Spring coupling rotation multi-body mechanical arm system vibration testing device and method thereof

A technology of spring coupling and vibration testing, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as low stiffness, fatigue damage to the flexible arm structure, affecting the positioning accuracy and control performance of the flexible arm, and achieve high measurement accuracy, reduce difficulty, Actuation and feedback for easy installation

Pending Publication Date: 2020-11-27
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the inherent low stiffness of the flexible arm structure, it will generate large-scale vibrations for a long time during the movement or due to external disturbances.
If this vibration is not effectively suppressed, it will affect the positioning accuracy and control performance of the flexible arm, and even cause fatigue damage to the flexible arm structure in severe cases.

Method used

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  • Spring coupling rotation multi-body mechanical arm system vibration testing device and method thereof
  • Spring coupling rotation multi-body mechanical arm system vibration testing device and method thereof
  • Spring coupling rotation multi-body mechanical arm system vibration testing device and method thereof

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Experimental program
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Embodiment

[0032] Such as Figure 1-Figure 3 As shown, a spring-coupled rotating multi-body manipulator system vibration test device is characterized in that it includes a drive control part, a detection part and a flexible piezoelectric beam body part;

[0033] The body part of the flexible piezoelectric beam includes a flexible beam 4, a corner joint 5, a rotating platform plate 1, a spring 2, a fixed bracket 3 and a side riser 9; the side risers are four pieces, and the four side risers pass through The center of the angle aluminum is set on the rotating platform plate, and it is symmetrical about the center of the rotating platform plate. In this embodiment, four side vertical plates form a square shape, and each side vertical plate is installed with two corner joints at a certain distance and parallel to each other. The two flexible beams extend to the outside of the square along the length direction, and the end fixed to the side vertical plate is called the fixed end, and the othe...

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PUM

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Abstract

The invention discloses a spring coupling rotation multi-body mechanical arm system vibration testing device and a method thereof. The spring coupling rotation multi-body mechanical arm system vibration testing device comprises a drive control part, a detection part and a flexible piezoelectric beam body part, wherein the flexible piezoelectric beam body part comprises a flexible beam, a rotary platform plate, a spring, a fixed support and a side vertical plate, the detection part comprises a line laser and a position sensitive detector, and the driving control part comprises a piezoelectric fiber sheet, a servo motor, a servo motor driver, a piezoelectric fiber sheet controller, a terminal plate, a motion control card and a computer. According to the device, a PSD is used for collecting displacement information of the free end of the flexible beam, the computer is combined with sensor information, a control signal is output through a specific algorithm, and vibration of the flexible beam is controlled. The device is convenient to assemble, can adjust the rigidity and rotating speed of the spring, and is used for measuring the vibration characteristics of the coupling flexible beamin a rotating state.

Description

technical field [0001] The invention relates to the field of vibration control of track flexible multi-body systems, in particular to a vibration testing device and method for a spring-coupled rotating multi-body manipulator system. Background technique [0002] Adaptive elastomechanical structures, also known as smart structures, are typically characterized by spatially extendable carrier structures with embedded actuators and sensors for transient shape control. This capability offers opportunities for applications in many fields, such as: adaptive optics, spoilers in automotive engineering and adaptive solar sails in aeronautical engineering. Such structures often contain partially elongated flexible arm structures. Such structures are easily excited to produce continuous vibration, which affects the normal work of the spacecraft. Specifically in the field of robotic arms, compared with traditional rigid robotic arms, flexible robotic arms have the advantages of light w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 邱志成许文杰杜佳豪
Owner SOUTH CHINA UNIV OF TECH
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