes the two five-bar mechanisms as a driving branch chain, the influences of gaps on a system are eliminated, the laser displacement sensor is utilized to conduct position closed-loop feedback, and thus the advantages of high positioning accuracy, fast closed-loop control response, good control performance and the like are achieved.

Description

technical field [0001] The invention relates to the field of planar parallel mechanism control, in particular to a planar parallel mechanism device and control method driven by a double five-bar mechanism. Background technique [0002] A parallel robot is an end effector with several degrees of freedom connected to a fixed foundation through two or more independent motion branches. Compared with a serial robot, a parallel robot has the advantages of large rigidity, high precision, and high load-bearing capacity. Strong rigidity, high precision, fast movement speed, good dynamic characteristics, dexterous operation, and occasions with little requirement for working space, such as aerospace, manufacturing equipment, precision measurement and precision positioning fields. In order to improve industrial productivity and save energy, modern machinery is constantly developing towards light weight, low energy consumption and high efficiency. Parallel robots with light weight, high ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J13/08B25J9/16
CPCB25J9/003B25J9/1605B25J13/088Y02P90/02
Inventor 余龙焕邱志成
Owner SOUTH CHINA UNIV OF TECH
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