Large-range and high-precision robot performance testing device

Abstract

The invention discloses a large-range and high-precision robot performance testing device which includes a 3-SPR parallel bracket, a sliding groove bracket, a slidable base, pull rope displacement sensors, a target, pull ropes and an information processing panel. The 3-SPR parallel bracket includes an upper platform, a lower platform and telescopic electric cylinders, and the telescopic electric cylinders are connected with the lower platform and the upper platform through ball hinges and rotary hinges correspondingly. The sliding groove bracket includes sliding grooves and a center groove. The head ends of the three sliding grooves are connected to the center groove in a junction mode, the tail ends of the sliding grooves are fixed on the upper platform, and a slidable base is slidably connected to each of the sliding groove. Two of the slidable bases are each provided with two pull rope displacement sensors, and the other slidable base is provided with three pull rope displacement sensors. The pull rope displacement sensors are connected with the target through the pull ropes, the target is connected with a tested mechanism, and the information processing panel is arranged on thelower platform and connected with the pull rope displacement sensors and the telescopic electric cylinders. The large-range and high-precision robot performance testing device is wide in applicationrange, the motion performance parameters of the tested mechanism can be accurately collected, and the defects of small test space and large error in the prior art are overcome.

Description

technical field [0001] The invention relates to the fields of mechanics and robotics, in particular to a large-scale and high-precision robot performance testing device. Background technique [0002] With the continuous development of science and technology, new products are constantly emerging, and the level of enterprise automation is also constantly improving. The demand for institutions and robot markets is increasing, and there are more and more types. [0003] Compared with the series mechanism, the parallel mechanism is an important research field of mechanism and robotics. It is a closed-loop mechanism that connects the motion platform and the fixed platform through multiple branches. Its characteristic is that each branch chain can receive the driver at the same time. Input, jointly determine the output of the motion platform. Compared with the series mechanism, the multi-closed-loop space kinematic chain of the parallel mechanism has increased stiffness, reduced c...

AI Technical Summary

Problems solved by technology

The laser tracker has the function of tracking space movement to meet the needs of space measurement, but it will cause certain errors in angle calculation and conversion, and the long-distance will cause excessive errors, and the price is expensive

The three-coordinate measuring instrument is to place the measured object in the middle of the measuring instrument, and obtain the motion parameters of the measured object with high precision through the probe for measurement, but its measurement parameter range is limited, it is easily affected by environmental factors, and it occupies an area very large space

[0006] For example, a robot kinematics and dynamics model verification system and method disclosed in patent 201610913686.2, the testing mechanism uses six pull-rope displacement sensors and torque sensors. The rope displacement sensors are distributed on the hexagonal plate, which will cause the robot to occupy too much space, which is not conducive to installation and handling

When the mechanical arm is at the limit position, the angle at the exit of the pull rope displacement sensor is too small, which will affect the accuracy and indirectly cause disadvantages such as small test space range and large limit position error.

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