Error compensation method for tail end elastic deformation caused by inertia force of non-decoupling mechanism
An error compensation and elastic deformation technology, applied in the field of end elastic deformation error compensation method, can solve the problems of complex calculation, many combinations of multi-degree-of-freedom motions, and no good, easy operation, strong real-time control, and accurate guarantee. The effect of degree and reliability
Active Publication Date: 2017-06-27
CHONGQING UNIV
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Problems solved by technology
In this case (non-decoupling situation), the movement of a certain degree of freedom of the experimental object may require the simultaneous movement of two or more degrees of freedom mechanisms, and the inertial force generated by the multi-degree-of-freedom coupling movement is due to There are many permutations and combinations involving multi-degree-of-freedom motion, and the calculation is complicated. It is difficult to compensate the error caused by the motion of the experimental object in real time through simple decoupling control. There is no good compensation method for the end error of the mechanism in this case. , so the present invention designs an innovative error compensation method for this situation, and provides a compensation method for end elastic deformation error compensation caused by the inertial force of a non-decoupling mechanism to solve the above problems
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[0025] The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.
[0026] Such as figure 1 with figure 2 As shown, according to the inventive spirit of the present invention, a method for compensating the end elastic deformation error caused by the inertial force of the non-decoupling mechanism is provided, so that during the test, when figure 1 When the six-degree-of-freedom series mechanism shown is in the non-decoupling state, the error caused by the elastic deformation of the end caused by the inertial force is co...
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The invention discloses an error compensation method for tail end elastic deformation caused by inertia force of a non-decoupling mechanism. The error compensation method includes the steps that when a six-freedom-degree series mechanism is in a non-decoupling state to form the non-decoupling mechanism, the tail end posture and acceleration of the non-decoupling mechanism are determined; in a specific condition, the inertia force of the non-decoupling mechanism at all freedom degrees in different states is obtained; a tail end posture error compensation database for the tail end posture of the non-decoupling mechanism and the inertia force of the non-decoupling mechanism at all the freedom degrees in different states is established according to the inertia force of the non-decoupling mechanism at all the freedom degrees in different states; and in the testing process, the tail end posture and acceleration of the non-decoupling mechanism are obtained, and the tail end posture of the non-decoupling mechanism is offset according to the tail end posture error compensation database.
Description
technical field [0001] The invention relates to a terminal elastic deformation error compensation method of a multi-degree-of-freedom mechanism, in particular to a terminal elastic deformation error compensation method caused by an inertial force of a non-decoupling mechanism. Background technique [0002] In some equipment test systems, due to different experimental objects, different experimental objects need to be replaced at the end of a multi-degree-of-freedom mechanism (such as a six-degree-of-freedom mechanism). The centers coincide. In this case (decoupling situation), the movement of each degree of freedom of the experimental object can be realized only by the movement of the corresponding mechanism. When the test object is replaced, there will be a situation that the rotation center of the mechanism does not coincide with the rotation center of the test object. In this case (non-decoupling situation), the movement of a certain degree of freedom of the experimenta...
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IPC IPC(8): B25J9/16G01M1/00G01M1/30
CPCB25J9/16B25J9/1679G01M1/00G01M1/30
Inventor谢志江孙海生皮阳军刘志涛刘超张钧周扬牛帅吴辉龙
OwnerCHONGQING UNIV