CN101996514A - Manipulator position and attitude transformation simulation teaching device - Google Patents
Manipulator position and attitude transformation simulation teaching device Download PDFInfo
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- CN101996514A CN101996514A CN2009100701481A CN200910070148A CN101996514A CN 101996514 A CN101996514 A CN 101996514A CN 2009100701481 A CN2009100701481 A CN 2009100701481A CN 200910070148 A CN200910070148 A CN 200910070148A CN 101996514 A CN101996514 A CN 101996514A
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- axostylus axostyle
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- mechanical arm
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Abstract
The invention relates to a manipulator position and attitude transformation simulation teaching device, which consists of an adjustable shaft lever mechanism, an angle adjusting mechanism and a manipulator, wherein the adjustable shaft lever mechanism consists of a first shaft lever, a second shaft lever, a third shaft lever, a fourth shaft lever, a fifth shaft lever, a sixth shaft lever and a seventh shaft lever which are vertical to one another in turn and are rotationally inserted into one another, and the first to seventh shaft levers all are expansion links; the angle adjusting mechanism consists of pairs of angle discs which are arranged on two sides of vertical joints of two adjacent shaft levers respectively; and the manipulator is arranged on the tail end of the seventh shaft lever. In the manipulator position and attitude transformation simulation teaching device in the invention, a plurality of shaft levers which are connected in turn are used to simulate a manipulator, and the position and attitude transformation process and visual spatial position and attitude are realized through the adjustable movement of the manipulator, so that the position and attitude transformation teaching is displayed in a visual, real-time and adjustable mode to help the relative learners understand and master the spatial position and attitude transformation.
Description
Technical field
The invention belongs to the simulation teching instrument field, particularly a kind of mechanical arm pose conversion simulation teching device.
Background technology
In industrial robot, human motion bio-mechanism, artificial limb design, mechanical arm control etc. are imparted knowledge to students and studied, all be unable to do without coordinate system matrix and this basic theory of pose conversion.In present field research and research, the general graphic technique that adopts mathematical derivation in conjunction with auxiliary coordinates, but pose matrixing in the above method and derivation are comparatively abstract and loaded down with trivial details, are unfavorable for understanding and the grasp of the relevant personnel to this important foundation knowwhy of pose conversion.At present, also do not find to be used for the simulation teching equipment in industrial robot, human motion bio-mechanism, artificial limb design, mechanical arm control field.
Summary of the invention
The object of the present invention is to provide a kind of directly perceived, real-time, adjustable mechanical arm pose conversion simulation teching device, it is applicable to classroom instruction, is convenient to understanding and the grasp of related personnel to the pose conversion.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of mechanical arm pose conversion simulation teching device, it is characterized in that: constitute by adjustable shaft linkage, corner governor motion and mechanical arm, the adjustable shaft linkage is pegged graft by the vertical successively also rotation of axostylus axostyle one, axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven and is constituted, and axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven are expansion link; The corner governor motion is made of the paired angle scale that is installed on both sides, the vertical junction of adjacent two axostylus axostyles respectively; The tool hand is installed on the end of axostylus axostyle seven.
And, all being shaped on coupling sleeve at axostylus axostyle one, axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six ends, the leading section of back one axostylus axostyle rotates and is plugged in the terminal made coupling sleeve of last axostylus axostyle.
And the circumferential periphery of described angle scale is tapered, is shaped on scale at the taper circumferential periphery of this angle scale.
Advantage of the present invention and good effect are:
1. this mechanical arm pose conversion simulation teching device, by a plurality of axostylus axostyle simulation mechanical arms that connect successively, adjustable movement by mechanical arm represents the process of pose conversion and spatial pose intuitively in real time, thereby pose conversion teaching that will be original loaded down with trivial details and abstract, show in directly perceived, real-time, adjustable mode, help understanding and the grasp of relevant study personnel more the spatial pose conversion.
This mechanical arm pose conversion simulation teching device also have simple in structure, design science is reasonable, easy to operate, advantage such as cost is low, effect is directly perceived.
Description of drawings
Fig. 1 is a three-dimensional structure diagram of the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing, by specific embodiment.
A kind of mechanical arm pose conversion simulation teching device is made of adjustable shaft linkage, corner governor motion and mechanical arm.
The adjustable shaft linkage is connected and composed by axostylus axostyle one 1-1, axostylus axostyle two 1-2, axostylus axostyle three 1-3, axostylus axostyle four 1-4, axostylus axostyle five 1-5, axostylus axostyle six 1-6, axostylus axostyle seven 1-7 vertical rotation plug-in mounting successively.End at axostylus axostyle one, axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six is provided with coupling sleeve, and the vertical elbow part of the leading section of back one axostylus axostyle rotates and is plugged in the terminal made coupling sleeve of last axostylus axostyle.Be specially: axostylus axostyle two is installed on axostylus axostyle one end by the coupling sleeve of axostylus axostyle one end.Axostylus axostyle three is by axostylus axostyle two terminal coupling sleeves axostylus axostyle two ends of packing into, and can rotate around axostylus axostyle two.The axostylus axostyle four-way is crossed the axostylus axostyle three-termination coupling sleeve axostylus axostyle three-termination of packing into, and can rotate around axostylus axostyle two.The axostylus axostyle five-way is crossed axostylus axostyle four terminal coupling sleeves axostylus axostyle four ends of packing into, and can rotate around axostylus axostyle four.Axostylus axostyle six is by axostylus axostyle five terminal coupling sleeves axostylus axostyle five ends of packing into, and can rotate around axostylus axostyle five.Axostylus axostyle seven is packed into by axostylus axostyle six terminal coupling sleeves in the axostylus axostyle six, and can rotate around axostylus axostyle six.Axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven are expansion link, thereby axially all flexible adjustable at it.
The corner governor motion is made of the paired angle scale that is installed on both sides, the vertical junction of adjacent two axostylus axostyles respectively.Comprise in the present embodiment: angle scale six 2-6 that be installed on the axostylus axostyle three with angle scale one 2-1 of axostylus axostyle four links, be installed on the axostylus axostyle four with angle scale two 2-2 of axostylus axostyle five links, be installed on the axostylus axostyle five with angle scale three 2-3 of axostylus axostyle four links, be installed on the axostylus axostyle five with angle scale four 2-4 of axostylus axostyle six links, be installed on angle scale five 2-5 on the axostylus axostyle six, are installed on the axostylus axostyle seven with axostylus axostyle six links form.Because the length of axostylus axostyle four and axostylus axostyle six is shorter, therefore the angulation dish is right respectively for the angle scale that the angle scale of being installed on axostylus axostyle four and axostylus axostyle six can be adjacent with its both sides respectively.According to the relative rotation between adjacent two angle scales, can realize the rotational angle adjustment between adjacent two axostylus axostyles, thereby realize accurately regulating the rotational angle of control axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven.The circumferential periphery of angle scale is tapered, is shaped on scale at the taper circumferential periphery of this angle scale, so that the observation of adjacent two angle scales institute scale making.
Mechanical arm 3-1 is installed on the end of axostylus axostyle seven, is referred to form by five joints.
The using method of this mechanical arm pose conversion simulation teching device is:
When the posture changing simulation of carrying out mechanical arm, at first according to the value of matrixing, determine the stroke of each relevant axostylus axostyle, determine the rotational angle of each axostylus axostyle by each index dial, flexible successively then reaching rotated each axostylus axostyle, the mechanical arm that each axostylus axostyle is formed is in different locus, thereby the dimensional orientation of mechanical arm part is changed.Thereby the spatial pose conversion of real time modelling mechanical arm.
This teaching appliance is controlled the conversion of its spatial pose by the amount of exercise of each axostylus axostyle, overcomes abstract and loaded down with trivial details based on the pose conversion of matrix.It also can be used for simulating the motion of industry mechanical arm, behind the stroke and rotational angle of determining axostylus axostyle, shows different robot movement track etc.In addition, also can be used in the relevant teaching of space mechanism and degree of freedom.
Although disclose embodiments of the invention and accompanying drawing for the purpose of illustration, but it will be appreciated by those skilled in the art that: in the spirit and scope that do not break away from the present invention and claims, various replacements, variation and modification all are possible, therefore, scope of the present invention is not limited to embodiment and the disclosed content of accompanying drawing.
Claims (3)
1. mechanical arm pose conversion simulation teching device, it is characterized in that: constitute by adjustable shaft linkage, corner governor motion and mechanical arm, the adjustable shaft linkage is pegged graft by the vertical successively also rotation of axostylus axostyle one, axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven and is constituted, and axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six, axostylus axostyle seven are expansion link; The corner governor motion is made of the paired angle scale that is installed on both sides, the vertical junction of adjacent two axostylus axostyles respectively; The tool hand is installed on the end of axostylus axostyle seven.
2. mechanical arm pose conversion simulation teching device according to claim 1, it is characterized in that: all be shaped on coupling sleeve at axostylus axostyle one, axostylus axostyle two, axostylus axostyle three, axostylus axostyle four, axostylus axostyle five, axostylus axostyle six ends, the leading section of back one axostylus axostyle rotates and is plugged in the terminal made coupling sleeve of last axostylus axostyle.
3. mechanical arm pose conversion simulation teching device according to claim 1, it is characterized in that: the circumferential periphery of described angle scale is tapered, is shaped on scale at the taper circumferential periphery of this angle scale.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100701481A CN101996514A (en) | 2009-08-17 | 2009-08-17 | Manipulator position and attitude transformation simulation teaching device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100701481A CN101996514A (en) | 2009-08-17 | 2009-08-17 | Manipulator position and attitude transformation simulation teaching device |
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| CN101996514A true CN101996514A (en) | 2011-03-30 |
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| CN2009100701481A Pending CN101996514A (en) | 2009-08-17 | 2009-08-17 | Manipulator position and attitude transformation simulation teaching device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9483976B2 (en) | 2013-09-30 | 2016-11-01 | Boe Technology Group Co., Ltd. | Method, apparatus and system for display compensation based on reference luminance values obtained from test pictures |
| CN108648599A (en) * | 2018-05-08 | 2018-10-12 | 同济大学 | A kind of mechanical arm 3D pseudo operation experiment porch based on voice control |
| CN108870045A (en) * | 2018-09-04 | 2018-11-23 | 安庆市睿霞机械有限公司 | A kind of cross adjustment seat |
| CN109159150A (en) * | 2018-09-28 | 2019-01-08 | 江苏派远软件开发有限公司 | A kind of robot palletizer being accurately positioned control mechanism |
-
2009
- 2009-08-17 CN CN2009100701481A patent/CN101996514A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9483976B2 (en) | 2013-09-30 | 2016-11-01 | Boe Technology Group Co., Ltd. | Method, apparatus and system for display compensation based on reference luminance values obtained from test pictures |
| CN108648599A (en) * | 2018-05-08 | 2018-10-12 | 同济大学 | A kind of mechanical arm 3D pseudo operation experiment porch based on voice control |
| CN108870045A (en) * | 2018-09-04 | 2018-11-23 | 安庆市睿霞机械有限公司 | A kind of cross adjustment seat |
| CN109159150A (en) * | 2018-09-28 | 2019-01-08 | 江苏派远软件开发有限公司 | A kind of robot palletizer being accurately positioned control mechanism |
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Application publication date: 20110330 |