System and method for detecting rotating angle of tail end of flexible mechanical arm

Abstract

The invention discloses a system for detecting the rotating angle of a tail end of a flexible mechanical arm. A laser emitter is mounted at the tail end of the flexible mechanical arm, and irradiates to the direction of a rotating shaft of a driving device of the flexible mechanical arm. The invention further discloses a method for detecting the rotating angle of the tail end of the flexible mechanical arm. The detection method comprises the following steps: when the flexible mechanical arm rotates, a PSD sensor which is mounted above the rotating shaft of the driving device and is perpendicular to the flexible mechanical arm receives incident light from the laser emitter; the center-of-gravity position of light spots emitted from the laser emitter on the PSD sensor, and the rotating angle of the rotating shaft of the driving device, which is measured by an encoder, are transmitted in real time to a computer through a data acquiring card; the real-time rotating angle of the tail end of the flexible mechanical arm is calculated by the computer according to the center-of-gravity position of the light spots and the rotating angle of the rotating shaft of the driving device. The system and the method, which are disclosed by the invention, better solve the detection problems of the rotating angle of tail end of flexible mechanical arms, a non-contact measurement manner is adopted, and the detection system has the advantages that the properties are stable, the precision is high, the cost is lower, and the applied range is wide.

Description

technical field [0001] The invention relates to a detection system for the end rotation angle of a flexible mechanical arm, in particular to a detection system and method for the end rotation angle of a flexible mechanical arm. Background technique [0002] With the development of the national economy and the needs of national defense technology, for engineering structures, on the one hand, there are a large number of applications of lightweight and flexible components in the structure, and on the other hand, there are requirements for high-speed and high-precision operation of the structure. The flexible manipulator is a representative product, which has a wide application background in many engineering fields such as space equipment, modern manufacturing, IC post-packaging equipment, printing industry, and MEMS. The typical rigid-flexible coupling dynamic system of the flexible manipulator will also generate its own small deformation elastic vibration when it moves in a la...

AI Technical Summary

Problems solved by technology

Although the laser three-dimensional vibrometer has high precision, its price is also high, the operability of the laser light curtain sensor is low, and the accelerometer or gyroscope cannot meet the current required precision

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