Journal of Jilin University(Engineering and Technology Edition) ›› 2024, Vol. 54 ›› Issue (6): 1519-1527.doi: 10.13229/j.cnki.jdxbgxb.20230112

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Interference calculation model of Hooke joint of 6-DOF platform considering installation angle

Yang LIU(),Tao JIANG   

  1. College of Engineering and Design，Hunan Normal University，Changsha 410081，China
  • Received:2023-02-07 Online:2024-06-01 Published:2024-07-23

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Abstract:

To expand the reachable space of the 6-DOF platform， an interference calculation method of Hooke joint considering the installation angle parameters was proposed. According to the position and attitude relationship between Hooke joint and adjacent structures， the calculation models of Hooke joint angle including installation angle were established for upper and lower joint seats respectively. The rotation angle range of the oblique prism Hooke joint was solved by simulation method， the nonparametric model describing the workspace of Hooke joint was fitted， and the judgment conditions for interference of the oblique prism Hooke joint were established. By analyzing the translation track of the moving platform， the variation law between the joint movement and the installation angle was discussed. Combining the interference calculation of the Hooke joint with the inverse kinematics solution of the 6-DOF platform， the interference calculation model of the Hooke joint in extending the limit position and posture of the 6-DOF platform was verified through the motion test of the moving platform at the limit position.

Key words: mechanical design and theory, 6-DOF platform, joint constraint, obstacle avoidance, workspace

CLC Number: 

  • TP242

Fig.1

Structural diagram of Hooke joint of oblique prism"

Fig. 2

Coordinate system of stewart platform and joint"

Fig.3

Definition of swing angle of Hooke joint"

Fig.4

Fixed platform reverse movement"

Fig.5

Analysis of joint interference pose"

Fig.6

Joint angle range within the first quadrant"

Fig.7

Simulation model of 6-DOF platform"

Fig.8

Time domain curve of motion of six branch chains"

Fig.9

Relationship between hinge mounting angle and Hooke joint angle"

Fig.10

Time domain variation curve of sum of Hooke joint angles"

Table1

Angle of the two axes of the upper joint and the angle from the interference point"

参数A1A2A3A4A5A6
Error/（°）33.825.53.923.14.211.5
RX/（°）-0.819.718.9-20.4-18.00.7
RY/（°）10.70.5-23.21.9-24.433.1

Fig.11

Motion test of six degree of freedom platform under extreme pose conditions"

Fig.12

Distribution of Hooke joint angle under four working conditions"

Table 2

Angle from upper joint to interference point"

参数A1A2A3A4A5A6
error_RY-2/（°）31.823.40.821.80.09.4
error_RY16/（°）39.634.828.335.230.328.2
error_RX-8/（°）33.326.71.911.34.511.8

Table 3

Angle from lower joint to interference point"

参数B1B2B3B4B5B6
error_RY-2/（°）33.825.74.323.03.711.5
error_RY16/（°）33.723.51.924.56.812.0
error_RX-8/（°）34.225.22.522.23.612.7
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