CN111855183A - Multi-degree-of-freedom motion branched chain resolution testing platform and testing method - Google Patents
Multi-degree-of-freedom motion branched chain resolution testing platform and testing method Download PDFInfo
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- CN111855183A CN111855183A CN202010742668.9A CN202010742668A CN111855183A CN 111855183 A CN111855183 A CN 111855183A CN 202010742668 A CN202010742668 A CN 202010742668A CN 111855183 A CN111855183 A CN 111855183A
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- G—PHYSICS
- G01—MEASURING; TESTING
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- G01M13/00—Testing of machine parts
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a multi-degree-of-freedom motion branched chain resolution test platform and a test method, belongs to the technical field of machinery, and can directly measure the radial run-out error of a bearing positioned in a motion branched chain and the resolution of the motion branched chain of the multi-degree-of-freedom motion platform. The method comprises the following steps: a laser displacement meter; a fixing device; a straight beam type flexible hinge connected to the fixing device; the movable platform is fixedly connected with the straight beam type flexible hinge; the upper end of the linear driving assembly is connected with the lower end face of the movable platform through a flexible spherical hinge, and the lower end of the linear driving assembly is connected with the fixing device through a hook hinge; the laser displacement meter is placed above the movable platform; the fixing device is provided with five fixing points which are symmetrically distributed; the straight beam type flexible hinge and the movable platform are integrally processed and formed, and the straight beam type flexible hinge is connected with the fixing device through a ball screw and a spring; and the hook hinges are respectively connected with the fixing device and the movable platform through screws.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a multi-degree-of-freedom motion branched chain resolution testing platform and a testing method.
Background
The multi-degree-of-freedom motion branched chain is a main component of a plurality of parallel motion mechanisms including a 6-degree-of-freedom motion platform, and the precision requirement on the motion platform is higher and higher along with the increasingly wide application of the multi-degree-of-freedom parallel motion mechanisms in the fields of vehicles, medical treatment, aviation and the like. Because the displacement output precision of the existing high-precision motor is relatively high, the error of the multi-degree-of-freedom parallel motion mechanism mainly comes from the multi-degree-of-freedom shafting design of a hooke hinge at the joint of a motion branched chain and a table top. Due to the special structural limitation of the Hooke hinge, the traditional shafting error measurement method is useless for testing the motion precision of the Hooke hinge, so that at present, no special research related to the motion branched chains of the multi-degree-of-freedom mechanism and the motion precision of the Hooke hinge exists in China, and the multi-degree-of-freedom motion mechanism precision mainly depends on the motion precision of each motion branched chain, so that in the design and research process of the multi-degree-of-freedom motion mechanism, the motion branched chain needs to be firstly subjected to system research
The flexible motion mechanism is different from the traditional rigid motion mechanism, and the motion of the flexible motion mechanism has the characteristic of continuity, so that the flexible motion mechanism has the characteristic of infinitesimal motion resolution.
Disclosure of Invention
The invention mainly aims to provide a multi-degree-of-freedom motion branched chain resolution test platform and a test method, which can directly measure the motion precision of a multi-degree-of-freedom motion branched chain of a motion platform. The test platform is simple and compact in structure, and the test method is efficient and accurate.
In order to achieve the purpose, the invention adopts the technical scheme that: a multi-degree-of-freedom motion branched chain resolution test platform comprises: a laser displacement meter; a fixing device; a straight beam type flexible hinge connected to the fixing device; the movable platform is fixedly connected with the straight beam type flexible hinge; the linear driving assembly is arranged between the fixing device and the movable platform; the upper end of the linear driving assembly is connected with the lower end face of the movable platform through a flexible spherical hinge, and the lower end of the linear driving assembly is connected with the fixing device through a Hooke hinge; the number of the straight beam type flexible hinges is four, and the straight beam type flexible hinges are symmetrically and uniformly distributed by taking the movable platform as a center; the laser displacement meter is placed above the movable platform, and the test point is the central point of the movable platform; the fixing device is provided with five fixing points which are symmetrically distributed, and four threaded holes are uniformly distributed on each fixing point; the straight beam type flexible hinge and the movable platform are integrally processed and formed; the upper end face of the fixing device is provided with a spherical counter bore, a ball head screw penetrates through the straight beam type flexible hinge, a ball head is arranged in the counter bore to play a role in adjusting the connecting position, and a spring is arranged between the fixing device and the flexible hinge to connect the fixing device and the flexible hinge; a flexible spherical hinge support is arranged at the center of the lower end face of the movable platform; and the hook joint is respectively connected with the upper end surface of the fixing device and the lower end surface of the movable platform through screws.
The adopted flexible spherical hinge structure is in a spherical notch shape, has three degrees of freedom, and can deflect at any angle and direction to meet the installation requirement of five different fixed points.
A multi-degree-of-freedom motion branched chain resolution test method utilizes the multi-degree-of-freedom motion branched chain resolution test platform and is carried out in two steps:
firstly, an input displacement curve is given to a nanoscale calibration linear displacement driver, a linear driving assembly transmits the displacement curve to a movable platform, a laser displacement meter can obtain an output displacement curve of the linear driving assembly by measuring the displacement curves of four symmetrical points on the movable platform, if the displacement curve output by radial runout of a bearing is not smooth, continuous and unique in the motion process of the linear driving assembly, the output displacement curve is not smooth and continuous due to the existence of radial runout errors of the bearing, the displacement of the linear driver is in a nm level, and the error caused by the radial runout of the bearing in a Hooke hinge is in a mum level, so the radial runout errors of the bearing can be easily distinguished through finite element simulation and experimental calibration, and in the whole test process, due to the characteristics that a straight beam type flexible hinge and a flexible spherical hinge have no clearance and no friction, the continuity of output displacement is ensured, and the measuring result has only one variable, namely the radial runout error caused by the bearing in the Hooke joint; the Hooke's joint has two degrees of freedom, and each Hooke's joint has two groups of bearings inside, so the displacement error above two degrees of freedom needs to be measured, so five fixed points are arranged on the fixing device, the center of the fixing device is provided with one fixed point, the other four fixed points are symmetrically and uniformly distributed by taking the middle fixed point as the center, and the displacement measurement with five degrees of freedom is realized, so the measurement requirements of two degrees of freedom of the Hooke's joint are met, the problem of limited measurement range caused by smaller corner of the straight beam type flexible hinge is solved, the measurement range is enlarged, when the linear driving assembly is placed at different fixed positions, the height difference in the vertical direction is reduced, and at the moment, the adjustment can be carried out through the ball head screw on the rotary fixing device;
and secondly, replacing the nanoscale calibration linear displacement driver with a motion branched chain of the multi-degree-of-freedom parallel motion platform to be measured, and measuring the motion resolution of five degrees of freedom of the motion branched chain respectively.
The invention has the beneficial effects that:
(1) the multi-degree-of-freedom motion branched chain resolution test platform and the test method adopt the laser displacement meter to measure the output displacement, the measurement mode is simple, direct and efficient, and the measurement result is accurate and easy to analyze.
(2) The multi-degree-of-freedom motion branched chain resolution test platform adopts the straight beam type flexible hinge, and the hinge has the advantages of no friction, no clearance, high motion precision and the like. And the continuity of the output displacement of the test platform is ensured, and the test result is not influenced.
(3) The fixing device provided by the invention has five fixing points and five measurement degrees of freedom, not only meets the measurement requirements of two degrees of freedom of a Hooke hinge, but also overcomes the defect of limited motion range of the straight beam type flexible hinge, and increases the measurement range.
(4) The flexible spherical hinge has three degrees of freedom, small friction resistance, zero clearance and high precision, ensures the continuity of output displacement and does not influence the test result.
(5) The straight beam type flexible hinge and the fixing device are connected by the ball screw and the spring, the connecting position is adjustable, and the requirement of multi-degree-of-freedom measurement is met.
Drawings
FIG. 1 is a schematic diagram of a multi-degree-of-freedom motion branched-chain resolution test platform and a test method according to the present invention;
FIG. 2 is a schematic view of the distribution of the fixing points of the fixing device of the present invention;
the laser displacement meter comprises a laser displacement meter 1, a movable platform 2, a straight beam type flexible hinge 3, a ball head screw rod 4, a spring 5, a flexible ball hinge 6, a linear driving assembly 7, a hooke hinge 8 and a fixing device 9.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, the multi-degree-of-freedom motion branched-chain resolution test platform of the invention comprises: a laser displacement meter 1; a fixing device 9; a straight beam type flexible hinge 3 connected to the fixing device 9; the movable platform 2 is fixedly connected with the straight beam type flexible hinge 3; the upper end of the linear driving assembly 7 is connected with the lower end face of the movable platform through a flexible spherical hinge 6, and the lower end of the linear driving assembly 7 is connected with the fixing device 9 through a hook hinge 8; the number of the straight beam type flexible hinges 3 is four, and the straight beam type flexible hinges are symmetrically and uniformly distributed by taking the movable platform 2 as a center; the laser displacement meter 1 is placed above the movable platform 2, and the test point is the center point of the movable platform; the fixing device 9 is provided with five fixing points which are symmetrically distributed, and four threaded holes are uniformly distributed on each fixing point; the straight beam type flexible hinge 3 and the movable platform 2 are integrally processed and formed; the upper end face of the fixing device 9 is provided with a spherical counter bore, the ball head screw rod 4 penetrates through the straight beam type flexible hinge, the ball head is arranged in the counter bore to play a role in adjusting the connecting position, and the spring 5 is arranged between the fixing device and the flexible hinge to connect the fixing device and the flexible hinge; a flexible spherical hinge support is arranged at the center of the lower end face of the movable platform 2; and the Hooke joint 8 is respectively connected with the upper end surface of the fixing device 9 and the lower end surface of the movable platform through screws.
The flexible spherical hinge 6 adopted by the invention is in a spherical notch shape, has a simple structure compared with a common spherical hinge, has three degrees of freedom, and can deflect at any angle and direction to meet the installation of five different fixed points.
The working principle of the invention is as follows:
the motion curve of the constraint test platform based on the flexible hinge has unique continuous function characteristics, and the accurate input and output functions of the constraint test platform based on the flexible hinge can be obtained by a method combining finite element simulation and experimental calibration.
The test was carried out in two steps:
1. a nanoscale calibration linear displacement driver is selected, so that the whole test process is guaranteed to be only a variable of radial runout of a bearing in the Hooke's joint, and the error of the Hooke's joint is measured.
2. On the basis of the test structure, the motion branched chain to be tested is used for replacing the nanoscale calibration linear displacement driver, and the motion resolution of five degrees of freedom of the motion branched chain is respectively measured.
Firstly, an input displacement curve is given to the nanoscale calibration linear displacement driver, the linear driving assembly 7 transmits the displacement curve to the movable platform 2, and the laser displacement meter can obtain an output displacement curve of the linear driving assembly 7 by measuring the displacement curves of four symmetrical points on the movable platform through the laser displacement meter 1. In the motion process of the linear driving component 7, if the displacement curve output by the radial run-out of the bearing is not smooth, continuous and unique, the output displacement curve is not smooth and continuous any more due to the existence of the radial run-out error of the bearing, moreover, the displacement of the linear driver is in the nm level, and the error caused by the radial run-out of the bearing in the Hooke joint 8 is in the mum level, so the radial run-out error of the bearing can be easily distinguished through finite element simulation and experimental calibration. In the whole test process, due to the characteristics that the straight beam type flexible hinge 3 and the flexible spherical hinge 6 have no clearance and no friction, the continuity of output displacement is ensured, and the measurement result has only one variable, namely the radial run-out error caused by the bearing in the hooke hinge.
Referring to the attached drawing 2, the Hooke's joint 8 has two degrees of freedom, and each Hooke's joint 8 has two sets of bearings inside, so displacement errors more than two degrees of freedom need to be measured, five fixed points are arranged on the fixing device 9, a fixed point is arranged at the center of the fixing device, and the rest four fixed points are symmetrically and uniformly distributed by taking the middle fixed point as the center, and displacement measurement with five degrees of freedom is realized, so that the measurement requirements of two degrees of freedom of the Hooke's joint are met, the problem that the measurement range is limited due to the fact that the rotation angle of the straight beam type flexible hinge 3 is small is solved, and the measurement range is enlarged. When the linear driving assembly 7 is placed at different fixed positions, the height difference in the vertical direction is reduced, and the adjustment can be performed through the ball head screw 4 on the rotary fixing device 9, so that the ideal height difference is achieved.
And secondly, replacing the nanoscale calibration linear displacement driver with a motion branched chain of the multi-degree-of-freedom parallel motion platform to be tested, and measuring the motion resolution of the motion branched chain to be tested according to the same test method and steps.
Claims (3)
1. A multi freedom motion branch resolution test platform which is characterized in that: the method comprises the following steps: a laser displacement meter (1); a fixing device (9); a straight beam type flexible hinge (3) connected to the fixing device (9); a movable platform (2) fixedly connected with the straight beam type flexible hinge (3); and a linear driving assembly (7) arranged between the fixing device (9) and the movable platform (2); the upper end of the linear driving component (7) is connected with the lower end face of the movable platform through a flexible spherical hinge (6), and the lower end of the linear driving component is connected with a fixing device (9) through a Hooke hinge (8); the number of the straight beam type flexible hinges (3) is four, and the straight beam type flexible hinges are symmetrically and uniformly distributed by taking the movable platform (2) as a center; the laser displacement meter (1) is placed above the movable platform (2), and the test point is the center point of the movable platform; the fixing device (9) is provided with five fixing points which are symmetrically distributed, and four threaded holes are uniformly distributed on each fixing point; the straight beam type flexible hinge (3) and the movable platform (2) are integrally processed and formed; the upper end face of the fixing device (9) is provided with a spherical counter bore, a ball head screw rod (4) penetrates through the straight beam type flexible hinge, a ball head is arranged in the counter bore to play a role in adjusting the connecting position, and a spring (5) is arranged between the fixing device and the flexible hinge to connect the fixing device and the flexible hinge; a flexible spherical hinge support is arranged at the center of the lower end face of the movable platform (2); and the hook joint (8) is respectively connected with the upper end surface of the fixing device (9) and the lower end surface of the movable platform through screws.
2. The multi-degree-of-freedom motion branched-chain resolution testing platform according to claim 1, characterized in that: the adopted flexible ball hinge (6) structure is in a spherical notch shape, has three degrees of freedom, and can deflect at any angle and direction to meet the installation of five different fixed points.
3. A multi-degree-of-freedom motion branched chain resolution test method utilizes the multi-degree-of-freedom motion branched chain resolution test platform of claim 1 or 2, and is characterized in that: the test method is carried out in two steps:
firstly, an input displacement curve is firstly given to a nanoscale calibration linear displacement driver, a linear driving assembly (7) transmits the displacement curve to a movable platform (2), a laser displacement meter (1) can obtain an output displacement curve of the linear driving assembly (7) by measuring the displacement curves of four symmetrical points on the movable platform, if the displacement curve output by the radial runout of a bearing is smooth, continuous and unique in the motion process of the linear driving assembly (7), the output displacement curve is not smooth and continuous due to the radial runout error of the bearing, moreover, the displacement of the linear driving assembly is in a nm level, and the error caused by the radial runout of the bearing in a Hooke hinge (8) is in a mum level, so the radial runout error of the bearing can be easily distinguished through finite element simulation and experimental calibration, and in the whole test process, because the characteristics of no clearance and no friction between a straight beam type flexible hinge (3) and a flexible spherical hinge (6), the continuity of output displacement is ensured, and the measuring result has only one variable, namely the radial runout error caused by the bearing in the Hooke joint; the Hooke's joint (8) has two degrees of freedom, each Hooke's joint (8) has two groups of bearings inside, so need measure the displacement error more than two degrees of freedom, so set up five fixed points on the fixing device (9), the fixing device center has a fixed point, other four fixed points regard middle fixed point as the symmetrical uniform distribution of center, have displacement measurement of five degrees of freedom, not only satisfied the measurement requirement of two degrees of freedom of Hooke's joint, still solved the problem that the measuring range is limited that the corner of the straight beam type flexible hinge (3) is minor and causes, has increased the measuring range, when the straight line driving assembly (7) is placed in different fixed positions, the vertical direction difference in height is reduced, can adjust through the ball screw (4) on the rotary fixture (9) at this moment, in order to reach the ideal difference in height;
and secondly, replacing the nanoscale calibration linear displacement driver with a motion branched chain of the multi-degree-of-freedom parallel motion platform to be measured, and measuring the motion resolution of five degrees of freedom of the motion branched chain respectively.
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Cited By (2)
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| CN113701699A (en) * | 2021-09-01 | 2021-11-26 | 烟台清科嘉机器人联合研究院有限公司 | System convenient for ring type Hooke hinge symmetry degree detection |
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