Method and experimental facility for analyzing and controlling vibration characteristics of flexible joint and flexible armed lever

An experimental device and flexible joint technology, applied in the field of robotics, can solve problems such as single function, and achieve the effect of improving control performance and convenient operation

Inactive Publication Date: 2015-07-01
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007] The invention discloses a method and an experimental device that can be used for the analysis and control of the vibration characteristics of a flexible joint-flexible arm mechanical arm. At the same ti

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  • Method and experimental facility for analyzing and controlling vibration characteristics of flexible joint and flexible armed lever
  • Method and experimental facility for analyzing and controlling vibration characteristics of flexible joint and flexible armed lever
  • Method and experimental facility for analyzing and controlling vibration characteristics of flexible joint and flexible armed lever

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Embodiment Construction

[0028] Specific embodiments of the present invention are described with reference to the above drawings.

[0029] Depend on Figure 1 to Figure 6It can be seen that the experimental device for the analysis and control of the vibration characteristics of the flexible joint flexible arm of the present invention is characterized in that the experimental device includes a sensor detection unit 10 connected in sequence, a data acquisition and processing unit 20 and a host computer 30, wherein the sensor detection The unit 10 includes a first encoder 11 connected to the output end of the flexible joint, a second encoder 12 connected to the output end of the joint drive motor, and a first sensor 13 arranged on the flexible arm. The first encoder 11, the second The encoder 12 and the first sensor 13 are respectively connected to the data collection and processing unit 20 . The first encoder 11 is connected to the output end of the flexible joint through two transmission gears 14 with...

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Abstract

An experimental facility for analyzing and controlling vibration characteristics of a flexible joint and a flexible armed lever comprises a sensor detecting unit (10), a data acquiring and processing unit (20) and an upper computer (30) which are sequentially connected to one another; and the sensor detecting unit (10) comprises a first coder (11), a second coder (12) and a first sensor (13). The method for analyzing and controlling the vibration characteristics of the flexible and the flexible armed lever comprises the following steps of respectively detecting position measurement signals of the flexible joint and bending and vibrating signals of the flexible armed lever by using the coders and the sensor; and performing calculation to respectively obtain vibration quantity data of the flexible joint and vibration quantity data of the flexible armed lever. Accurate data of joint vibration, armed lever vibration and tail end synthesized vibration caused by joint vibration and armed lever vibration can be obtained, the upper computer has an operation interface with a plurality of functions and is quite convenient to operate, and joint flexibility parameters can be recognized by the experimental facility through an experimental result and on the basis of theoretical analysis.

Description

technical field [0001] The invention relates to robot technology, in particular to the vibration analysis and control technology of robot flexible joints and flexible arm rods. Background technique [0002] As the pillar equipment of modern industry, the future development trend of the robotic arm is bound to be high speed, high precision and heavy load. Especially in the field of aerospace, manipulators with flexible operation, stable performance and high precision have high application value. With the continuous development of manned spaceflight technology, the application of manipulators in space is becoming more and more extensive. On the spacecraft, the robotic arm can be used to capture satellites, perform tasks such as maintenance, replacement of parts, and adjust the position and posture of solar panels on the satellite; on the space station, the robotic arm can be used to carry the supplies and equipment transported by the spacecraft to complete the expansion of the...

Claims

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Application Information

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IPC IPC(8): G01H17/00
Inventor 徐文福杨益波李勇兵胡忠华
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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