Three-freedom-degree parallel mechanism with connection rod deformation error detection function

Abstract

The invention discloses a three-freedom-degree parallel mechanism with a connection rod deformation error detection function. The three-freedom-degree parallel mechanism comprises a fixed platform, a movable platform, a sensor fixing frame, a two-dimensional image sensor set, three branched chains, laser transmitters, a multifunctional card and a computer. Each branched chain comprises a vertical column, a movable pair, a rotary pair, a connection rod and a spherical pair. The vertical columns are perpendicularly installed on the fixed platform. The movable pairs are connected with the vertical columns and connected with the movable pairs. The connection rods are connected with the rotary pairs and the spherical pairs. The spherical pairs are installed on the movable platform. Lasers emitted by the laser emitters irradiate two-dimensional image sensors by arranging the laser emitters on the connection rods, the deformation errors of the connection rods are obtained according to coordinates of irradiation points through the robot kinematics, and accordingly the pose error of a rotor can be determined. According to the three-freedom-degree parallel mechanism with the connection rod deformation error detection function, error compensation, precision improving, error tracing and mechanism optimization design can be conducted on the 3-PRS parallel mechanism, wide application of the three-freedom-degree parallel mechanism in industrial production is facilitated, and the three-freedom-degree parallel mechanism has important academical significance and practical value.

Description

technical field [0001] The invention relates to a three-degree-of-freedom parallel mechanism with connecting rod deformation error detection, which belongs to the field of robot applications. Background technique [0002] A parallel mechanism, also known as a parallel robot, is a mechanism composed of multiple parallel chains. Compared with the traditional series mechanism, it has a series of advantages such as high rigidity, high precision, high load capacity, simple and compact structure, and easy to realize high-speed movement. , and its application almost involves all fields of modern cutting-edge technology. [0003] In many applications of parallel mechanisms, 6 degrees of freedom are not required, and less-degree-of-freedom mechanisms with less than 6 degrees of freedom can well meet the requirements. Compared with the 6-DOF parallel mechanism, the less-DOF parallel mechanism has the advantages of fewer driving parts, fewer components, simple and convenient control,...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the technical problem that it is difficult to accurately analyze the error theoretically when the three-degree-of-freedom parallel mechanism is working, and it is necessary to detect the operational error of the mechanism in real time, and provides a three-degree-of-freedom 3-PRS parallel mechanism with connecting rod deformation error detection. mechanism

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