CN106625608A - Experimental platform of single-degree-of-freedom flexible arm - Google Patents
Experimental platform of single-degree-of-freedom flexible arm Download PDFInfo
- Publication number
- CN106625608A CN106625608A CN201710050938.8A CN201710050938A CN106625608A CN 106625608 A CN106625608 A CN 106625608A CN 201710050938 A CN201710050938 A CN 201710050938A CN 106625608 A CN106625608 A CN 106625608A
- Authority
- CN
- China
- Prior art keywords
- joint
- arm
- pedestal
- flexible arm
- connecting rod
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention discloses an experimental platform of a single-degree-of-freedom flexible arm and belongs to the technical field of experimental verification platforms. The experimental platform comprises a base, a joint and an arm body. The base is mounted at the bottom. The joint and the arm body are connected to form a mechanical arm. The joint is located above the base and internally provided with a stepping motor. A driver and a signal generator are arranged outside the joint. The signal generator is connected with the diver. The driver is connected with the stepping motor. The flexible arm is connected to the tail end of the joint for experiments. The joint and the arm body are arranged on the base to form the mechanical arm, and the driver and the signal generator are arranged outside the joint, so that driving force required by the flexible arm under different working conditions is provided.
Description
Technical field
The invention belongs to experimental verification platform technology field, is related to the experiment direction of single-freedom and flexible mechanical arm, specifically
It is related to a kind of experiment porch of single-freedom and flexible arm.
Background technology
The flexibility of flexible mechanical arm mostlys come from the elastic deformation of bar and joint elasticity deforms two aspects.Whether connect
The deformation in bar or joint all can bring static and dynamic deformation to the end of mechanical arm, there is certain error.Work as machinery
Arm causes together in load conditions each connecting rod of mechanical arm and joint deformation, and these deformation meetings occur with dead weight
Progressively add up, the end for finally focusing on mechanical arm forms this static distortion inaccuracy of terminal position error in serial machine arm
Middle performance becomes apparent from.Shake caused by connecting rod and joint deformity and bring impact to the dynamic property of mechanical arm, form dynamic and become
Shape error.As can be seen here, connecting rod brings very big shadow with the deformation that joint causes to the control accuracy and dynamic property of mechanical arm
Ring.
The deformation that connecting rod is produced relatively low causes mainly due to the rigidity of mechanical arm system structure.The kinetic energy and potential energy of connecting rod
Interaction defines the flexibility of connecting rod.Especially connecting rod is longer, flexible more obvious.Stretching, bending and the distortion of connecting rod is led
The mechanical arm flexibility of cause is mainly shown as vibrations and Bending Deformation, so as to increased the control difficulty of mechanical arm.
The content of the invention
According to above the deficiencies in the prior art, the technical problem to be solved is to propose a kind of single-freedom and flexible
The experiment porch of arm, by arranging joint and arm on pedestal mechanical arm is constituted, and driver and signal are provided with outside joint
Generator, solves the driving force needed for the different operating modes of flexible arm.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is：A kind of experiment of single-freedom and flexible arm
Platform, the experiment porch of the single-freedom and flexible arm includes pedestal, joint and arm, and pedestal is arranged on bottom, joint and handss
Arm is connected to form mechanical arm, and joint is located at pedestal top, and intraarticular is provided with motor, and joint is externally provided with driver and signal is sent out
Raw device, signal generator connection driver, driver connection stepping motor, joint end connection flexible arm is tested.
In said apparatus, the experiment porch also includes interior axle, bearing, key, outer spindle, bearing (ball) cover, the first bolt, pad
Piece, the second bolt and connecting rod, motor is bolted on pedestal by second, and the output shaft of motor is connected with bond structure
Outer spindle is connect, outer spindle is coordinated with interior axle, fixed by the first bolt connection, and the outer ring of interior axle is used for and axle with the inner ring of pedestal
Cooperation is held, bearing (ball) cover is connected with pedestal, outer spindle is connected by pad with the location hole of pedestal, and connecting rod is connected to outer spindle
On, connecting rod is flexible arm.The connecting rod is removable experiment connecting rod.Stepper motor driving circuit is provided with driver.
Present invention has the advantages that:The present invention provides a kind of experiment porch of single-freedom and flexible arm, installs on pedestal
Joint and arm constitute mechanical arm, arrange driving means and signal generator, can simulate various working to carry out experimentation, can
By adjusting driving situation of the driving means come analog mechanical arm in real work, and can quick-replaceable is not in outer spindle
The suggestion flexible arm of same specification and size, apparatus structure is simply easily modified.
Description of the drawings
The labelling in the content and figure expressed by this specification accompanying drawing is briefly described below：
Fig. 1 is the configuration picture of the single-freedom and flexible mechanical arm of the specific embodiment of the present invention.
Fig. 2 is the structural representation of the single-freedom and flexible mechanical arm of the specific embodiment of the present invention.
Fig. 3 is the experiment porch driving principle figure of the specific embodiment of the present invention.
Fig. 4 is the drive circuit schematic diagram of the specific embodiment of the present invention.
In figure：1- motors, 2- pedestals, 3- interior axles, 4- bearings, 5- keys, the outer spindles of 6-, 7- bearing (ball) covers, 8- first
Bolt, 9- pads, the bolts of 10- second, 11- connecting rods.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, for example involved each component of specific embodiment of the invention
Shape, the mutual alignment between construction, each several part and annexation, the effect of each several part and operation principle, manufacturing process and
Operate with method etc., is described in further detail, to help inventive concept, technology of the those skilled in the art to the present invention
Scheme has more complete, accurate and deep understanding.
As Figure 1-4, a kind of experiment porch of single-freedom and flexible arm, including pedestal 2, joint and arm, pedestal 2 is pacified
Bottom is mounted in, joint and arm are connected to form mechanical arm, and joint is located at pedestal top, and intraarticular is provided with motor 1, outside joint
It is provided with driver and signal generator, signal generator connection driver, driver connection motor 1, the connection of joint end
Flexible arm is tested.
Experiment porch also includes interior axle 3, bearing, key 5, outer spindle 6, bearing (ball) cover 7, the first bolt 8, pad 9, the second spiral shell
Bolt 10 and connecting rod 11, motor 1 is fixed on the base 2 by the second bolt 10, the output shaft structure of key 5 of motor 1
The outer spindle 6 of connection, outer spindle 6 is coordinated with interior axle 3, is connected by the first bolt 8, the outer ring of interior axle 3 and the inner ring of pedestal 2
For coordinating with bearing 4, bearing (ball) cover 7 is connected with pedestal 2, and outer spindle 6 is connected by pad 9 with the location hole of pedestal 2, connecting rod
11 are connected in outer spindle 6, and connecting rod 11 is flexible arm, and connecting rod is removable experiment connecting rod, replace flexible arm, set in driver
There are stepper motor driving circuit, drive stepping motor operating.In drive circuit, the timing circuit connection of 555 chips composition
74LS1618 enumerators, 74LS1618 connects the 74LS138 decoders of two parallel connections, and the 74LS138 decoders of two parallel connections connect
Selecting switch S1 is connected to, the multiple key switches in parallel of 74LS138 decoders connection, each key switch is connected with
74LS08 transistors, transistor is connected to metal-oxide-semiconductor, and the drain electrode of metal-oxide-semiconductor connects resistance, inductance and the diode of series connection.
It is single-degree-of-freedom cradle head the invention belongs to test test platform.In single-degree-of-freedom mechanical arm, pedestal is mainly right
Mechanical arm is played and supported and fixed effect；Joint is located at pedestal top, mainly drives comprising motor, driver etc. and passes
Dynamic device, to arm motion kinetic energy is provided；Arm is connected with joint, by step motor drive cradle head by end effector
(i.e. connecting rod 11) is transported to specified location.
Motor provides power resources as the drive system of flexible joint mechanical arm for mechanical armed lever, therefore to step
The selection of stepper motor is critically important, and motor power is excessive or too small all improper.Firstly the need of suffered by consideration joint
The maximum angular rate of maximum moment and articulation, the power needed for so as to calculate motor.
In order to estimate the torque that joint needs, it is assumed that the weight of joint and connecting rod is concentrated on respectively in joint and connecting rod
The heart, torque, power below to joint etc. are calculated.Because joint is produced by armed lever gravity with end effector (load)
Raw gravitational moment and acceleration moment of torsion.The calculating process of joint torque is as follows, and wherein L=0.2m is joint to mechanical arm
The distance of barycenter.
T=(0.4+2.5) × 10 × 0.2 × 1.2=6.96 (NM)
Because the calculating process of joint torque does not account for kinetic part, and the centroid position of joint and mechanical armed lever
There is certain error with the estimation of weight, therefore the torque in actual type selecting should be bigger than the torque for calculating by 20% or so.
The rotating speed for requiring joint is 30 degrees seconds, i.e.,
According to power=torque × angular velocity, can obtain
P1=T1 × n1=3.64W
Here, from motor, in order to stable operation, load torque typically can only be maximum static torque
30%～50%.Here 30% is taken, can obtain required motor maximum static torque is
P=6.96/0.3=23.2Nm
From Guangzhou Ping Chuan mechanical ＆ electronic equipment corporation, Ltds provide 130BYG350DH-0602 type motors, and from
The SH-32206 step actuators of this motor adaptation.The specific supplemental characteristic of motor is as shown in table 1 below.
Table 1：
Typically motor is directly connected to free mechanism, motor can provide any driving of required scope
Power, so its structure disclosure satisfy that particular experiment, so as to meet the motion of mechanical arm.
Overall single connecting rod mechanical arm system is that then drive stepping motor is used as mechanical arm by computer controls driver
The drive system in joint, the flexible mechanical arm of selection is long thin-slab structure, to ensure the flexibility of structure.With the length of carbon fibre material
It is experimental subject that thin plate replaces flexible mechanical arm.By being sensed based on PZT with verifying to the thin plate vibration measurement and inhibition analysiss
The effectiveness of device and control policy of driver.Flexible link parameter is as shown in table 2 below.
Table 2：
| Sequence | Parameter | Unit | Numerical value |
| 1 | Long (L) | mm | 400 |
| 2 | Width (Wb) | mm | 40 |
| 3 | Height (hb) | mm | 1.2 |
| 4 | Density (ρ) | kg/m3 | 1700 |
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the present invention is implemented and do not receive aforesaid way
Restriction, as long as employing the improvement of various unsubstantialities that method of the present invention design and technical scheme are carried out, or without changing
Enter and the design of the present invention and technical scheme are directly applied to into other occasions, within protection scope of the present invention.This
The protection domain that bright protection domain should be limited by claims is defined.
Claims (4)
1. a kind of experiment porch of single-freedom and flexible arm, it is characterised in that the experiment porch bag of the single-freedom and flexible arm
Pedestal (2), joint and arm are included, pedestal is arranged on bottom, and joint and arm are connected to form mechanical arm, and joint is located on pedestal
Side, intraarticular is provided with motor (1), and joint is externally provided with driver and signal generator, signal generator connection driver, driver
Connection stepping motor, joint end connection flexible arm is tested.
2. the experiment porch of single-freedom and flexible arm according to claim 1, it is characterised in that the experiment porch is also wrapped
Include interior axle (3), bearing (4), key (5), outer spindle (6), bearing (ball) cover (7), the first bolt (8), pad (9), the second bolt
(10) and connecting rod (11), motor (1) is fixed on pedestal (2) by the second bolt (10), the output shaft of motor (1)
Connect outer spindle (6) with key (5) structure, outer spindle (6) is coordinated with interior axle (3), is connected by the first bolt (8), interior axle
(3) outer ring is used for coordinating with bearing (4) with the inner ring of pedestal (2), and bearing (ball) cover (7) is connected with pedestal (2), outer spindle (6)
It is connected with the location hole of pedestal (2) by pad (9), connecting rod (11) is connected in outer spindle (6), connecting rod (11) is flexible arm.
3. the experiment porch of single-freedom and flexible arm according to claim 1, it is characterised in that the connecting rod (11) is can
The experiment connecting rod of replacing.
4. the experiment porch of single-freedom and flexible arm according to claim 1, it is characterised in that be provided with the driver
Stepper motor driving circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050938.8A CN106625608B (en) | 2017-01-20 | 2017-01-20 | Experimental platform of single-degree-of-freedom flexible arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710050938.8A CN106625608B (en) | 2017-01-20 | 2017-01-20 | Experimental platform of single-degree-of-freedom flexible arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106625608A true CN106625608A (en) | 2017-05-10 |
| CN106625608B CN106625608B (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710050938.8A Active CN106625608B (en) | 2017-01-20 | 2017-01-20 | Experimental platform of single-degree-of-freedom flexible arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303315A (en) * | 2011-08-22 | 2012-01-04 | 华南理工大学 | Device for pneumatically driving two free flexible mechanical arms and method for controlling device |
| CN103722563A (en) * | 2013-12-24 | 2014-04-16 | 北京工业大学 | Planar two-degree-of-freedom flexible parallel mechanical arm |
| WO2015108600A2 (en) * | 2013-10-28 | 2015-07-23 | Creative Engineering, Llc | Headwear support device |
| CN206519943U (en) * | 2017-01-20 | 2017-09-26 | 安徽工程大学 | The experiment porch of single-freedom and flexible arm |
-
2017
- 2017-01-20 CN CN201710050938.8A patent/CN106625608B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303315A (en) * | 2011-08-22 | 2012-01-04 | 华南理工大学 | Device for pneumatically driving two free flexible mechanical arms and method for controlling device |
| WO2015108600A2 (en) * | 2013-10-28 | 2015-07-23 | Creative Engineering, Llc | Headwear support device |
| CN103722563A (en) * | 2013-12-24 | 2014-04-16 | 北京工业大学 | Planar two-degree-of-freedom flexible parallel mechanical arm |
| CN206519943U (en) * | 2017-01-20 | 2017-09-26 | 安徽工程大学 | The experiment porch of single-freedom and flexible arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107336222A (en) * | 2017-08-10 | 2017-11-10 | 北京山思跃立科技有限公司 | A kind of drive circuit board for apery mechanical arm |
| CN107336222B (en) * | 2017-08-10 | 2024-02-13 | 前元运立(北京)机器人智能科技有限公司 | Driving circuit board for humanoid mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106625608B (en) | 2023-06-23 |
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