Error Compensation Method for Terminal Elastic Deformation Caused by Inertial Force of Non-decoupling Mechanism
An error compensation and elastic deformation technology, applied in the field of terminal elastic deformation error compensation method, can solve the problems of no better, complex calculation, and many multi-degree-of-freedom motion arrangements and combinations, and achieve simple operation, ensure accuracy and reliability, Control real-time strong effects
Active Publication Date: 2019-07-09
CHONGQING UNIV
View PDF5 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0025] The following description serves to disclose the invention to enable those skilled in the art to practice the invention. The preferred embodiments described below are given by way of example only, and other obvious modifications will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
[0026] like figure 1 and figure 2 As shown, according to the inventive spirit of the present invention, a method for compensating the elastic deformation error of the end caused by the inertial force of the non-decoupling mechanism is provided, so that in the process of the test, when figure 1 When the shown six-degree-of-freedom series mechanism is in a non-decoupled state, the error caused by the elastic deformation of the end caused by the inertial force is co...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
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 compensation method for end elastic deformation error of a multi-degree-of-freedom mechanism, in particular to a compensation method for end elastic deformation error caused by inertial force of a non-decoupling mechanism. Background technique [0002] In some equipment test systems, due to different experimental objects, the end of a multi-degree-of-freedom mechanism (such as a six-degree-of-freedom mechanism) needs to be replaced with different experimental objects. However, in the mechanism design, the rotation center of the mechanism can only be different from one experimental object. Centers coincide. In this case (decoupling case), the motion of each degree of freedom of the experimental object can be realized only by the corresponding mechanism motion. When the experimental object is replaced, there will be a situation where the rotation center of the mechanism does not coincide with the rotation center of the experim...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
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
Owner CHONGQING UNIV