CN106112975B - Automate inertial parameter test equipment - Google Patents
Automate inertial parameter test equipment Download PDFInfo
- Publication number
- CN106112975B CN106112975B CN201610565652.9A CN201610565652A CN106112975B CN 106112975 B CN106112975 B CN 106112975B CN 201610565652 A CN201610565652 A CN 201610565652A CN 106112975 B CN106112975 B CN 106112975B
- Authority
- CN
- China
- Prior art keywords
- hooke
- hinge
- clutch
- fixed
- 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.)
- Active
Links
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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The present invention provides a kind of automation inertial parameter test equipments, belong to inertial parameter test equipment technical field.The invention mainly comprises two large divisions, a part is 3-URU parallel institution, and another part is shaft drive system, and the present invention passes through the measurement of this two-part high the degree of automation of high-precision for being implemented in combination with rigid body inertial parameter.It for 3-URU parallel institution, is made of three connecting rods, moving platform and top plate, the both ends of every connecting rod all pass through Hooke's hinge and connect with moving platform and top plate, and there are one rotary joints between connecting rod and Hooke's hinge, just constitute 3-URU parallel institution in this way；For shaft drive system, by stepper motor through cross axis connection on the Hooke's hinge in retarder and electromagnetic clutch and parallel institution, by controlling the corner of stepper motor and the power on/off of electromagnetic clutch, just it is able to achieve and applies biasing automatically for parallel institution, improve the degree of automation of equipment.
Description
Technical field
The present invention relates to a kind of automation inertial parameter test equipments, belong to inertial parameter test equipment technical field.
Background technique
Under normal conditions, when establishing system dynamics equation, the quality of system, centroid position are needed, around the used of rotation axis
Property the parameters such as square and the product of inertia, wherein the moment of inertia and the product of inertia constitute inertial matrix of the rigid body with respect to Mr. Yu's coordinate system.It is above-mentioned
System parameter is referred to as inertial parameter, is the intrinsic physical quantity of system, which determine the dynamic response of system and behaviors.Inertia
Parameter is the precondition of complication system (such as vehicle, aircraft, spacecraft and robot) dynamic analysis.
In view of testing time and testing cost, the acceptable error of inertial parameter needs specific according to different situations
Analysis.At present it has been confirmed that for aerospace carrier and surface car, lesser inertial parameter error will calculate power
It learns in response and generates the error that can not ignore.For aerospace carrier, principal axis of inertia and inertial tensor are to flight controlling
It can be extremely important.
However, the inertial parameter of system is usually to be estimated by three-dimensional CAD model, which is easy to generate biggish
Error.Wherein error source mainly includes uncertain (such as component) of mechanical geometric error, fault in material and density.
Generally, for a complication system with thousands of parts, the evaluated error of inertial parameter will in this way
10% more than actual value is even more, this can cause serious negative effect to the control of complication system, and then reduce system
Performance influences the service life of the system.
The final approach for solving the problems, such as inertial parameter precision deficiency is to obtain high-precision kinetic parameter by measurement.Cause
This, the development of rigid body inertial parameter test equipment has very important researching value.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of automation inertia ginseng
Number test equipment.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of automation inertial parameter test equipment, comprising: support frame, 3-URU parallel institution, shaft drive system, double
Axial rake sensor and encoder；It is characterized in that,
Support frame as described above is made of cant timber, cross rib plate, four support square columns and support plate, and the support plate is fixed on four
The upper end of a support square column supports and is fixed with cross rib plate between square column and support square column, supports fixed between square column and support plate
There is cant timber；
The 3-URU parallel institution is gone up Hooke's hinges by three, three lower Hooke's hinges, top plate, connecting rod one, connecting rod two, is moved
Platform and pull pressure sensor composition, the top plate are fixed on the lower part of support plate, and three upper Hooke's hinges are solid in equilateral triangle
It is scheduled in top plate, three lower Hooke's hinges are connected with moving platform respectively in equilateral triangle, and a upper Hooke's hinge is corresponding with one
Lower Hooke's hinge between be connected with connecting rod one, pull pressure sensor and connecting rod two in turn, Hooke's hinge end cap one and encoder setting
In the same end of the upper cross axle of upper Hooke's hinge；
The upper end of lower Hooke's hinge bearing block is equipped with the bearing being connected with connecting rod two, is equipped between the left and right ends of bearing block
The lower end of lower cross axle, lower cross axle is fixedly connected with moving platform；
The shaft drive system is by rack, retarder, stepper motor, clutch Moving plate, clutch coil, clutch line
Coil, clutch armature, clutch linkage flange and reed composition, rack are fixed on the lower part of top plate, and retarder is fixed on
In rack, stepper motor is connected with retarder, and clutch Moving plate is fixed on the output shaft of retarder, clutch armature and spring
Piece is each attached on clutch linkage flange, and clutch line coil is fixed on the lower part of rack, and clutch coil is arranged in clutch
On device bobbin；The same end of the upper cross axle of upper Hooke's hinge is arranged in Hooke's hinge end cap two and clutch linkage flange；
The double-shaft tilt angle sensor is fixed in top plate.
Test equipment of the invention is based on the development of 3-URU parallel institution, and whole inertial parameters can be completed in primary test
Measurement, so there is no need to be adjusted to measurand configuration, improves measurement efficiency；Test equipment designs active drive system,
Parallel institution can be made to move to specified initial bias position, improve the degree of automation of inertial parameter test；Test equipment
Other Mechatronic Systems are not necessarily to other than measurement initial position is realized by active drive system for passive measurement mechanism, are reduced
System complexity, has saved cost；The sensor of test equipment is less, and measuring system is more succinct.
The configuration of the present invention is simple, measurement accuracy are high, safe and reliable, high-efficient, and the degree of automation is higher, can meet not
The measurement request of the rigid body inertial parameter of same specification shape.
Detailed description of the invention
Fig. 1 is the structural schematic diagram (looking up) of present invention automation inertial parameter test equipment.
Fig. 2 is the structural schematic diagram (main view) of present invention automation inertial parameter test equipment.
Fig. 3 is the A-A cross-sectional view of Fig. 2.
Fig. 4 is the B-B cross-sectional view of Fig. 3.
Fig. 5 is enlarged drawing at the C of Fig. 4.
Fig. 6 is enlarged drawing at the D of Fig. 4.
Fig. 7 is enlarged drawing at the E of Fig. 4.
Appended drawing reference in figure, 1 is cant timber, and 2 be cross rib plate, and 3 be rack, and 4 be support square column, and 5 be top plate, and 6 are
Hooke's hinge end cap one, 7 be upper cross axle, and 8 be Hooke's hinge end cap two, and 9 be support plate, and 10 be connecting rod one, and 11 be connecting rod two, and 12 are
Bearing block, 13 be bearing (ball) cover, and 14 be lower cross axle, and 15 be lower end, and 16 be moving platform, and 21 be retarder, and 22 pass for pressure
Sensor, 23 be stepper motor, and 24 be double-shaft tilt angle sensor, and 25 be clutch Moving plate, and 26 be clutch coil, and 27 be clutch
Bobbin, 28 be clutch armature, and 29 be clutch linkage flange, and 30 be reed, and 31 be encoder, and 41 be angular contact ball axis
It holds, 42 be deep groove ball bearing.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
As shown in FIG. 1 to FIG. 7, a kind of automation inertial parameter test equipment involved in the present embodiment, comprising: support
Frame, 3-URU parallel institution, shaft drive system, double-shaft tilt angle sensor 24 and encoder 31；
Support frame as described above is made of cant timber 1,2, four support square columns 4 of cross rib plate and support plate 9, and the support plate 9 is solid
It is scheduled on the upper end of four support square columns 4, supports and is fixed with cross rib plate 2, support square column 4 and support between square column 4 and support square column 4
Cant timber 1 is fixed between plate 9.
The 3-URU parallel institution is by three upper Hooke's hinges, three lower Hooke's hinges, top plate 5, connecting rod 1, connecting rod two
11, moving platform 16 and pull pressure sensor 22 form, and the top plate 5 is fixed on the lower part of support plate 9, and three upper Hooke's hinges are in
Equilateral triangle is fixed in top plate 5, and three lower Hooke's hinges are connected with moving platform 16 respectively in equilateral triangle, a upper Hooke
It cuts with scissors and is connected with connecting rod 1, pull pressure sensor 22 and connecting rod 2 11, upper Hooke in turn between lower Hooke's hinge corresponding with one
One end of the upper cross axle 7 of hinge is equipped with Hooke's hinge end cap 1, and the other end of upper cross axle 7 is equipped with Hooke's hinge end cap 28；Lower tiger
The upper end of gram hinge bearing block 12 is equipped with the bearing that is connected with connecting rod 2 11, is equipped with lower cross between the left and right ends of bearing block 12
The lower end 15 of axis 14, lower cross axle 14 is fixedly connected with moving platform 16.
The shaft drive system is by rack 3, retarder 21, stepper motor 23, clutch Moving plate 25, clutch coil
26, clutch line coil 27, clutch armature 28, clutch linkage flange 29 and reed 30 form, and rack 3 is fixed on top plate
5 lower part, retarder 21 are fixed in rack 3, and stepper motor 23 is connected with retarder 21, and clutch Moving plate 25, which is fixed on, to be subtracted
On the output shaft of fast device 21, clutch linkage flange 29 is connected with one end of the upper cross axle 7 of upper Hooke's hinge, clutch armature
28 and reed 30 be each attached on clutch linkage flange 29, clutch line coil 27 is fixed on the lower part of rack 3, clutch line
Circle 26 is arranged in clutch line coil 27.
The encoder 31 is fixed on the other end of upper cross axle 7 of Hooke's hinge.
The double-shaft tilt angle sensor 24 is fixed in top plate 5.
The encoder 31 is sixteen bit absolute type encoder.
When inertial parameter is tested, measurand is mounted on moving platform by screw and straight pin, due to the parallel institution
For Three Degree Of Freedom rotating mechanism, after giving parallel institution initial excitation, measurand swashs the rotation that will receive three directions
It encourages, in this way, the measurement of whole inertial parameters can be completed by once test.In order to improve the degree of automation of test equipment,
It is respectively provided with a set of shaft drive system on three Hooke's hinge joints connecting with top plate, it is by stepper motor, retarder
And electromagnetic clutch composition.Stepper motor slows down via retarder, then controls drive shaft and Hooke's hinge turn by electromagnetic clutch
Moving axis connects or disconnects.Firstly, electromagnetic clutch is allowed to power on, at this point, drive shaft is connected with Hooke's hinge rotation axis, three steppings
Motor drives parallel institution to specified initial position.Then, three electromagnetic clutch are powered off simultaneously, drive shaft and Hooke
It cuts with scissors rotation axis to be detached from, parallel institution loses external impetus, does Three Degree Of Freedom rotation under the effect of gravity.In this way, being turned by the set
Axis drive system can apply arbitrary initial biasing just for parallel institution, no longer by the strength of people, to realize inertial parameter
The automation of test.Sensor-based system needed for the test equipment includes three pull pressure sensor, three sixteen bit absolute encodings
Device and a double-shaft tilt angle sensor.Wherein, three pull pressure sensor are mounted on connecting rod close to moving platform one end, to reduce
The influence that connecting rod quality itself measures power.Three sixteen bit absolute type encoders are separately mounted to the cross axle of Hooke's hinge
On, it is capable of the motion conditions of real-time measurement moving platform.Double-shaft tilt angle sensor is mounted in top plate, is able to detect top plate peace
The levelness of dress, this is necessary inertia parameter identification.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (2)
1. a kind of automation inertial parameter test equipment, comprising: support frame, 3-URU parallel institution, shaft drive system, twin shaft
Obliquity sensor (24) and encoder (31)；It is characterized in that,
Support frame as described above is made of cant timber (1), cross rib plate (2), four support square columns (4) and support plate (9), the support plate
(9) it is fixed on the upper end of four supports square column (4), supports and is fixed with cross rib plate (2) between square column (4) and support square column (4), is propped up
Cant timber (1) is fixed between support square column (4) and support plate (9)；
The 3-URU parallel institution is by three upper Hooke's hinges, three lower Hooke's hinges, top plate (5), connecting rod one (10), connecting rod two
(11), moving platform (16) and pull pressure sensor (22) composition, the top plate (5) are fixed on the lower part of support plate (9), and three
Upper Hooke's hinge is fixed on top plate (5) in equilateral triangle, three lower Hooke's hinges in equilateral triangle respectively with moving platform (16) phase
It connects, is connected with connecting rod one (10), pull pressure sensor in turn between a upper Hooke's hinge lower Hooke's hinge corresponding with one
(22) and connecting rod two (11), one end of the upper cross axle (7) of upper Hooke's hinge are equipped with Hooke's hinge end cap one (6), upper cross axle (7)
The other end is equipped with Hooke's hinge end cap two (8)；The upper end of lower Hooke's hinge bearing block (12) is equipped with the axis being connected with connecting rod two (11)
It holds, lower cross axle (14), the lower end (15) of lower cross axle (14) and moving platform is equipped between the left and right ends of bearing block (12)
(16) it is fixedly connected；
The shaft drive system is by rack (3), retarder (21), stepper motor (23), clutch Moving plate (25), clutch line
Enclose (26), clutch line coil (27), clutch armature (28), clutch linkage flange (29) and reed (30) composition, rack
(3) it is fixed on the lower part of top plate (5), retarder (21) is fixed on rack (3), stepper motor (23) and retarder (21) phase
Connection, clutch Moving plate (25) are fixed on the output shaft of retarder (21), and the encoder (31) is fixed on Hooke's hinge
On one end of upper cross axle (7)；Clutch linkage flange (29) is connected with the other end of the upper cross axle (7) of upper Hooke's hinge,
Clutch armature (28) and reed (30) are each attached on clutch linkage flange (29), and clutch line coil (27) is fixed on machine
The lower part of frame (3), clutch coil (26) are arranged on clutch line coil (27)；The double-shaft tilt angle sensor (24) is fixed
On top plate (5).
2. automation inertial parameter test equipment according to claim 1, which is characterized in that the encoder (31) is ten
Six absolute type encoders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565652.9A CN106112975B (en) | 2016-07-18 | 2016-07-18 | Automate inertial parameter test equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565652.9A CN106112975B (en) | 2016-07-18 | 2016-07-18 | Automate inertial parameter test equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112975A CN106112975A (en) | 2016-11-16 |
| CN106112975B true CN106112975B (en) | 2019-01-08 |
Family
ID=57283304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610565652.9A Active CN106112975B (en) | 2016-07-18 | 2016-07-18 | Automate inertial parameter test equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106112975B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109928B (en) * | 2020-08-24 | 2022-03-04 | 北京控制工程研究所 | Multi-size self-adaptive space flexible capture docking mechanism and capture method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100254556B1 (en) * | 1996-12-23 | 2000-06-01 | 정몽규 | Dynamic characteristics measuring device of each part of vehicle engine |
| CN101393064B (en) * | 2008-09-29 | 2011-06-29 | 浙江工业大学 | Gravity centre detection test stand for small-sized working machine |
| CN201508270U (en) * | 2009-09-25 | 2010-06-16 | 宁波拓普减震系统股份有限公司 | Novel power assembly rotation inertia testing platform |
| CN101907502B (en) * | 2010-07-23 | 2012-05-16 | 燕山大学 | Parallel-connection three-dimensional force sensor with decoupling structure |
| CN103592077B (en) * | 2013-11-22 | 2017-02-08 | 长春孔辉汽车科技股份有限公司 | Automobile inertial parameter measurement test bed and automobile inertial parameter dynamic calculation method |
| CN104959975B (en) * | 2015-07-27 | 2017-01-18 | 吉林大学 | Three-dimensional translational parallel mechanism based on motion decoupling |
-
2016
- 2016-07-18 CN CN201610565652.9A patent/CN106112975B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106112975A (en) | 2016-11-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9132924B2 (en) | Device for spatially orienting at least two subgroup components and method | |
| CN105583824B (en) | Force control traction and swinging multi-degree-of-freedom mechanical arm control device and method | |
| CN101907639A (en) | Calibrating platform of six-dimensional acceleration transducer | |
| US9494403B2 (en) | Motorized inclinable measuring head | |
| CN105806403B (en) | A kind of stepper motor performance test apparatus | |
| CN107843424A (en) | A kind of harmonic reduction machine detecting device and its control method | |
| CN108839817B (en) | Bearing-free rotor ground resonance test method | |
| US10281255B2 (en) | Method for performing measurements using a test element in a coordinate measuring machine or a machine tool | |
| CN110108441A (en) | A kind of wind-tunnel balance dynamometer check preparation device | |
| CN201242687Y (en) | Synchronous drive control device for lifting platform position | |
| CN206344050U (en) | One kind miniaturization spatial locator device | |
| CN102269636A (en) | Airplane control wheel multi-dimensional force and displacement measuring device and method | |
| CN106112975B (en) | Automate inertial parameter test equipment | |
| CN102778895A (en) | System and method for accurate positioning control under overweight environment | |
| CN206348100U (en) | A kind of six-component force sensor calibrating installation | |
| CN109828207B (en) | Three-degree-of-freedom spherical motor gesture and moment detection bench and detection method | |
| CN107179783A (en) | A kind of dual drive synchronized tracking rotary motion control device and method | |
| CN102910533A (en) | Spatial angle measuring method based on crane | |
| CN106584509A (en) | Parallel robot original point calibration method | |
| CN202452967U (en) | Goniometer standard | |
| CN207730448U (en) | Gear hobbing machine worktable test platform | |
| CN103224036B (en) | Aircraft rolling body model and manufacturing method thereof | |
| CN116164883A (en) | Multi-parameter integrated quality characteristic measuring device | |
| CN109100066A (en) | Intelligent assembly collision detecting device | |
| CN105973532B (en) | A kind of inertial parameter test equipment based on 3 URU parallel institutions |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |