Automated inertial parameter testing equipment
A technology for testing equipment and inertial parameters, which is applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve problems that affect the service life of the system and reduce system performance, and achieve the goals of reducing system complexity, high measurement accuracy, and improving measurement efficiency Effect
Active Publication Date: 2019-01-08
HARBIN INST OF TECH
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Generally speaking, for a complex system with tens of thousands of parts, the estimation error of inertial parameters using this method will exceed the actual value by 10% or more, which will have a serious negative impact on the control of complex systems, Then reduce system performance and affect the service life of the system
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0024] The present invention will be described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.
[0025] Such as Figure 1 to Figure 7 As shown, an automated inertial parameter testing device involved in this embodiment includes: a support frame, a 3-URU parallel mechanism, a rotating shaft drive system, a dual-axis inclination sensor 24 and an encoder 31;
[0026] Described bracing frame is made up of inclined rib 1, transverse rib 2, four supporting square columns 4 and support plate 9, and described supporting plate 9 is fixed on the upper end of four supporting square columns 4, and supporting square column 4 and supporting square Transverse ribs 2 are fixed between columns 4 , and diagonal ribs 1 are fixed between...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides an automatic inertia parameter testing device, and belongs to the technical field of inertia parameter testing devices. The automatic inertia parameter testing device mainly comprises two parts, wherein one part is a 3-URU parallel mechanism; and the other part is a rotating shaft driving system. According to the automatic inertia parameter testing device, inertia parameters of a rigid body are measured at high precision and high automation degree through the combination of the two parts; the 3-URU parallel mechanism comprises three connecting rods, a movable platform and a top plate; the two ends of the connecting rods are connected with the movable platform and the top plate through hooke joints, and rotary joints are arranged between the connecting rods and the hooke joints, so that the 3-URU parallel mechanism is formed; and stepping motors are connected with upper cross shafts of the hooke joints in the parallel mechanism through reducers and electromagnetic clutches, the rotation angle of the stepping motors and energization and deenergization of the electromagnetic clutches are controlled, so that the rotating shaft driving system can automatically apply bias to the parallel mechanism, and the automation degree of the device is improved.
Description
technical field [0001] The invention relates to an automatic inertial parameter testing equipment, which belongs to the technical field of inertial parameter testing equipment. Background technique [0002] Usually, when establishing the dynamic equation of the system, parameters such as the mass of the system, the position of the center of mass, the moment of inertia around the rotation axis, and the product of inertia are required. The moment of inertia and the product of inertia constitute the inertia matrix of the rigid body relative to a certain coordinate system. The above system parameters are called inertial parameters, which are inherent physical quantities of the system, which determine the dynamic response and behavior of the system. Inertial parameters are the prerequisites for dynamic analysis of complex systems (such as vehicles, aircraft, spacecraft and robots, etc.). [0003] Considering the test time and test cost, the acceptable error of inertial parameter...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00
CPCB25J9/0069
Inventor 刘宇黄松
Owner HARBIN INST OF TECH