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Parallel/series-parallel mechanism and robot performance parameter test system

A technology of parameter testing and hybrid mechanism, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as being easily affected by environmental factors and unstable test equipment parameters, so as to facilitate the calculation of kinematics positive solutions and ensure test accuracy Effect

Inactive Publication Date: 2017-08-11
ZHONGBEI UNIV
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  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to propose a performance parameter testing system suitable for parallel / hybrid mechanisms and robots for the deficiencies of the existing testing technology, so as to overcome the shortcomings of the existing testing equipment such as unstable parameters and being easily affected by environmental factors

Method used

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Embodiment Construction

[0035] specific implementation plan

[0036] A parallel / parallel mechanism and robot performance parameter testing system, the system includes a support platform, a test device, a host computer and a servo control system, and the test device is detachably installed on the support platform;

[0037] The support platform is a column-type steel frame structure, a regular hexagonal hexagonal platform 2 is installed on the inner side of the top of the steel frame support platform, and a test device is installed at the bottom of the hexagonal platform 2, and the tested mechanism is connected with the test device and the servo control system at the same time. The control system drives and controls the movement of the tested mechanism. The test device converts the linear motion of the tested mechanism into a rotary motion and outputs the analog quantity through the drive coding function of the test device. The analog output channel of the test device is connected to the host computer. ...

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Abstract

The invention belongs to the field of mechanisms and robotics, and aiming at the deficiencies of existing test technologies, the invention provides a performance parameter test system suitable for parallel / series-parallel mechanisms and robots to overcome the defects that existing test devices are unstable in parameter and prone to being affected by environment factors. The performance parameter test system comprises a supporting platform, a test device, an upper computer and a servo control system. The test device is detachably mounted on the supporting platform and comprises pull rope encoders, a pulley base, a rolling bearing and a test platform. The middles of all the edges of a hexagonal platform are separately connected with the pull rope encoders. The pull rope tail ends of all the pull rope encoders are fixed to the edge of the test platform. The test platform and an end effector of a tested mechanism are fixed together. The test platform moves along with the end effector of the tested mechanism and pulls pull ropes of the pull rope encoders. According to the performance parameter test system, through the six pull rope encoders, the movement positions and the posture track of a tested part can be accurately drawn on the basis of unawareness of mechanism kinematic models.

Description

technical field [0001] The invention relates to a parallel / parallel mechanism and robot performance parameter testing system, which belongs to the field of mechanism and robotics. Background technique [0002] Parallel / hybrid mechanisms and robots have always been one of the most active branches in the field of mechanisms and robotics. The configuration of the parallel / hybrid mechanism is constantly being innovated, and its application is becoming more and more extensive. For various configurations of parallel / hybrid mechanisms, their application is closely related to the performance parameters of the mechanism. The performance parameters of the parallel / hybrid mechanism include the motion trajectory, velocity and acceleration of the reference point of the end effector, the position and attitude of the end effector, working space and other kinematic parameters, and dynamic parameters such as power and force characteristics. [0003] At present, the methods for testing the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J9/00
CPCB25J19/0095B25J9/003B25J9/0072
Inventor 李瑞琴马春生梁世杰孟宏伟李志宾
Owner ZHONGBEI UNIV
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