CN105116925B - The spacing measure and control device and its investigating method of a kind of Stewart platform parallel mechanisms - Google Patents
The spacing measure and control device and its investigating method of a kind of Stewart platform parallel mechanisms Download PDFInfo
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- CN105116925B CN105116925B CN201510457883.3A CN201510457883A CN105116925B CN 105116925 B CN105116925 B CN 105116925B CN 201510457883 A CN201510457883 A CN 201510457883A CN 105116925 B CN105116925 B CN 105116925B
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Abstract
The invention discloses the spacing measure and control device and its investigating method of a kind of Stewart platform parallel mechanisms.Its device includes pedestal, and Hooke's hinge is provided with pedestal；The first attitude transducer is fixedly installed on pedestal, the second attitude transducer is fixedly installed in the inner ring of Hooke's hinge, is fixedly installed the 3rd attitude transducer on the moving platform；Be further fixedly arranged on absolute value formula draw wire encoder in the inner ring of Hooke's hinge, on the center line of the drawstring straight line connection motion platform of absolute value formula draw wire encoder a little and the axis of the axis of the outer annulate shaft of Hooke's hinge and inner axle intersection point；It is additionally provided with data processing module.The invention provides a kind of spacing measure and control device and its investigating method of simple and reliable Stewart platform parallel mechanisms.
Description
Technical field
The present invention relates to a kind of Stewart platform parallel mechanisms, especially a kind of Stewart platform parallel mechanisms it is spacing
Measure and control device and its method.
Background technology
Stewart platform parallel mechanisms are typical six bars parallel institutions, at present Aeronautics and Astronautics, seabed operation,
The industries such as underground mining, manufacturing equipment have a wide range of applications.It includes fixed platform and motion platform, fixed platform and motion
Connected between platform by six electric cylinders；By the driving respectively to six electric cylinders, motion platform can be made in certain model
Enclose the interior Union Movement for realizing six-freedom degree.
As described above, motion platform can only move within the specific limits, the damage of mechanism is otherwise may result in, and it drives
Control it is more complicated, so needing a kind of simple and reliable spacing measure and control device and its investigating method.
The content of the invention
The technical problem to be solved in the present invention is：A kind of the spacing of simple and reliable Stewart platform parallel mechanisms is provided
Measure and control device and its investigating method.
In order to solve the above-mentioned technical problem, the technical solution used in the present invention is：
A kind of spacing measure and control device of Stewart platform parallel mechanisms, including be fixedly installed on the table top of fixed platform
Pedestal, Hooke's hinge is installed on pedestal；Hooke's hinge includes the outer shroud of symmetric construction and the inner ring of symmetric construction, and outer shroud passes through
The outer shroud axis connection on outer shroud symmetry axis is arranged on pedestal, outer shroud can freely rotate around outer annulate shaft relative to pedestal, interior
Ring is symmetrically connected on outer shroud by the inner axle being arranged on inner ring symmetry axis, inner ring can around inner axle relative to outer shroud from
By rotating, outer annulate shaft and inner axle are perpendicular, and outer annulate shaft is parallel to the table top of fixed platform, the axis and inner ring of outer annulate shaft
The point of intersection of the axis of axle is on the center line of fixed platform；It is fixedly installed on pedestal parallel with the table top of fixed platform
The first attitude transducer, be fixedly installed in the inner ring of Hooke's hinge and determined with the axis of the axis of outer annulate shaft and inner axle
Plane parallel the second attitude transducer, be fixedly installed parallel with the table top of motion platform on the moving platform
Three attitude transducers；Absolute value formula draw wire encoder, absolute value formula bracing wire coding are further fixedly arranged in the inner ring of Hooke's hinge
On the center line of the drawstring straight line connection motion platform of device a little and the axis of the axis of the outer annulate shaft of Hooke's hinge and inner axle
Intersection point；It is additionally provided with by RS485 buses and the first attitude transducer, the second attitude transducer, the 3rd attitude transducer and absolutely
The data processing module connected to value formula draw wire encoder, data processing module are put down further through TCP/IP buses connection Stewart
The controller of platform parallel institution.
The second pedestal is fixedly installed relative to the one side of fixed platform on the moving platform, is provided with the second pedestal
The outer ring of ball joint bearing, the center line of ball joint bearing overlap with the center line of motion platform；3rd attitude transducer passes through
It is fixedly connected on the second pedestal and is fixedly connected with motion platform, the drawstring of absolute value formula draw wire encoder is fixedly connected on ball pass
On the inner ring of bearings, and the inner ring central point of its drawstring straight-line pass ball joint bearing.
Data processing module is fixedly installed on pedestal.
The investigating method of the spacing measure and control device of above-mentioned Stewart platform parallel mechanisms, comprises the following steps：
A, posture of the fixed platform relative to earth coordinates is measured using the first attitude transducer
Signal；
B, attitude signal of the absolute value formula draw wire encoder relative to earth coordinates is measured using the second attitude transducer；
C, attitude signal of the motion platform relative to earth coordinates is measured using the 3rd attitude transducer；
D, distance signal of the motion platform relative to fixed platform is measured using absolute value formula draw wire encoder；
E, data processing module is passed by RS485 buses to the first attitude transducer, the second attitude transducer, the 3rd posture
Sensor and absolute value formula draw wire encoder are detected, and carry out data processing, obtain motion platform relative to fixed platform
Attitude signal and position signalling；
F, the signal obtained by step e is set numerical value with it and is compared by data processing module, obtained by step e
When signal reaches its setting numerical value, pass through ICP/IP protocol and warning control is sent to the controller of Stewart platform parallel mechanisms
Signal, the controller of Stewart platform parallel mechanisms make corresponding decision according to warning control signal.
Beneficial effect acquired by the present invention：
By the mutual cooperation of three attitude transducers and absolute value formula draw wire encoder, corresponding numerical value is detected,
Calculated in data processing module, position and posture of the motion platform relative to fixed platform can be obtained, so as to root
The controller of Stewart platform parallel mechanisms is given a warning control signal according to the comparison with setting value, prevent motion platform
Motion exceeds its range of movement.The present invention is compact-sized, there is provided a kind of limit of simple and reliable Stewart platform parallel mechanisms
Position measure and control device and its investigating method.The present invention is described in further details with reference to the accompanying drawings and detailed description.
Brief description of the drawings
Fig. 1 is the organigram of the device of the present invention；
Fig. 2 is the organigram of base assembly in Fig. 1；
Fig. 3 is the organigram of the second base assembly in Fig. 1；
Fig. 4 is that the device of the present invention is arranged on the organigram in Stewart platform parallel mechanisms；
Fig. 5 is the observing and controlling organigram of the device of the present invention.
In figure：1. pedestal, 2. first attitude transducers, 3. data processing modules, 4. absolute value formula draw wire encoders, 5.
Two attitude transducers, 6. second pedestals, 7. the 3rd attitude transducers, 8. outer shrouds, 9. inner ring, 10. ball joint bearings, 11. fix
Platform, 12. base assemblies, 13. motion platforms.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, a kind of spacing measure and control device of Stewart platform parallel mechanisms, including
The pedestal 1 being fixedly installed on the table top of fixed platform 11, Hooke's hinge is provided with pedestal 1；Hooke's hinge includes symmetric construction
Outer shroud 8 and symmetric construction inner ring 9, outer shroud 8 is by being arranged on the outer shroud axis connection on the symmetry axis of outer shroud 8 on pedestal 1, outside
Ring 8 can freely be rotated around outer annulate shaft relative to pedestal 1, and inner ring 9 is connected by the inner ring axial symmetry being arranged on the symmetry axis of inner ring 9
It is connected on outer shroud 8, inner ring 9 can freely rotate around inner axle relative to outer shroud 8, and outer annulate shaft and inner axle are perpendicular, and outside
Annulate shaft is parallel to the table top of fixed platform 11, and the point of intersection of the axis of outer annulate shaft and the axis of inner axle is in fixed platform 11
On heart line；First attitude transducer 2 parallel with the table top of fixed platform 11 is fixedly installed on pedestal 1, in Hooke's hinge
Inner ring 9 on be fixedly installed the plane parallel determined with the axis of the axis of outer annulate shaft and inner axle the second posture pass
Sensor 5, threeth attitude transducer 7 parallel with the table top of motion platform 13 is fixedly installed on motion platform 13；In tiger
Absolute value formula draw wire encoder 4 is further fixedly arranged in the inner ring 9 of gram hinge, and the drawstring straight line of absolute value formula draw wire encoder 4 connects
Connect on the center line of motion platform 13 a little and the axis of the axis of the outer annulate shaft of Hooke's hinge and inner axle intersection point；It is additionally provided with
Pass through RS485 buses and the first attitude transducer 2, the second attitude transducer 5, the 3rd attitude transducer 7 and absolute value formula bracing wire
The connected data processing module 3 of encoder 4, data processing module 3 connect Stewart platform parallel machines further through TCP/IP buses
The controller of structure.
The second pedestal 6 is fixedly installed relative to the one side of fixed platform 11 on motion platform 13, on the second pedestal 6
The outer ring of ball joint bearing 10 is installed, the center line of ball joint bearing 10 overlaps with the center line of motion platform 13；3rd appearance
State sensor 7 is fixedly connected by being fixedly connected on the second pedestal 6 with motion platform 13, absolute value formula draw wire encoder 4
Drawstring is fixedly connected on the inner ring of ball joint bearing 10, and the interior circle center of its drawstring straight-line pass ball joint bearing 10
Point.
Data processing module 3 is fixedly installed on pedestal 1.
The investigating method of the spacing measure and control device of above-mentioned Stewart platform parallel mechanisms, comprises the following steps：
A, attitude signal of the fixed platform 11 relative to earth coordinates is measured using the first attitude transducer 2；
B, absolute value formula draw wire encoder 4 is measured using the second attitude transducer 5 relative to the posture of earth coordinates to believe
Number；
C, attitude signal of the motion platform 13 relative to earth coordinates is measured using the 3rd attitude transducer 7；
D, distance signal of the motion platform 13 relative to fixed platform 11 is measured using absolute value formula draw wire encoder 4；
E, data processing module by RS485 buses to the first attitude transducer 2, the second attitude transducer 5, the 3rd posture
Sensor 7 and absolute value formula draw wire encoder 4 are detected, and carry out data processing, obtain motion platform 13 relative to fixation
The attitude signal and position signalling of platform 11；
F, the signal obtained by step e is set numerical value with it and is compared by data processing module, obtained by step e
When signal reaches its setting numerical value, pass through ICP/IP protocol and warning control is sent to the controller of Stewart platform parallel mechanisms
Signal, the controller of Stewart platform parallel mechanisms make corresponding decision according to warning control signal.
Its specific calculating process is as follows：
1st, absolute value formula draw wire encoder is relatively fixed the Attitude Calculation of platform
First attitude transducer 2, the second attitude transducer 5 detect fixed platform 11 and absolute value formula bracing wire coding respectively
Device 4 relative to the earth coordinate system attitude angle be respectively (α1 β1 γ1)、(α2 β2 γ2), corresponding rotation transformation matrix is respectivelyAbsolute value formula draw wire encoder 4 can then be tried to achieve is relative to the rotational transformation matrix of fixed platform 11
In formula,
If absolute value formula draw wire encoder 4 is (α relative to the attitude angle of fixed platform 1121 β21 γ21), then rotation becomes
Matrix is changed to be represented by
Order
It can be obtained by formula (2) and (3)
According to -90 ° of design objective<β23<90 °, in modus ponens (4)
And then it be able to can be expressed as relative to the attitude angle of fixed platform 11 in the hope of absolute value formula encoder 4
α21=atan2 (r21,r11) (5)
γ21=atan2 (r32,r33) (7)
2nd, motion platform is relatively fixed the Attitude Calculation of platform
First attitude transducer 2, the 3rd attitude transducer 7 detect that fixed platform 11 and motion platform 13 are relatively large respectively
The attitude angle of ground coordinate system is respectively (α1 β1 γ1)、(α3 β3 γ3), corresponding rotation transformation matrix is respectively
The relative rotational transformation matrix with fixed platform 11 of motion platform 13, which can then be tried to achieve, is
In formula
If the attitude angle that motion platform 13 is relatively fixed platform 11 is (α31 β31 γ31), corresponding rotation transformation matrix is
Order
It can be obtained by formula (9) and (10)
According to -90 ° of design objective<β23<90 °, in modus ponens (11)
And then it be able to can be expressed as relative to the attitude angle of fixed platform 11 in the hope of motion platform 13
α31=atan2 (r21,r11) (13)
γ31=atan2 (r32,r33) (15)
3rd, motion platform is relatively fixed the position vector calculating of platform
Absolute value formula draw wire encoder 4 detects that motion platform 13 and the air line distance of fixed platform 11 are L, according to process
In 1 calculate obtain the second attitude transducer 5 be relative to the rotational transformation matrix of fixed platform 11Then motion platform 13
The position vector for being relatively fixed platform 11 is represented by
Analyzed by the calculating of three above process, obtain position vector and appearance of the motion platform relative to fixed platform
State, to realize the limitation to its range of movement, scope can be limited to it by ICP/IP protocol shown in Fig. 5 and be configured, made
During when the device detects that motion platform reaches its extreme position or posture, will by ICP/IP protocol to
The controller of Stewart platform parallel mechanisms sends warning control signal, and parallel institution can make phase according to warning control signal
Answer decision-making.
Claims (2)
- A kind of 1. spacing measure and control device of Stewart platform parallel mechanisms, it is characterised in that：Including being fixedly installed on Stewart Pedestal (1) in the fixed platform (11) of platform parallel mechanism, the outer shroud (8) of symmetric construction and symmetrical is installed on pedestal (1) The inner ring (9) of construction, outer shroud (8) is by being arranged on the outer shroud axis connection on outer shroud (8) symmetry axis on pedestal (1), outer shroud (8) Can freely it be rotated relative to pedestal (1) around outer annulate shaft, inner ring (9) passes through the inner axle pair that is arranged on inner ring (9) symmetry axis Title is connected on outer shroud (8), and inner ring (9) can freely rotate around inner axle relative to outer shroud (8), and outer annulate shaft mutually hangs down with inner axle Directly, and outer annulate shaft is parallel to the table top of fixed platform (11), and the point of intersection of the axis of outer annulate shaft and the axis of inner axle is solid On the center line of fixed platform (11)；First appearance parallel with the table top of fixed platform (11) is fixedly installed on pedestal (1) State sensor (2), it is fixedly installed in inner ring (9) equal with the plane that the axis of inner axle is determined with the axis of outer annulate shaft Capable the second attitude transducer (5), it is fixedly installed on motion platform (13) parallel with the table top of motion platform (13) 3rd attitude transducer (7)；Absolute value formula draw wire encoder (4), absolute value are further fixedly arranged in the inner ring (9) of Hooke's hinge Formula draw wire encoder (4) drawstring straight line connection motion platform (13) center line on a little and Hooke's hinge outer annulate shaft axis With the intersection point of the axis of inner axle；It is additionally provided with by RS485 buses and the first attitude transducer (2), the second attitude transducer (5), the data processing module (3) that the 3rd attitude transducer (7) is connected with absolute value formula draw wire encoder (4), data processing mould Block (3) connects the controller of Stewart platform parallel mechanisms further through TCP/IP buses；On the motion platform (13) of Stewart platform parallel mechanisms is fixedly installed relative to the one side of fixed platform (11) Two pedestals (6), are provided with the outer ring of ball joint bearing (10) on the second pedestal (6), the center line of ball joint bearing (10) with The center line of motion platform (13) overlaps；3rd attitude transducer (7) is put down by being fixedly connected on the second pedestal (6) with moving Platform (13) is fixedly connected, and the drawstring of absolute value formula draw wire encoder (4) is fixedly connected on the inner ring of ball joint bearing (10), and And the inner ring central point of its drawstring straight-line pass ball joint bearing (10)；Data processing module (3) is fixedly installed on pedestal (1).
- 2. the investigating method of the spacing measure and control device of Stewart platform parallel mechanisms as claimed in claim 1, its feature exist In：Comprise the following steps：A, attitude signal of the fixed platform (11) relative to earth coordinates is measured using the first attitude transducer (2)；B, absolute value formula draw wire encoder (4) is measured using the second attitude transducer (5) relative to the posture of earth coordinates to believe Number；C, attitude signal of the motion platform (13) relative to earth coordinates is measured using the 3rd attitude transducer (7)；D, distance signal of the motion platform (13) relative to fixed platform (11) is measured using absolute value formula draw wire encoder (4)；E, data processing module by RS485 buses to the first attitude transducer (2), the second attitude transducer (5), the 3rd posture Sensor (7) and absolute value formula draw wire encoder (4) are detected, and carry out data processing, and it is relative to obtain motion platform (13) In the attitude signal and position signalling of fixed platform (11)；F, the signal obtained by step e is set numerical value with it and is compared by data processing module, the signal obtained by step e When reaching its setting numerical value, warning control signal is sent to the controller of Stewart platform parallel mechanisms by ICP/IP protocol, The controller of Stewart platform parallel mechanisms makes corresponding decision according to warning control signal.
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| CN106042001B (en) * | 2016-06-04 | 2018-12-07 | 上海大学 | Robot end's spatial position measuring device |
| CN106352839B (en) * | 2016-10-14 | 2019-01-18 | 哈尔滨工业大学 | A kind of air-floating ball bearing 3 d pose measurement method |
| CN106737690B (en) * | 2017-01-22 | 2023-03-21 | 桂林电子科技大学 | Experimental test platform and test method for flexible steel wire rope for robot walking |
| CN113997325A (en) * | 2021-12-30 | 2022-02-01 | 南京速之海自动化设备有限公司 | Parallel robot full-motion space pose measuring device and method |
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| CN203349801U (en) * | 2013-06-28 | 2013-12-18 | 朱留存 | Three-freedom-degree space position detection mechanism |
| CN104390612A (en) * | 2014-07-08 | 2015-03-04 | 西安电子科技大学 | Standard pose calibration method for six-degree-of-freedom parallel robot used for Stewart platform structure |
| CN204790593U (en) * | 2015-07-29 | 2015-11-18 | 中国电子科技集团公司第五十四研究所 | Stewart platform parallel mechanism's spacing measurement and control device |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0834383A1 (en) * | 1996-10-07 | 1998-04-08 | Gec Alsthom Systemes Et Services Sa | Robot with a parallel structure |
| CN102221123A (en) * | 2011-04-22 | 2011-10-19 | 陕西豪曼机电科技工程有限公司 | Submicron-level positioning accuracy parallel regulating platform and regulating method thereof |
| CN102692201A (en) * | 2012-06-19 | 2012-09-26 | 重庆大学 | Device for measuring spatial motion with six degrees of freedom and dynamic measuring method |
| CN203349801U (en) * | 2013-06-28 | 2013-12-18 | 朱留存 | Three-freedom-degree space position detection mechanism |
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