Rigidity and flexibility double-five-rod closed chain mechanism device based on vision and measuring and controlling method

Abstract

The invention discloses a rigidity and flexibility double-five-rod closed chain mechanism device based on vision and a measuring and controlling method. The rigidity and flexibility double-five- rod closed chain mechanism device comprises a rigidity five-rod mechanism, a flexibility five-rod mechanism, a static platform, an industrial camera, an acceleration sensor, a motion control card, a voltage amplifier, a computer, a terminal plate and a piezoelectric ceramic piece driver. A servo motor is adopted in the rigidity and flexibility double-five-rod closed chain mechanism device for simultaneously driving the rigidity five-rod mechanism and the flexibility five-rod mechanism to conduct movement with the symmetric posture and the symmetric track and without interfering with each other; the acceleration sensor and the industrial camera are adopted for measuring vibration information generated in the moving process of the rigidity five-rod mechanism and the flexibility five-rod mechanism, and contrastive analysis is conducted; and finally, in combination of the active control algorithm, the piezoelectric ceramic piece driver is used for conducting active control over vibration generated in the moving process of the rigidity five-rod mechanism and the flexibility five-rod mechanism.

Description

technical field [0001] The invention relates to the field of vibration measurement, in particular to a vision-based rigid and flexible double five-bar closed-chain mechanism device and measurement and control method. Background technique [0002] In the traditional sense, the mechanism is generally designed as a rigid mechanism; the rigid structure is not easily affected when it is disturbed because of its relatively large stiffness and good stability. [0003] With the rapid development of the economy, the structure tends to be large, flexible and low rigidity. Compared with the traditional rigid mechanism, the flexible mechanism has many advantages, such as: (1) There is no gap and friction between the components, and the movement precision of the mechanism is high; (2) Since there is no friction and wear, the noise will be reduced during work, and The service life of the mechanism will also be extended; (3) The flexible mechanism can be manufactured in a single piece, wh...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, piezoelectric ceramic sensors, acceleration sensors and gyroscope sensors are usually used for vibration measurement of flexible mechanisms, but these sensors are contact sensors, which will have a serious impact on the vibration of the measured object, reduce measurement accuracy, and introduce loads effect

The application of piezoelectric materials is limited due to factors such as their own strength, fatigue life, and temperature resistance; accelerometer sensors are sensitive to noise, and there are problems such as hysteresis and temperature drift that affect their accuracy

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