CN100520324C - Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device - Google Patents
Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device Download PDFInfo
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- CN100520324C CN100520324C CNB2007100671909A CN200710067190A CN100520324C CN 100520324 C CN100520324 C CN 100520324C CN B2007100671909 A CNB2007100671909 A CN B2007100671909A CN 200710067190 A CN200710067190 A CN 200710067190A CN 100520324 C CN100520324 C CN 100520324C
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- 238000012360 testing method Methods 0.000 title claims description 19
- 230000033001 locomotion Effects 0.000 claims description 11
- 210000002435 tendon Anatomy 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000003754 machining Methods 0.000 description 1
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Abstract
The present invention discloses a generalized force and force moment measuring device of the multiple-degree-of-freedom parallel mechanism in a spring structure format. The measuring device includes a multiple-degree-of-freedom parallel mechanism, a transverse spring, a diagonal drawn spring, a fixed external frame and a connection mechanism; the fixed external frame does not move relatively to the base of the parallel mechanism, and the connection mechanism is connected to the moveable platform of the multiple-degree-of-freedom parallel mechanism in a rigid and moveable mode and is connected to the fixed external frame through a plurality of springs. The present invention provides a compact, ideal and succinct measuring device of force and force moment, and the device can be used for measuring the generalized force and force moment of all kinds of multiple-degree-of-freedom platforms and for loading.
Description
Technical field
The present invention relates to power and moment test device, particularly relate to a kind of multiple freedom parallel mechanism generalized force and force moment testing device of spring structure form.
Background technology
Present generalized force and force moment testing device are the six-dimension force sensor test basically.In generalized force and force moment testing device research, the generalized force of Stewart (Stewart) platform structure form commonly used and force moment testing device adopt spherical pair form or elasticity ball pivot, perhaps on its structure, improve, owing to adopt Stewart (Stewart) platform structure form, mechanism's complexity, machining precision and installation accuracy require high, cost an arm and a leg.And generalized force and force moment testing device or mechanism's complexity of other forms of three vertical tendon structures, tubular, Crossed Circle, four vertical tendon structures, box structure, cross structure, cylindrical, double end shape, three girder constructions, eight vertical tendon structures, or measuring error is bigger.
Summary of the invention
The purpose of this invention is to provide a kind of multiple freedom parallel mechanism generalized force and force moment testing device of spring structure form, can be used to carry out the test of multiple degrees of freedom power and moment.
The technical solution used in the present invention is: comprise multiple freedom parallel mechanism, the tested movable platform rigidity of bindiny mechanism and multiple freedom parallel mechanism flexibly connects, and fixedly the base of housing and multiple freedom parallel mechanism does not have relative motion; The angle of 3 transverse spring projections on surface level is 120 °, and an end of 3 transverse springs is connected with the outside surface of bindiny mechanism, the other end and fixedly the inner periphery of housing link together; 6 are tiltedly drawn spring to be divided into three groups, each group tiltedly draws spring to form by two, three are tiltedly drawn an end of spring to be connected with the fixing inner periphery top of housing, three are tiltedly drawn the other end of spring to be connected with the outside surface top of bindiny mechanism, other three are tiltedly drawn an end of spring to be connected with the fixing inner periphery bottom of housing, other three are tiltedly drawn the other end of spring to be connected with the outside surface bottom of bindiny mechanism, two of same group are tiltedly drawn spring on same perpendicular, three groups are tiltedly drawn the angle of spring projection on surface level is 120 °, and three groups tiltedly to draw the angle of spring and 3 transverse spring projections on surface level be 60 °.
Described multiple freedom parallel mechanism is made up of the parallel institution with 2～6 degree of freedom.
Described bindiny mechanism is cylinder platform or the device with the shelf structure that spreads out.
Described generalized force is also referred to as space behavior power, can resolve into power Fx, Fy along X, Y, Z axle, Fz and around the moment τ of X, Y, Z axle
x, τ
y, τ
z
The present invention compares the beneficial effect that has with background technology: the present invention utilizes the generalized force of form of springs and force moment testing device that generalized force and moment are detected, for the test of generalized force and moment provides a kind of compactness, desirable, succinct scheme, be breakthrough to traditional generalized force and force moment testing device.And since multiple-degree-of-freedom mechanism in parallel to have rigidity big, Stability Analysis of Structures, load-bearing capacity is strong, the precision height, characteristics such as motional inertia is little are widely used in tests such as motion simulator, amusement equipment, earthquake simulation and the product, make the present invention have more wide application prospect, have important value.
Description of drawings
Fig. 1 is a schematic perspective view of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is a vertical view of the present invention;
Fig. 4 is the A-A sectional view of Fig. 3.
Among the figure: 1, multiple freedom parallel mechanism, 2, movable platform, 3, base, 4, fixing housing, 5, transverse spring, 6, bindiny mechanism, 7, transverse spring.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples.
As Fig. 1, Fig. 2, Fig. 3 and shown in Figure 4, comprise multiple freedom parallel mechanism 1, tested movable platform 2 rigidity of bindiny mechanism 6 and multiple freedom parallel mechanism 1 flexibly connect (does not have relative motion between bindiny mechanism 6 and the tested movable platform 2, but both are connected in one and can do free movement), the base 3 and the earth of multiple freedom parallel mechanism 1 are fixed together, fixedly housing 4 and base 3 no relative motions (fixedly the outer cylinder surface of housing 4 rigidly fixes with external object and is connected, and wherein external object and the earth are fixed together); The angle of 3 transverse spring 7 projections on surface level is 120 °, and an end of 3 transverse springs 7 is connected with the outside surface of bindiny mechanism 6 (the cylinder platform among the present invention), the other end and fixedly the inner periphery of housing 4 link together; 6 are tiltedly drawn spring 5 to be divided into three groups, each group tiltedly draws spring 5 to form by two, three are tiltedly drawn an end of spring 5 to be connected with the fixing inner periphery top of housing 4, three are tiltedly drawn the other end of spring 5 to be connected with the outside surface top of bindiny mechanism 6, other three are tiltedly drawn an end of spring 5 to be connected with the fixing inner periphery bottom of housing 4, other three are tiltedly drawn the other end of spring 5 to be connected with the outside surface bottom of bindiny mechanism 6, two of same group are tiltedly drawn spring 5 on same perpendicular, 120 ° of three groups of angles that tiltedly draw projection on the spring horizontal face, and three groups tiltedly to draw the angle of spring and 3 transverse spring 7 projections on surface level be 60 °.
Described multiple freedom parallel mechanism 1 is made up of the parallel institution with 2～6 degree of freedom.
Described bindiny mechanism 6 is cylinder platform or the device with the shelf structure that spreads out.
Principle of work of the present invention is as follows:
Multiple freedom parallel mechanism generalized force and tested movable platform 2 rigidity of the bindiny mechanism 6 of force moment testing device and multiple freedom parallel mechanism 1 of the present invention by will adopting the spring structure form flexibly connect and (do not have relative motion between bindiny mechanism 6 and the tested movable platform 2, but both are connected in one and can do free movement), the base 3 and the earth of multiple freedom parallel mechanism 1 are fixed together, fixedly (fixedly the outer cylinder surface of housing 4 rigidly fixes with external object and is connected housing 4 with base 3 no relative motions, wherein external object and the earth are fixed together), when the tested movable platform 2 of multiple freedom parallel mechanism 1 is moved, bindiny mechanism's 6 movement therewith, transverse spring 7 and the end maintenance of tiltedly drawing spring 5 to link to each other with fixing housing 4 inner peripheries are static, an end that is connected with bindiny mechanism 6 outer cylinder surfaces is with bindiny mechanism's 6 motions, by detecting the pose of bindiny mechanism 6, calculate transverse spring 7 and tiltedly draw link to each other with the fixing housing 4 inner peripheries pose of an end of spring 5, thereby calculate transverse spring 7 and reach the variable quantity that tiltedly draws spring 5, parse the generalized force and the moment of multiple freedom parallel mechanism movable platform at last at three dimensions.
Above-mentioned embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (3)
1, a kind of multiple freedom parallel mechanism generalized force and force moment testing device of spring structure form, comprise multiple freedom parallel mechanism (1), it is characterized in that: bindiny mechanism (6) flexibly connects with tested movable platform (2) rigidity of multiple freedom parallel mechanism (1), the fixedly no relative motion of base (3) of housing (4) and multiple freedom parallel mechanism (1); The angle of 3 transverse springs (7) projection on surface level is 120 °, and an end of 3 transverse springs (7) is connected with the outside surface of bindiny mechanism (6), the other end and fixedly the inner periphery of housing (4) link together; 6 are tiltedly drawn spring (5) to be divided into three groups, each group tiltedly draws spring (5) to form by two, three are tiltedly drawn an end of spring (5) to be connected with the fixing inner periphery top of housing (4), three are tiltedly drawn the other end of spring (5) to be connected with the outside surface top of bindiny mechanism (6), other three are tiltedly drawn an end of spring (5) to be connected with the fixing inner periphery bottom of housing (4), other three are tiltedly drawn the other end of spring (5) to be connected with the outside surface bottom of bindiny mechanism (6), two of same group are tiltedly drawn spring (5) on same perpendicular, three groups are tiltedly drawn the angle of spring projection on surface level is 120 °, and three groups tiltedly to draw the angle of spring and 3 transverse springs (7) projection on surface level be 60 °.
2, the multiple freedom parallel mechanism generalized force and the force moment testing device of a kind of spring structure form according to claim 1 is characterized in that: described multiple freedom parallel mechanism (1) is made up of the parallel institution with 2～6 degree of freedom.
3, the multiple freedom parallel mechanism generalized force and the force moment testing device of a kind of spring structure form according to claim 1 is characterized in that: described bindiny mechanism (6) is cylinder platform or the device with the shelf structure that spreads out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100671909A CN100520324C (en) | 2007-02-06 | 2007-02-06 | Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100671909A CN100520324C (en) | 2007-02-06 | 2007-02-06 | Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101038219A CN101038219A (en) | 2007-09-19 |
| CN100520324C true CN100520324C (en) | 2009-07-29 |
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| CNB2007100671909A Expired - Fee Related CN100520324C (en) | 2007-02-06 | 2007-02-06 | Spring structure type multiple free degree parallel mechanism generalized force and force moment testing device |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8151638B2 (en) | 2008-12-07 | 2012-04-10 | Robert Bosch Gmbh | Spring force component tester |
| CN106112955B (en) * | 2016-07-14 | 2018-10-12 | 南京楚卿电子科技有限公司 | A kind of construction transfer robot based on Stewart parallel institutions |
| CN106404232B (en) * | 2016-11-23 | 2022-07-26 | 华南理工大学 | Three-dimensional force sensor with damping function for robot walking mechanism |
| CN108748110B (en) * | 2018-07-13 | 2023-10-27 | 燕山大学 | Teaching test stand of space multi-degree-of-freedom parallel driving force loading system |
| CN115211970A (en) * | 2021-06-11 | 2022-10-21 | 诺创智能医疗科技(杭州)有限公司 | Pose transformation method and system of mechanical arm and mechanical arm assembly |
| CN113997142B (en) * | 2021-10-25 | 2023-03-17 | 北京理工大学 | Robot system for nuclear reactor core end face grinding |
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| CN101038219A (en) | 2007-09-19 |
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