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Three-degree-of-freedom flexible manipulator control device and method

A flexible manipulator and flexible arm technology, applied in the field of flexible robots, can solve the problems of difficult vibration control and weak damping of large flexible structures and flexible manipulators

Inactive Publication Date: 2012-06-20
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Especially in space conditions, there is no air damping, so the damping is weak, and the vibration of large flexible structures and flexible manipulators is more difficult to control
Therefore, the precise position and force control of the space robot's tip is a challenging problem

Method used

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Examples

Experimental program
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Embodiment

[0034] As shown in Figure 1, the servo motor Ⅰ1 drives the slider 4 of the ball screw 3 to move through the coupling 2, and the base of the ball screw 3 is installed on the fixed base 23; The input end of the reducer I6, the base of the reducer I6 is connected with the slider 4 of the ball screw 3 through the mechanical connection device, the output rotating flange of the reducer I6 is connected with the flange mechanical connection device I7, and the flange mechanically The connection device Ⅰ7 is connected with one end of the flexible arm Ⅰ11, and the flexible arm Ⅰ11 can rotate with the flange mechanical connection device Ⅰ7 after the servo motor Ⅱ5 is driven by the reducer Ⅰ6, and a CCD camera Ⅰ8 is installed on the flange mechanical connection device Ⅰ7, Vibration of the flexible arm I11 is detected by detecting the swing of the visual target rod I12 fixed on the upper end of the flexible arm I11.

[0035] The servo motor Ⅲ14 is installed on the input end of the reducer Ⅱ...

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Abstract

The invention discloses a three-degree-of-freedom flexible manipulator control device and method. The device comprises flexible manipulator body parts, a servo motor driving part and a control part. The three-degree-of-freedom distribution is characterized in that two rotating flexible manipulators connected in series are respectively driven by a connected motor and speed reducer and are connected on a moving sliding block driven by a screw; a screw substrate and a fixed base are connected; three alternating servo motors are all provided with photoelectric encoders for detecting a rotation angle. A plurality of piezoelectric ceramic sheets are stuck to the part near a fixing end, on each flexible manipulator to respectively serve as a photoelectric sheet sensor and a photoelectric driver; and acceleration sensors are respectively installed at the parts near a free end, on each flexible manipulator. The photoelectric sheet sensor or the acceleration sensor can respectively detect the vibration of flexible beams. The detected signal is fed back, and three motors are respectively controlled by a motion control card to move after a control algorithm is operated. A control part is used for processing the detected flexible beam rotation and a vibration signal and carries out corresponding processing.

Description

technical field [0001] The invention relates to the field of flexible robots, in particular to a control device and method for a three-degree-of-freedom flexible robotic arm. Background technique [0002] In the aerospace field, space robots have been applied in the aerospace field. Space robots are mainly engaged in the following tasks: construction, handling and assembly of large space structures; assisting in the docking and separation of spacecraft; daily maintenance, repair and inspection of space stations and satellites; special technical tests or processing operations; capturing and repairing satellites Wait. For example, the robotic arm of the Canadian space station is a typical space flexible robot, which is engaged in the on-orbit assembly, service and maintenance of the space station. [0003] Considering to reduce the launch cost and improve the carrying efficiency, the mass of the spacecraft must be reduced as much as possible. Large-scale space structures su...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J19/00B25J13/00
Inventor 邱志成张宪民
Owner SOUTH CHINA UNIV OF TECH
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