Rotary Parallel Flying Manipulator System and Desired Rotation Angle Calculation Method
A mechanical arm and rotating technology, which is applied in the direction of aircraft, manipulators, aircraft parts, etc., can solve the problems of low load capacity, slow running speed, low precision, etc., and achieve the effect of strong bearing capacity, fast speed and high precision
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specific Embodiment approach 1
[0087] Specific implementation mode 1. Combination figure 1 As shown, the first aspect of the present invention provides a rotating parallel-type flying manipulator system, including a quadrotor aircraft, a parallel manipulator mechanism, a centralized control module 3 and an actuator 15,
[0088] The centralized control module 3 is installed at the center of the lower surface of the quadrotor aircraft; the head end of the parallel mechanical arm mechanism is connected to the quadrotor aircraft, and the end is detachably connected to the actuator 15;
[0089] The parallel mechanical arm mechanism has a rotatable structure with six degrees of freedom, which can drive the actuator 15 to reach the task point with a desired pose.
[0090] further, combine figure 1 As shown, the quadrotor aircraft includes a propeller 1, a brushless motor 2, an arm 4 and a rotorcraft chassis 5,
[0091] The machine arms 4 are four, connected into a cross structure, and are an integral part of the...
specific Embodiment approach 2
[0126] Specific embodiment two, combine Figure 1 to Figure 4 As shown, another aspect of the present invention also provides a method for calculating the expected rotation angle of the rotating parallel flying manipulator system. Methods include:
[0127] Step 1: Obtain the motion state of the quadrotor aircraft and the current motion state of the end of the parallel mechanical arm mechanism, and calculate the rotation matrix of the quadrotor aircraft; in step 1, convert the Euler angle representation method of the quadrotor aircraft into a rotation matrix representation;
[0128] Step 2: The flight controller module controls the quadrotor aircraft to reach the predetermined range of the mission point in combination with the current motion state;
[0129] Step 3: The ground station plans the expected trajectory of the end of the robotic arm according to the operation requirements, and sends it to the main control board through the signal transceiver device;
[0130] Step 4:...
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