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Two-degree-of-freedom closed chain flexible mechanism vibration measurement and control device and method

A closed-chain flexible and vibration measurement technology, applied in the field of flexible robots, can solve problems such as flexible deformation and low rigidity, and achieve the effects of strong overload capacity, good speed stability and high precision

Inactive Publication Date: 2017-03-08
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the flexible arm has a relatively fatal defect, that is, its own rigidity is low, and the flexible deformation and the resulting vibration will inevitably appear during the operation of the mechanism, which has a non-negligible impact on the operation of the mechanism.

Method used

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  • Two-degree-of-freedom closed chain flexible mechanism vibration measurement and control device and method
  • Two-degree-of-freedom closed chain flexible mechanism vibration measurement and control device and method

Examples

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Embodiment

[0032] Such as Figure 1-Figure 2 As shown, a two-degree-of-freedom closed-chain flexible mechanism vibration measurement and control device includes a flexible mechanism body part, a signal detection drive part and a signal control part;

[0033] The body part of the flexible mechanism includes a static platform, which is used to support the rigid platform of the whole mechanism. A screw guide rail 13 is set on the static platform, and a slide block 1 is installed on the screw guide rail to convert the motion of the screw guide rail For the linear reciprocating motion of the slider, it also includes two AC servo motors 11 and 14 with encoder discs. The motors drive the planetary reducer mechanism, which are respectively the first AC servo motor 14 and the second AC servo motor 11, and the screw rod One end of the guide rail is installed with the first AC servo motor, which is connected to the screw guide rail through the coupling 15, and the rotational torque of the motor is ...

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PUM

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Abstract

The invention discloses a two-degree-of-freedom closed chain flexible mechanism vibration measurement and control device and method, the device comprises a static platform, a lead screw guide rail, a sliding block is arranged on the lead screw guide rail, the sliding block is connected with a long flexible rod, a flexible protrusion beam is arranged on the extending line of the long flexible rod, a short flexible rod is connected with the above joint through a rotating shaft, the other end of the short flexible rod is connected with a rigid crank, the lead screw guide rail and the rigid crank are connected with an AC servo motor, piezoelectric patches and piezoelectric drivers are pasted to the long and short flexible rods, and the flexible protrusion beam is pasted to an acceleration sensor. According to the invention, vibration information of two flexible connecting rods is acquired and inputted to a computer to analyze and process, and purposes of vibration detection and control are achieved.

Description

technical field [0001] The invention relates to the field of flexible robots, in particular to a vibration measurement and control device and method for a two-degree-of-freedom closed-chain flexible mechanism. Background technique [0002] At present, in the field of application of robotic arms, due to the continuous development and evolution of robot technology, traditional rigid component robots have been unable to maintain the stability and accuracy of their own motion while maintaining high speed, heavy load, and high precision. In addition, the gradual lightweight requirements in aviation applications, vehicle-mounted robots, and construction have resulted in the design and invention of flexible robotic arms. There are two types of flexibility: rod flexibility and joint flexibility. While introducing flexibility, an additional degree of freedom is added to the robotic arm. Compared with the rigid mechanical arm, it has the characteristics of light structure and high l...

Claims

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Application Information

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IPC IPC(8): G01M7/02
CPCG01M7/022
Inventor 邱志成刘飞越
Owner SOUTH CHINA UNIV OF TECH
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