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Flexible-hinge parallel-connection robot control device based on contact-type sensor

A technology of touch sensors and flexible hinges, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of limited practicality, high cost, and complicated data processing process, and achieve low equipment cost, simple use method, and information Handling Powerful Effects

Inactive Publication Date: 2014-01-08
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

This type of sensor can be roughly divided into two types: contact type and non-contact type. Among them, non-contact type sensors include measuring equipment such as laser interferometer, theodolite, and three-coordinate visual measuring instrument. Although the accuracy is high, the cost is high and the data processing process is complicated. Limited practicality in actual measurements

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  • Flexible-hinge parallel-connection robot control device based on contact-type sensor
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  • Flexible-hinge parallel-connection robot control device based on contact-type sensor

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the accompanying drawings and implementation examples.

[0017] like figure 1 Shown is a schematic diagram of a planar three-degree-of-freedom flexible hinge parallel robot control device. The entire device includes a planar three-degree-of-freedom flexible hinge parallel robot, a main control industrial computer, a drive module, a limit module and a measurement module; the drive module is composed of a servo controller, It consists of servo motor, rotary encoder and reducer; the limit module consists of three sets of zero-return proximity sensors and three sets of limit proximity sensors; the measurement module consists of a linear scale sensor and a linear scale sensor data acquisition board; the main control industrial computer and The programmable multi-axis motion controller is connected, the programmable multi-axis motion controller is connected with the drive module and the limit module, th...

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Abstract

The invention relates to a flexible-hinge parallel-connection robot control device based on a contact-type sensor. The device comprises a plane three-degree-of-freedom flexible-hinge parallel-connection robot, a programmable multi-shaft motion controller, a main control industrial personal computer, a drive module, a limit module and a measurement module. The device is in a modular control mode and has the advantages of being high in response speed, strong in information processing capacity, high in reliability and the like. A displacement sensor collects posture information of a tail end actuator, closed loop control of the robot is achieved, influences of elastic deformation of flexible hinges on system operation precision are reduced, practicability of the robot is improved, the measurement module measures the posture of the tail end actuator through the contact-type sensor, and the device is simple in use method and low in equipment cost.

Description

technical field [0001] The invention discloses a control device based on a contact sensor, relates to the technical field of parallel robot control, and in particular relates to a control device for a flexible hinge parallel robot based on a contact sensor. Background technique [0002] Parallel robot is an advanced robot with a closed-chain structure. It has the advantages of low inertia, strong load capacity, and high rigidity in terms of mechanism, which makes up for the shortcomings of traditional industrial robots. Compliant mechanism is a new type of mechanism that uses the flexible deformation of the components in the mechanism to complete the transmission and conversion of motion, force and energy. Since there is no kinematic pair, problems such as friction, wear and lubrication caused by the kinematic pair are avoided. Compared with the traditional rigid mechanism, its superiority is mainly manifested in two aspects of cost reduction and performance improvement. Co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J3/04B25J9/16B25J13/08B25J19/02
Inventor 田浩余跃庆
Owner BEIJING UNIV OF TECH
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