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

A mechanism device and rigid technology, applied in the field of vision-based rigid and flexible double five-bar closed-chain mechanism device, can solve the problems of affecting accuracy, hysteresis and temperature drift, and reducing measurement accuracy, so as to achieve accurate measurement without adding additional structure quality, the effect of not changing the structural characteristics

Pending Publication Date: 2017-05-31
SOUTH CHINA UNIV OF TECH
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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 accurac

Method used

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

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Embodiment

[0040] Figure 1-Figure 4 As shown, a vision-based rigid and flexible double five-bar closed-chain structure device includes a mechanical body part, a detection part and a drive control part;

[0041] The mechanical body part: includes a static platform 1, two flexible active rods, two flexible driven rods, two rigid active rods 3 and two rigid driven rods 2, and two servo motors 10 are arranged under the static platform, so The two servo motors are respectively equipped with a planetary reducer 17, and the planetary reducer is installed on the static platform through its flange, and the two servo motors are installed on the center of one direction of the static platform, not far from the edge, symmetrically arranged.

[0042] The output shaft of the servo motor is input to the planetary reducer, and each planetary reducer is installed with an output shaft through a flange. The first layer of the output shafts of the two servo motors is respectively connected to one end of the...

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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...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08B25J9/16G01H17/00
CPCG01H17/00B25J9/0072B25J9/08B25J9/1694
Inventor 邱志成汪先锋
Owner SOUTH CHINA UNIV OF TECH
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