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Rigid-flexible coupling body-oriented rigidity measurement system and method

A measurement system and rigid-flexible coupling technology, applied in the field of rigid-flexible coupling, can solve the problems of difficulty in stiffness measurement, inaccurate relationship with stiffness, and inaccurate tracking of motion trajectories.

Active Publication Date: 2021-11-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

At the same time, the existing stiffness measurement system does not accurately track the motion trajectory of the measurement object, and does not consider the cross-sectional shape, which makes the relationship between the actual deformation and stiffness inaccurate, especially for rigid-flexible couplings with complex and asymmetric structures , it is still difficult to measure the actual stiffness of the rigid-flexible coupling body

Method used

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  • Rigid-flexible coupling body-oriented rigidity measurement system and method
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  • Rigid-flexible coupling body-oriented rigidity measurement system and method

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Embodiment Construction

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0052] The object of the present invention is to provide a rigid-flexible coupling body-oriented stiffness measurement system and measurement method to solve the above-mentioned problems in the prior art and improve the convenience and accuracy of rigid-flexible coupling body stiffness measurement.

[0053] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in...

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Abstract

The invention discloses a rigid-flexible coupling body-oriented rigidity measurement system, which comprises a mounting and fixing unit, a power measurement unit and a motion capture unit, and is characterized in that the mounting and fixing unit comprises a Z-axis sliding table, a mounting bracket, a rigid-flexible coupling body and a stay wire, and the rigid-flexible coupling body is detachably connected with the mounting bracket; the rigid-flexible coupling body comprises a flexible body and rigid bodies, and the stay wire is connected with the two rigid bodies; and the power measuring unit comprises a driver, a torque measuring instrument and a winding wheel, the driver is in transmission connection with the winding wheel through the torque measuring instrument, and the stay wire is connected with the winding wheel. The invention further provides a rigidity measuring method for the rigid-flexible coupling body, motion data obtained by monitoring the rigid-flexible coupling body through the torquemeter and the capturing element, and then theoretical bending rigidity solved by combining the rigid-flexible coupling body with the section shape is obtained. On the basis of obtaining the measured data of the torquemeter, constructing a theoretical stiffness model, obtaining the actual bending stiffness measured by the rigid-flexible coupling body, and carrying out verification and correction.

Description

technical field [0001] The invention relates to the technical field of rigid-flexible coupling, in particular to a stiffness measurement system and a measurement method for a rigid-flexible coupling body. Background technique [0002] Rigid-flexible coupling body is widely used in the execution parts of robots because of its good flexibility and flexibility. Usually, the rigid-flexible coupling body in the robot is connected and fixed by the rigid body part, and the flexible body part realizes the bending motion. Common driving forms of rigid-flexible coupling include rope drive, pneumatic, and elastic dielectric. The above driving forms convert the kinetic energy or electrical energy of the motor into the bending motion of the target. In order to precisely control the above-mentioned energy conversion process, it is necessary to obtain the stiffness of the rigid-flexible coupling body, so as to establish the corresponding relationship between the deformation amount of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M5/00
CPCG01M5/005
Inventor 石青王若超周祺杰孙韬王化平
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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