CN109551521A - Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively and method - Google Patents
Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively and method Download PDFInfo
- Publication number
- CN109551521A CN109551521A CN201811617834.1A CN201811617834A CN109551521A CN 109551521 A CN109551521 A CN 109551521A CN 201811617834 A CN201811617834 A CN 201811617834A CN 109551521 A CN109551521 A CN 109551521A
- Authority
- CN
- China
- Prior art keywords
- degree
- parallel robot
- target ball
- freedom parallel
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively of the present invention, including six-degree-of-freedom parallel robot, target ball, carry block and laser tracker, the six-degree-of-freedom parallel robot is made of fixed platform and moving platform, the six-degree-of-freedom parallel robot is six branch parallel institutions, the six branches parallel institution is that six branch both ends are connected on the fixed platform and the moving platform, the load block is fixed by screws on the moving platform, the fixed platform, six movement positions and moving platform of fixed platform lower end spherical hinge are successively arranged benchmark position, weak part and moving part, the evenly distributed lopping of target ball is separately fixed at the benchmark position, the weak part and the moving part, the position of the laser tracker measurement target ball.Can rapid survey go out six-degree-of-freedom parallel robot overall stiffness changing value, structure is simple, efficiency and precision are higher, provides data support for the research and production of six-degree-of-freedom parallel robot.
Description
Technical field
The invention belongs to machinery equipment field, and in particular to six-degree-of-freedom parallel robot rigidity weak link quantitative test
Device and method.
Background technique
Six-degree-of-freedom parallel robot has the advantages that precision is high, rigidity is high, additional inertial is small, small in size, structure is simple,
Thus it is widely used.In certain specific areas such as aerospace field, not only exigent precision, it is also necessary to very
High rigidity.Under these occasions, it can guarantee that can enough rigidity will directly affect task and smoothly complete, therefore, in equipment
Its rigidity must be tested before.For six-degree-of-freedom parallel robot since transmission link is more, movable part is more, each portion
Matching relationship between part is complicated and Pre strained state is difficult to control, and the accurate simulation calculation of overall stiffness is more difficult, often
Measured result and simulation result difference are larger.The stiffness test method of traditional six-degree-of-freedom parallel robot mostly uses amesdial to beat
Point measurement, although method is simple, test data is limited, and when simulation result and measured result are not inconsistent, the data of acquisition are difficult
To determine the weak link of complete machine, the progress and accuracy of complete machine rigidity test are influenced.Therefore, it is badly in need of studying a kind of six degree of freedom
The new method of parallel robot rigidity test can be carried out according to weak link of the test result to six-degree-of-freedom parallel robot
Quantitative analysis provides data for research and production and supports.
Summary of the invention
The purpose that the present invention is is in order to overcome the shortcomings of the prior art, providing six-degree-of-freedom parallel robot rigidity
Weak link apparatus for quantitatively and method quickly test out six degree of freedom simultaneously based on the device is measured by laser tracker
The rigidity for joining robot carries out quantitative analysis to the weak link of six-degree-of-freedom parallel robot, to instruct research and production.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively provided by the invention, including six degree of freedom is simultaneously
Connection robot, target ball, load block and laser tracker, the six-degree-of-freedom parallel robot are made of fixed platform and moving platform, institute
Stating six-degree-of-freedom parallel robot is six branch parallel institutions, and the six branches parallel institution is that six branch both ends are separately connected
On the fixed platform and the moving platform, the load block is fixed by screws on the moving platform, the moving platform, described
Six movement positions of fixed platform and fixed platform lower end spherical hinge are successively arranged moving part, benchmark position and weak point
Position, the evenly distributed lopping of target ball are separately fixed at the moving part, the weak part and the benchmark position, institute
State the position of laser tracker measurement target ball.
The measuring device further includes basic platform, bent plate and tripod, the six-degree-of-freedom parallel robot by screw with
The bent plate connection, the bent plate are fixed by screws on the basic platform, and the laser tracker is erected at three foot
On frame, the tripod is fixed on the basic platform.
Preferably, every branch is respectively typed ball bearing pair, sliding pair, ball from the fixed platform to the kinematic pair of the moving platform
Hinge is secondary.
Preferably, the target ball is divided into three groups, respectively includes benchmark target ball, activity target ball, weak link target ball.
Preferably, at least three target ball of benchmark target ball, is fixed on the benchmark position.
Preferably, at least three target ball of activity target ball, is fixed in the moving part.
Preferably, at least six target ball of weak link target ball, is fixed on the weak part.
Preferably, the frame of reference { B } is established in the center of the benchmark target ball.
Preferably, moving platform coordinate system { D0 } is established in moving target ball center position.
Based on the test method of six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively, including walk as follows
It is rapid:
Step S10: by target ball be separately fixed at the benchmark position of tested six-degree-of-freedom parallel robot, moving part and
On weak part；
Step S20: using benchmark target ball of the laser tracker test setting on the benchmark position, three are calculated
The position at a target ball center is established the frame of reference { B }, and the initial position of six lower end spherical hinges is calculated according to geometrical model
The initial position co-ordinates Qu0 of coordinate Qd0 and six upper end spherical hinges；
Step S30: using activity target ball of the laser tracker test setting in the moving part, three are calculated
Moving platform coordinate system { D0 } is established in the position at a target ball center, calculates under the six-degree-of-freedom parallel robot original state
Position P0 and posture R0 of the moving platform relative to the frame of reference；
Step S40: it using weak link target ball of the laser tracker test setting on the weak part, calculates
The position at six target ball centers out calculates the position of the lower six lower end spherical hinges of the six-degree-of-freedom parallel robot original state
Set Q0；
Step S50: adding loading blocks on the moving platform of the six-degree-of-freedom parallel robot, produces the moving platform
Raw rigid deformation, retests the activity target ball being arranged on the moving platform after stablizing and is arranged in thin on the spherical hinge of lower end
The sphere center position of weak link target ball, obtain the six-degree-of-freedom parallel robot in the loaded state the moving platform relative to base
The position P1 and posture R1 of conventional coordinates and the position Q1 of six lower end spherical hinges；
Step S60: when calculating the six-degree-of-freedom parallel robot and applying load, the change in location of the moving platform be and
Attitudes vibration are as follows: △ P=P1-P0, △ R=R1-R0；△ P and △ R are the whole rigid body of the six-degree-of-freedom parallel robot
Deformation；
Step S70: it calculates after applying load, the new position coordinates of six lower end spherical hinges are as follows: Qdnew=Qd0+Q1-
Q0；
Step S80: go out only to be caused by spherical hinge change in location according to the computation of inverse- kinematics of six-degree-of-freedom parallel robot
Moving platform rigid deformation △ Pq and the △ Rq；
Step S90: quantitative to calculate only moving platform rigid deformation the △ Pq and △ as caused by weak link change in location
The ratio of Rq and whole rigid deformation, obtain influence value Kp=△ Pq/ △ P, KR=△ Rq/ △ R.
The beneficial effects of the present invention are: laser tracker can go out six freely after system building finishes with rapid survey
Overall stiffness changing value of the parallel robot when applying load, and the three-dimensional rigid body displacement of available weak link are spent,
And then go out the rigid deformation that only weak link generates by the inverse kinematics of six-degree-of-freedom parallel robot, by quantitative
Weak link is calculated to the influence value of six-degree-of-freedom parallel robot overall stiffness；Structure is simple, and efficiency and precision are high, can
Data support is provided for the research and production of six-degree-of-freedom parallel robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively of the invention；
Fig. 2 is the schematic layout pattern of target ball of the present invention.
Wherein: the basis 1- platform；2- bent plate；3- six-degree-of-freedom parallel robot；32- fixed platform；34- moving platform；4- target ball；
4a- benchmark target ball；4b- weak link target ball；4c- activity target ball；5- carries block；6- laser tracker；7- tripod.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawings and examples.
Refer to attached drawing 1: six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively include six degree of freedom simultaneously
Join robot 3, target ball 4, carry block 5 and laser tracker 6, six-degree-of-freedom parallel robot 3 is by fixed platform 32 and 34 groups of moving platform
At six-degree-of-freedom parallel robot 3 is six branch parallel institutions, and six branch parallel institutions are that six branch both ends are connected to
On fixed platform 32 and moving platform 34, carries block 5 and be fixed by screws on moving platform 34, fixed platform 32,32 lower end flexural pivot of fixed platform
Six movement positions and moving platform 34 of chain are successively arranged benchmark position, weak part and moving part, and lower end spherical hinge refers to
The spherical hinge being connect with fixed platform 32；The evenly distributed lopping of target ball 4 is separately fixed at benchmark position, weak part and movable part
Position, laser tracker 6 measure the position of target ball 4.With weight and mass center and the comparable quality of block 5 can also be carried at the test condition
Block replaces, and laser tracker 6 is used to test the corresponding position coordinate of target ball 4, and laser tracker can go out six freely with rapid survey
Spend overall stiffness changing value of the parallel robot when applying load.
It further include basic platform 1, bent plate 2 and tripod 7, six-degree-of-freedom parallel robot 3 is connect by screw with bent plate 2,
Bent plate 2 is fixed by screws on basic platform 1, and bent plate 2 needs sufficiently high rigidity, it is desirable that fundamental frequency is at least tested six degree of freedom
Three times of parallel robot 3, laser tracker 6 is erected on tripod 7, and tripod 7 is fixed on basic platform 1.
Further, every branch is respectively typed ball bearing pair, sliding pair, flexural pivot from fixed platform 32 to the kinematic pair of moving platform 34
It is secondary.
Refer to attached drawing 2: it is three groups that target ball 4, which is divided, respectively includes benchmark target ball 4a, weak link target ball 4b, moving platform target
Ball 4c, the weak link of the device rigidity are the spherical hinge connecting with fixed platform 32.
According to function needs, at least three target ball of benchmark target ball 4a is fixed on benchmark position, as tested six degree of freedom
The benchmark of parallel robot 3.
Further, at least three target ball of activity target ball 4c, is fixed in moving part, for being fitted the position of moving platform 34
It sets and posture.
Further, at least six target ball of weak link target ball 4b, is located on weak part, for testing lower end spherical hinge
Position.
Further, the frame of reference { B } is established in the center of benchmark target ball 4a；In the center activity target ball 4c
Establish moving platform coordinate system { D0 }.Benchmark target ball 4a and activity target ball 4c are separately positioned on benchmark position and moving part, make to build
The coordinate overlapping of axles of the corresponding coordinate system of the coordinate system and geometrical model of standing, the distance between coordinate origin are known quantity, this
The coordinate system that sample can use foundation target ball to set up determines the initial position co-ordinates of 12 spherical hinges.
It makes explanations in conjunction with the preferred implementation step in the present invention to the present invention, is based on six-degree-of-freedom parallel robot rigidity
The test method of weak link apparatus for quantitatively, includes the following steps:
Step S10: by target ball 4 be separately fixed at moving part, the weak part of tested six-degree-of-freedom parallel robot 3 with
And on benchmark position.
Step S20: using benchmark target ball 4a of 6 test setting of laser tracker on benchmark position, three targets are calculated
The position of ball center is established the frame of reference { B }, and the initial position co-ordinates of six lower end spherical hinges are calculated according to geometrical model
The initial position co-ordinates Qu0 of Qd0 and six upper end spherical hinge.Upper end spherical hinge refers to the spherical hinge connecting with moving platform 34.
Step S30: using activity target ball 4c of 6 test setting of laser tracker in moving part, three targets are calculated
Moving platform coordinate system { D0 } is established in the position of ball center, calculates 34 phase of moving platform under 3 original state of six-degree-of-freedom parallel device
For the position P0 and posture R0 of the frame of reference.
Step S40: using weak link target ball 4b of 6 test setting of laser tracker on weak part, six are calculated
The position at a target ball center calculates the position Q0 of the lower six lower end spherical hinges of 3 original state of six-degree-of-freedom parallel robot.
Step S50: adding loading blocks 5 on the moving platform 34 of six-degree-of-freedom parallel robot 3, generates the moving platform 34
Rigid deformation, six targets for retesting three target balls being arranged on moving platform 34 after stablizing and being arranged on the spherical hinge of lower end
The sphere center position of ball obtains position of the moving platform 34 relative to the frame of reference in the loaded state of six-degree-of-freedom parallel robot 3
Set the position Q1 of P1 and posture R1 and six lower end spherical hinges.
Step S60: when calculating six-degree-of-freedom parallel robot 3 and applying load, the change in location of moving platform 34 is and posture
Variation are as follows: △ P=P1-P0, △ R=R1-R0；△ P and △ R are the whole rigid deformation of six-degree-of-freedom parallel robot 3.
Step S70: it calculates after applying load, the new position coordinates of six lower end spherical hinges are as follows: Qdnew=Qd0+Q1-
Q0。
Step S80: go out only to be caused by spherical hinge change in location according to the computation of inverse- kinematics of six-degree-of-freedom parallel robot 3
34 rigid deformation △ Pq and △ Rq of moving platform.
Method particularly includes: assuming that only 34 rigid deformation of moving platform as caused by spherical hinge change in location is △ Pq and △ Rq,
There are three components for each amount, introduce six unknown quantitys altogether, can be in the hope of the transformation matrix T of moving platform 34, so by this six amounts
The new coordinate value of upper end spherical hinge when obtaining applying loading blocks 5 afterwards are as follows: Qunew=T Qu0.According to the flexural pivot at every branch both ends
The constraint condition of a length of definite value of bar between chain, establishes six equations, solves only to move as caused by spherical hinge change in location and put down
34 rigid deformation △ Pq and △ Rq of platform.
Step S90: quantitative to calculate only 34 rigid deformation △ Pq and the △ Rq of moving platform as caused by weak link change in location
With the ratio of whole rigid deformation, influence value Kp=△ Pq/ △ P, KR=△ Rq/ △ R is obtained.
During actual test: system building finishes, and according to function needs, sets at least three on fixed platform 32 respectively
It is set in a target ball, moving platform 34 and sets at least six target balls on the movement position of at least three target balls and six lower end spherical hinges, it is fixed
The position of target ball on platform 32 and moving platform 34 needs to be arranged on benchmark position and moving part, makes the coordinate system set up
With the coordinate overlapping of axles of the corresponding coordinate system of geometrical model, the distance between coordinate origin is known quantity, can be used in this way
The coordinate system that foundation target ball is set up determines the initial position co-ordinates of 12 spherical hinges.Laser tracker 6 can be surveyed quickly
Measure overall stiffness changing value of the six-degree-of-freedom parallel robot 3 when applying load, and the three of available weak link
Rigid body displacement is tieed up, and then goes out the rigid body that only weak link generates by the inverse kinematics of six-degree-of-freedom parallel robot 3
Deformation, by the way that weak link is quantitatively calculated to the influence value of 3 overall stiffness of six-degree-of-freedom parallel robot.This quantitative test
Apparatus structure is simple, and efficiency and precision are high, and data support can be provided for the research and production of six-degree-of-freedom parallel robot.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
The above description is only an example of the present application, is not intended to limit this application.For those skilled in the art
For, various changes and changes are possible in this application.All any modifications made within the spirit and principles of the present application are equal
Replacement, improvement etc., should be included within the scope of the claims of this application.
Claims (10)
1. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively, including six-degree-of-freedom parallel robot (3), target
Ball (4) carries block (5) and laser tracker (6), it is characterised in that: the six-degree-of-freedom parallel robot (3) includes fixed platform
(32) with moving platform (34), the six-degree-of-freedom parallel robot (3) is six branch parallel institutions, the six branches parallel institution
It is connected on the fixed platform (32) and the moving platform (34) for six branch both ends, the load block (5) passes through screw
Be fixed on the moving platform (34), the fixed platform (32), the fixed platform (32) six movement positions of lower end spherical hinge
And the moving platform (34) is successively arranged benchmark position, weak part and moving part, the evenly distributed lopping of the target ball (4) point
It is not fixed on the benchmark position, the weak part and the moving part, the laser tracker (6) measures target ball (4)
Position.
2. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as described in claim 1, which is characterized in that
Further include basic platform (1), bent plate (2) and tripod (7), the six-degree-of-freedom parallel robot (3) by screw with it is described curved
Plate (2) connection, the bent plate (2) are fixed by screws on the basic platform (1), and the laser tracker (6) is erected at institute
It states on tripod (7), the tripod (7) is fixed on the basic platform (1).
3. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as described in claim 1, which is characterized in that
The kinematic pair of every branch from the fixed platform (32) to the moving platform (34) is respectively typed ball bearing pair, sliding pair, typed ball bearing pair.
4. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as described in claim 1, it is characterised in that:
The target ball (4) is divided into three groups, respectively includes benchmark target ball (4a), activity target ball (4c) and weak link target ball (4b).
5. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as claimed in claim 4, which is characterized in that
At least three target ball of benchmark target ball (4a), is fixed on the benchmark position.
6. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as claimed in claim 4, which is characterized in that
At least three target ball of activity target ball (4c), is fixed in the moving part.
7. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as claimed in claim 4, which is characterized in that
At least six target ball of weak link target ball (4b), is fixed on the weak part.
8. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as claimed in claim 5, which is characterized in that
The frame of reference { B } is established in the center of the benchmark target ball (4a).
9. six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as claimed in claim 6, which is characterized in that
Moving platform coordinate system { D0 } is established in activity target ball (4c) center.
10. the survey of the six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively as described in claim 1~9 is any
Method for testing, which comprises the steps of:
Step S10: by target ball (4) be separately fixed at benchmark position, the moving part of tested six-degree-of-freedom parallel robot (3) with
And on weak part；
Step S20: benchmark target ball (4a) of laser tracker (6) test setting on the benchmark position is used, calculates three
The position at a target ball center is established the frame of reference { B }, and the initial position of six lower end spherical hinges is calculated according to geometrical model
The initial position co-ordinates Qu0 of coordinate Qd0 and six upper end spherical hinges；
Step S30: it using activity target ball (4c) of the laser tracker (6) test setting in the moving part, calculates
Moving platform coordinate system { D0 } is established in the position at three target ball centers out, calculates six-degree-of-freedom parallel device (3) initial shape
Position P0 and posture R0 of the moving platform (34) relative to the frame of reference under state；
Step S40: using weak link target ball (4b) of the laser tracker (6) test setting on the weak part,
The position for calculating six target ball centers calculates the lower six lower end balls of the six-degree-of-freedom parallel robot (3) original state
The position Q0 of hinge；
Step S50: adding loading blocks (5) on the moving platform (34) of the six-degree-of-freedom parallel robot (3), makes described dynamic
Platform (34) generates rigid deformation, and the ball of the activity target ball (4c) and the weak link target ball (4b) is retested after stablizing
Heart position, obtain the six-degree-of-freedom parallel robot (3) in the loaded state the moving platform (34) relative to reference coordinate
The position P1 and posture R1 of system and the position Q1 of six lower end spherical hinges；
Step S60: when calculating the six-degree-of-freedom parallel robot (3) application load, the change in location of the moving platform (34)
For and attitudes vibration are as follows: △ P=P1-P0, △ R=R1-R0；△ P and △ R are the six-degree-of-freedom parallel robot (3)
Whole rigid deformation；
Step S70: it calculates after applying load, the new position coordinates of six lower end spherical hinges are as follows: Qdnew=Qd0+Q1-Q0；
Step S80: gone out only as caused by spherical hinge change in location according to the computation of inverse- kinematics of six-degree-of-freedom parallel robot (3)
Moving platform (34) rigid deformation △ Pq and the △ Rq；
Step S90: quantitative to calculate only moving platform (34) rigid deformation the △ Pq and △ as caused by weak link change in location
The ratio of Rq and whole rigid deformation, obtain influence value Kp=△ Pq/ △ P, KR=△ Rq/ △ R.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811617834.1A CN109551521B (en) | 2018-12-28 | 2018-12-28 | Six-degree-of-freedom parallel robot rigidity weak link quantitative testing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811617834.1A CN109551521B (en) | 2018-12-28 | 2018-12-28 | Six-degree-of-freedom parallel robot rigidity weak link quantitative testing device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109551521A true CN109551521A (en) | 2019-04-02 |
| CN109551521B CN109551521B (en) | 2020-11-03 |
Family
ID=65871640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811617834.1A Active CN109551521B (en) | 2018-12-28 | 2018-12-28 | Six-degree-of-freedom parallel robot rigidity weak link quantitative testing device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109551521B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110553833A (en) * | 2019-10-22 | 2019-12-10 | 北京无线电测量研究所 | Structural member deformation simulation device and method |
| CN110595359A (en) * | 2019-09-19 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Online precision detection equipment for ball hinge |
| CN110757508A (en) * | 2019-10-31 | 2020-02-07 | 中国科学院长春光学精密机械与物理研究所 | Device and method for measuring axial rigidity of rotary joint of robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101344383A (en) * | 2008-09-01 | 2009-01-14 | 扬州大学 | Laser amplifying measurement method for bending structure deformation |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN102628728A (en) * | 2012-04-12 | 2012-08-08 | 中国工程物理研究院激光聚变研究中心 | Spatial six-degree-of-freedom vibration measuring and damping vibration attenuating method |
| CN102662327A (en) * | 2012-05-18 | 2012-09-12 | 哈尔滨工业大学 | Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism |
| CN103257050A (en) * | 2013-03-27 | 2013-08-21 | 清华大学 | Three-directional static rigidity synchronous testing system for machine tool |
| CN103278320A (en) * | 2013-05-31 | 2013-09-04 | 清华大学 | Non-contact detecting system of running dynamic stiffness of machine tool spindle |
| US9157723B2 (en) * | 2009-01-30 | 2015-10-13 | Axiam, Inc. | Absolute diameter measurement arm |
| CN106043736A (en) * | 2016-06-12 | 2016-10-26 | 西北工业大学 | Series-parallel connection mechanical structure for posture adjustment of components of airplane and posture adjusting method |
| CN106226011A (en) * | 2016-07-12 | 2016-12-14 | 南京理工大学 | A kind of device testing parallel institution torsional rigidity |
| CN107284699A (en) * | 2017-06-19 | 2017-10-24 | 北京航天发射技术研究所 | A kind of carrier rocket, which adds, lets out connector automatic butt control system |
-
2018
- 2018-12-28 CN CN201811617834.1A patent/CN109551521B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101344383A (en) * | 2008-09-01 | 2009-01-14 | 扬州大学 | Laser amplifying measurement method for bending structure deformation |
| US9157723B2 (en) * | 2009-01-30 | 2015-10-13 | Axiam, Inc. | Absolute diameter measurement arm |
| CN101907893A (en) * | 2010-07-02 | 2010-12-08 | 北京航空航天大学 | Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method |
| CN102628728A (en) * | 2012-04-12 | 2012-08-08 | 中国工程物理研究院激光聚变研究中心 | Spatial six-degree-of-freedom vibration measuring and damping vibration attenuating method |
| CN102662327A (en) * | 2012-05-18 | 2012-09-12 | 哈尔滨工业大学 | Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism |
| CN103257050A (en) * | 2013-03-27 | 2013-08-21 | 清华大学 | Three-directional static rigidity synchronous testing system for machine tool |
| CN103278320A (en) * | 2013-05-31 | 2013-09-04 | 清华大学 | Non-contact detecting system of running dynamic stiffness of machine tool spindle |
| CN106043736A (en) * | 2016-06-12 | 2016-10-26 | 西北工业大学 | Series-parallel connection mechanical structure for posture adjustment of components of airplane and posture adjusting method |
| CN106226011A (en) * | 2016-07-12 | 2016-12-14 | 南京理工大学 | A kind of device testing parallel institution torsional rigidity |
| CN107284699A (en) * | 2017-06-19 | 2017-10-24 | 北京航天发射技术研究所 | A kind of carrier rocket, which adds, lets out connector automatic butt control system |
Non-Patent Citations (1)
| Title |
|---|
| 王瀚、曹小涛等: ""空间相机次镜调整机构的改进布谷鸟标定方法"", 《红外与激光工程》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110595359A (en) * | 2019-09-19 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Online precision detection equipment for ball hinge |
| CN110553833A (en) * | 2019-10-22 | 2019-12-10 | 北京无线电测量研究所 | Structural member deformation simulation device and method |
| CN110553833B (en) * | 2019-10-22 | 2021-08-03 | 北京无线电测量研究所 | Structural member deformation simulation device and method |
| CN110757508A (en) * | 2019-10-31 | 2020-02-07 | 中国科学院长春光学精密机械与物理研究所 | Device and method for measuring axial rigidity of rotary joint of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109551521B (en) | 2020-11-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106043736B (en) | A kind of series-parallel connection mechanical structure and attitude-adjusting method for aircraft component attitude adjusting | |
| US8315822B2 (en) | Force measurement system having inertial compensation | |
| CN109551521A (en) | Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively and method | |
| CN104655167B (en) | Calibration method of angle encoder eccentricity and structure parameters of joint coordinate measuring machine | |
| CN106625774B (en) | A kind of space manipulator geometrical parameter calibration method | |
| Nubiola et al. | A new method for measuring a large set of poses with a single telescoping ballbar | |
| CN105526848B (en) | A kind of posture aided measurement device and measurement method | |
| JP2019214930A (en) | Analysis method for obtaining change of stress in tunnel lining through amount of displacement, and apparatus and system therefor | |
| Tian et al. | Determination of optimal samples for robot calibration based on error similarity | |
| CN104655063A (en) | High-accuracy calibration method of joint coordinate measuring machine | |
| CN103558079A (en) | Multi-degree-of-freedom loading method based on parallel mechanism driving force closed loop | |
| CN102654387A (en) | Online industrial robot calibration device based on spatial curved surface restraint | |
| CN112340071A (en) | Large-scale heavy-load air floatation suspension expansion test device and test method | |
| CN110243452A (en) | A kind of electronic balance automatic calibrator | |
| CN109443273A (en) | Pinpoint method is carried out to workpiece for measurement using three-dimension measuring system | |
| CN103862327A (en) | Ball joint center position detecting method | |
| Du et al. | A self-adaptive alignment strategy for large components based on dynamic compliance center | |
| RU2445592C1 (en) | Method of checking quality of operation of stand for determining mass-balancing and mass-inertia characteristics of solid body of rotation | |
| Jokiel Jr et al. | Uncertainty propagation in calibration of parallel kinematic machines | |
| Li et al. | Measurement method of aircraft barycenter based on multi posture | |
| KR100915606B1 (en) | Method for building a human body model for human motion analysis | |
| US5533380A (en) | Automatic force balance calibration system | |
| Shi et al. | Methods to improve the dimensional measurement accuracy of a motion tracking system | |
| CN106596057A (en) | Surface shape inspection method of large-aperture reflector assembly | |
| CN114754672B (en) | Method for determining coordinate conversion relation between robot and measuring instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |