41results about How to "Achieving Motion Decoupling" patented technology

The invention refers to a kind of moving spider compound unit and movement decoupling parallel mechanism made up of above units, the character lies in: it includes two groups of moving spider units connected by a pole, the moving spider axis spaces are placed orthogonally, one moving spider includes two moving spiders whose axes are parallel and which is connected by a pole; the other moving spider includes three moving spiders whose axes are parallel and which is connected by two poles, the connecting point of the two groups of moving spiders is the third link. The movement decoupling parallel mechanism includes a base, a moving platform and three same or different moving spiders between them, the compound units are moving spiders' compound units, or the random combinations of the moving spiders.

The invention relates to a three-freedom-degree constant speed decoupling space robot active spherical wrist and a universal compliant control method. The offset mode that the included angles are formed among rotation plane normal and rotating shafts is adopted for both an upper hemisphere rotating body and a lower hemisphere rotating body. The intersection point of the two rotating shafts of the upper rotating body and the lower rotating body is the sphere center of hemispheres of the upper rotating body and the lower rotating body, the intersection point of the two rotating shafts coincides with the rotating center of an inner ball cage universal joint and the rotating center of an outer ball cage universal joint respectively, and then constant speed decoupling of three input movements is achieved; the output end of the outer ball cage universal joint is connected with a shaft neck of the upper rotating body through a bearing in a suspension mode, three absolute corner coded discs are connected with the upper rotating body, the lower rotating body, a motor conducting spinning motion, and the output end of a speed reducing system respectively, a six-dimensional ATI sensor is installed at the output tail end of the wrist, and a wrist universal compliant follow-up control mode is achieved by a rotating joint of an upper hemisphere, a rotating joint of a lower hemisphere and a joint conducting spinning motion through a system friction force compensation technology. The three-freedom-degree constant speed decoupling space robot active spherical wrist and the universal compliant control method are accurate in locating, stable in movement, and capable of avoiding oscillation phenomena of movement coupling and mechanical arms and effectively relieving mechanical interference in a spherical wrist full compliant mode.

The invention refers to a kind of moving spider compound unit and movement decoupling parallel mechanism made up of above units, the character lies in: it includes two groups of moving spider units connected by a pole, the moving spider axis spaces are placed orthogonally, one moving spider includes two moving spiders whose axes are parallel and which is connected by a pole; the other moving spider includes three moving spiders whose axes are parallel and which is connected by two poles, the connecting point of the two groups of moving spiders is the third link. The movement decoupling parallel mechanism includes a base, a moving platform and three same or different moving spiders between them, the compound units are moving spiders' compound units, or the random combinations of the moving spiders.

The invention discloses a high-precision positioning system and method for a large-aperture reflector. The positioning system comprises a reflecting mirror assembly, a mirror base assembly, a reflecting mirror support used for installing the reflecting mirror assembly, a multi-degree-of-freedom platform used for adjusting the position of the mirror base assembly and a controller. The controller isused for controlling the freedom degree platform to move according to the position information of the reflecting mirror assembly, the mirror base assembly and the multi-freedom-degree platform so asto drive the mirror base assembly to move to a target position. According to the high-precision positioning system for the large-aperture reflector, multi-degree-of-freedom linkage adjustment can be achieved through the multi-degree-of-freedom platform, the adjustment precision of the position of the reflector base is improved, and then the measurement and positioning precision is improved.

The invention discloses a robot pose adjusting mechanism with two or three rotary freedoms, containing a special link rod mechanism composed of two parallelograms. When using the wrist mechanism to adjust the robot pose, it keeps the space position of working point in the robot hand, which realizes the motion decoupling of position mechanism and pose adjusting mechanism, extremely simplifying motion analysis and control algorithm of the robot.

The invention relates to a multi-axis two-degree-of-freedom synchronous swing device, which includes an outer frame, an inner frame, a plurality of turntables, a swing mechanism, a pitch mechanism, a protective cover and a limit device. The inner frame is arranged inside the outer frame, and through The first rotating pair is rotationally connected with the first side and the second side of the outer frame, and a plurality of turntables are evenly arranged on the first end surface of the inner frame, and the plurality of turntables are all rotationally connected with the inner frame through the second rotating pair, and the swing mechanism passes through The swing link is rotatably connected to a plurality of turntables, the pitch mechanism is fixedly connected to the first end of the inner frame through the rocker, the protective cover is installed on the first end surface of the outer frame, and the first side of the outer frame is provided with a limiting device. The oscillating device of the present invention has two rotational degrees of freedom, not only can oscillate within a certain range to adjust the working area, but also can simultaneously polish multiple identical workpieces, and can replace the processing spindle of the original machine tool to compensate for the adjustment of the spindle position and posture Insufficient range, improve machining accuracy, and control production quality standards.

A linear locking cylinder adopting a built-in fixed ultrasonic screw rod aims to solve the current technical problems of the linear locking cylinder, such as low positioning accuracy, complex structure and assembly, and poor sealing performance. The invention consists of a front end cover, a cylinder barrel, a piston assembly, a rear end cover, an ultrasonic lead screw assembly and a piston rod. On the basis of not changing the basic assembly structure of the existing cylinder, the invention utilizes the ultrasonic anti-friction effect produced by the ultrasonic screw and the motion conversion sleeve to realize the precise movement and locking of the piston rod in the cylinder barrel, and the movement is made through the thread pair connection. The conversion sleeve moves helically during the friction reduction process to realize the decoupling of the movement of the piston in the cylinder. It not only inherits all the good characteristics of the basic structure of the existing linear cylinder, but also has high positioning accuracy, simple structure assembly, convenient processing, and sealing. It has good engineering application value in semiconductor processing, automatic measurement and control, robot drive and other technical fields.

The invention discloses a two-degree-of-freedom swing platform based on the stick-slip principle, and aims to provide a swing platform with large stroke, low control difficulty and high adjustment precision. The Y-direction swing platform is installed on the base through the Y-direction motion precision arc guide rail, and the X-direction swing platform is installed on the Y-direction swing platform through the X-direction motion precision arc guide rail; the stator module is installed on the base; the friction plate is installed on the On the top of the stator module, the lower end of the X-direction swing platform is provided with a spherical boss in contact with the friction plate, and the friction plate and the spherical boss form a kinematic pair; the stator is driven by an X-direction piezoelectric ceramic driver and a Y-direction piezoelectric ceramic driver The module uses the dynamic and static friction between the friction plate and the contact surface of the spherical boss to alternately realize the step displacement, and the X-direction swing platform performs two degrees of freedom swings in the X-direction and Y-direction relative to the base. The platform can realize motion decoupling in X and Y directions, and has the characteristics of large stroke, high resolution, high precision and low manufacturing cost.

The invention discloses a decoupling 6D force feedback device of a sliding block type structure. The device is composed of a fixed base, a three-degree-of-freedom parallel mobile unit, and a three-degree-of-freedom parallel-serial rotation unit, wherein, the three-degree-of-freedom parallel mobile unit comprises three mutually orthogonal branches, each of the branches is guided to a sliding blockby a column guide rail driven by a mobile drive motor, a double-link end is articulated with the sliding block, and the other end is connected with a rotation base by a U-shaped block, the three-degree-of-freedom parallel-serial rotation unit are driven by three rotary drive motors, the rotation base is respectively connected with a first arc rod and a third arc rod by a support hinge A and a support hinge B, the first arc rod is connected with a transfer platform by a long shaft, a second arc rod is connected with the transfer platform by a mid-length shaft, the third arc rod is connected with the second arc rod by a short shaft, and the transfer platform is in serial connection with a moving platform. The device can achieve unconditional decoupling with six degrees of freedom, and has the advantages of simple structure, easy control, high movement accuracy, lower cost and the like.

The invention relates to a wobbly silicon micro gyroscope which comprises an upper layer and a lower layer, wherein a gyroscope mechanical structure which is arranged on a monocrystalline silicon sheet is formed on the upper layer, and a signal lead wire which is arranged on a glass substrate is formed on the lower layer. The signal lead wire and a bonding point are arranged on the glass substrate on the lower layer; the gyroscope mechanical structure on the upper layer comprises a pair of identical minor structures which are symmetrically arranged along the Y axis and are respectively connected with a beam, and the beam is bonded with the glass substrate on the lower layer through two groups of twisting rods to enable the mechanical structure on the upper layer to be suspended above the glass substrate on the lower layer. The twisting rods and the beam are adopted in the invention to enable the gyroscope to rotate around the Z axis, the sensitive movement of the gyroscope is achieved, and the movement decoupling in the driving direction and the detecting direction is achieved. The twisting rods are used for replacing sensitive supporting beams, the amount of the supporting beams is reduced, and the influence of the processing error to the performance of the gyroscope is reduced.

The invention discloses a three degree-of-freedom large travel flexible nano positioning platform, which comprises a fixed base, wherein a motion platform is set on the fixed base; the motion platform comprises a basic base; a terminal platform is set in the middle of the basic base; the motion platform also comprises four X direction flexible decoupling members that are in centrosymmetric distribution and four Y direction flexible decoupling members that are incentrosymmetric distribution; and an X direction driver X1, an X direction driver X2, a Y direction driver Y1 and a Y direction driver Y2 are respectively set inside the second X direction flexible decoupling member, the fourth X direction flexible decoupling member, the first Y direction flexible decoupling member and the third Y direction flexible decoupling member. According tot he invention, the structure is compact; and a voice coil motor driver is adopted inside a double-level Phi-shaped plate spring, thus the size of the whole nano flexible platform is greatly reduced, and the occupying proportion of the output space and the platform space is greatly increased.

The invention provides a silicon micromechanical gyroscope with a four-column mass block, which includes an upper mass block structure, a middle layer silicon microsensor structure, and a lower substrate structure. The upper mass block structure includes four cylindrical mass blocks, and the four The cylindrical mass blocks are respectively bonded to the center of the four mass block trays of the silicon microsensor structure, and the middle silicon microsensor structure is bonded to the lower substrate through anchor points; The four mass block trays around the detection substructure, the driving substructure connected between two adjacent mass block trays, and the connection between two adjacent mass block trays are also connected by detection coupling beams; electrode leads are arranged on the lower substrate. The gyroscope can be sensitive to the angular velocity of the vertical axis, and has the advantages of low driving and detection frequency and high sensitivity.