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Device and method for controlling planar three-freedom-degree flexible hinge parallel robot

A flexible hinge and control device technology, applied in the field of robotics, can solve problems such as being susceptible to external environmental interference, multiple inputs, nonlinearity, etc., and achieve the effects of strong information processing capabilities, fast system response, and easy operation

Inactive Publication Date: 2013-07-10
BEIJING UNIV OF TECH
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Problems solved by technology

[0009] Aiming at the problems of multi-closed loop, multi-input, multi-output, non-linearity, and susceptibility to external environment interference of flexible hinged parallel robots, the present invention provides a planar three-degree-of-freedom flexible hinged parallel robot control device that can improve the stability and accuracy of the robot and method

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  • Device and method for controlling planar three-freedom-degree flexible hinge parallel robot
  • Device and method for controlling planar three-freedom-degree flexible hinge parallel robot
  • Device and method for controlling planar three-freedom-degree flexible hinge parallel robot

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Embodiment Construction

[0032] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0033] figure 1 , 2 Among them, the mechanical structure of the planar three-degree-of-freedom flexible hinge parallel robot includes: end effector 1, base 2, and three kinematic branches connected with end effector 1 and base 2 with the same structure and three sets of driving chains with the same structure part; in the motion branch chain, one end of the active rod 4 is connected with the driving pair 3, and the other end is connected with the driven rod 6 through the flexible hinge 5, and the driven rod 6 is connected with the end effector 1 through the rotating pair 7; the driving In the part, one end of the servo motor 9 is fixed on the base 2, the other end is connected to the reducer 8, and the other end of the reducer 8 is connected to the drive pair 3; a group of limit proximity sensors 10 are symmetrically installed on both sides of the output end of the a...

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Abstract

A device and method for controlling a planar three-freedom-degree flexible hinge parallel robot belongs to the technical field of robots and control of the robots and comprises a programmable multi-spindle motion controller, a flexible hinge parallel robot, a main control industrial personal computer, driving modules, a limiting module and a measuring module. The main control industrial personal computer is connected with the programmable multi-spindle motion controller, the programmable multi-spindle motion controller is respectively connected with the driving modules and the limiting module, the output ends of the driving modules are connected with a driving rod of the flexible hinge parallel robot through a driving pair, and the flexible hinge parallel robot is connected with the main control industrial personal computer through the measuring module. By means of the device and method, the three groups of driving modules can be controlled effectively to achieve coordinate motion of three motion branches, planar three-freedom-degree high-precision motion of the flexible hinge parallel robot is finished, and the device and method has the advantage of being fast in system response, good in information processing capacity, high in reliability and the like.

Description

technical field [0001] The invention discloses a robot control device and method, in particular to a plane three-degree-of-freedom flexible hinge parallel robot control device and method, belonging to the technical field of robots. Background technique [0002] The development and application of robot technology has greatly changed human production and life style. The use of robots can not only quickly and accurately complete boring repetitive tasks, but also safely and reliably complete many complex operations in dangerous and harsh environments, which can greatly reduce people's labor intensity, increase labor productivity, and improve product quality. [0003] As an advanced robot with a closed-chain structure, the parallel robot has the advantages of low motion inertia, strong load capacity, and high rigidity in terms of mechanism, which makes up for the shortcomings of traditional industrial robots and makes parallel robots a potential high-speed, high-speed robot. Pre...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B25J13/08B25J19/02B25J19/04
Inventor 田浩余跃庆
Owner BEIJING UNIV OF TECH
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