CN106737580A - The rigidity of view-based access control model and flexible double five bar closed chain mechanism devices and investigating method - Google Patents
The rigidity of view-based access control model and flexible double five bar closed chain mechanism devices and investigating method Download PDFInfo
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- CN106737580A CN106737580A CN201611181243.5A CN201611181243A CN106737580A CN 106737580 A CN106737580 A CN 106737580A CN 201611181243 A CN201611181243 A CN 201611181243A CN 106737580 A CN106737580 A CN 106737580A
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- 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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Abstract
The invention discloses a kind of rigidity of view-based access control model and flexible double five bar closed chain mechanism devices and investigating method, including rigid five-rod, flexible five-rod, silent flatform, industrial camera, acceleration transducer, motion control card, voltage amplifier, computer, terminal board and piezoelectric ceramic piece driver, servomotor is used to drive rigid five-rod and flexible five-rod to be moved and non-interference with symmetrical attitude, symmetrical track simultaneously in the present invention；The vibration information produced in rigid five-rod and flexible five-rod motion process is measured using acceleration transducer and industrial camera, and is analyzed；Algorithm of Active Control is finally combined, the vibration by piezoelectric ceramic piece driver respectively to being produced in rigid five-rod and flexible five-rod motion process carries out active control.
Description
Technical field
The present invention relates to vibration measurement field, and in particular to a kind of rigidity of view-based access control model and flexible double five bar closed chain mechanisms
Device and investigating method.
Background technology
In traditional sense, mechanism is generally configured to rigid mechanism；Rigid structure is larger due to its own ratio of rigidity, stability
It is relatively good, its when being interfered, not susceptible.
As economic develops rapidly, structure also constantly tends to maximization, flexibility and Low rigidity.It is firm relative to traditional
Property mechanism, compliant mechanism has many advantages, such as：(1) seamless between each component and friction, the kinematic accuracy of mechanism is higher；
(2) due to no fretting wear, noise can be reduced in its work, and device longevity can also extend；(3) compliant mechanism can be carried out
Monolithic is manufactured, it is easy to miniaturization and batch production.But flexible structure has the small, light weight of damping, the low feature of modal frequency,
It evokes the vibration based on low frequency when being interfered, easily and the duration is long.If do not suppressed to this vibration,
It must make structure produce fatigue damage.Therefore, it is necessary to measure, analyze and suppress the vibration of flexible structure.
In the prior art, the vibration measurement of compliant mechanism generally using piezoceramic transducer, acceleration transducer and
Gyro sensor, but these sensors are all touch sensor, the vibration of testee can be produced and had a strong impact on, and are reduced
Certainty of measurement, introduces load effect.Piezoelectric due to factors such as self-strength, fatigue life and heat resistances, using being subject to
Certain limitation；Acceierometer sensor there are problems that sluggish and influence its precision to noise-sensitive.
There is its unique advantage using vision non-cpntact measurement, and can quick obtaining measurement data.Vision is not contacting quilt
In the case of surveying body surface, the characteristics such as frequency, the amplitude of vibrating object are not changed, can be very good to avoid load effect.With
Laser displacement sensor is compared, and laser displacement sensor can only enter every trade spot measurement, and machine vision sensor has the overall situation
Property measuring characteristic, can carry out multimetering, and the advantages of be not limited solely to the vibration information of a bit.
The content of the invention
For the shortcoming and deficiency that overcome prior art to exist, it is double with flexibility that the present invention provides a kind of rigidity of view-based access control model
Five bar closed chain mechanism devices and investigating method.
The present invention is adopted the following technical scheme that：
A kind of rigidity of view-based access control model and flexible double five bar closed chain mechanism devices, including basic machine part, detection part
And drive control part；
The basic machine part：Including silent flatform, two flexible driving levers, two flexible follower levers, two rigidity are main
Lever and two rigid driven bars, the silent flatform are provided below two servomotors, and two servomotors subtract with planet respectively
Fast device connection, one end of two flexible driving levers is connected with two planetary reduction gears respectively, two other ends of flexible driving lever
It is connected with two flexible follower levers respectively, described two flexible follower levers are connected with each other；
One end of two rigid driving levers is connected with two planetary reduction gears respectively, two other ends point of rigid driving lever
It is not connected with two rigid driven bars, described two rigid driven bars are connected with each other；
The detection part：Including industrial camera and acceleration transducer, the acceleration transducer be arranged on it is flexible from
The centre position of lever and rigid driven bar, the industrial camera is specially two, be separately mounted to two rigid driven bars and
Two junction tops of flexible follower lever；
The vibration information of the acceleration transducer detection rigidity and flexible follower lever is defeated by after modification amplifier treatment
Go out and be input in computer by motion control card to after terminal board；
The industrial camera detects that the vibration signal of two follower lever junctions is input in computer；
The drive control part：Including piezoelectric ceramic piece driver, the piezoelectric ceramic piece driver is pasted onto flexibility
On follower lever, the computer calculates controlled quentity controlled variable by motion control card after obtaining vibration signal, then exports at terminal board
Analog input to piezoelectric amplifier is obtained after reason, further drives piezoelectric ceramic piece driver to suppress the vibration of closed chain mechanism.
Also include circular indicia, the circular indicia has 2, be separately positioned on two rigid driven bars and two flexibilities from
The junction of lever, circular indicia in industrial camera within sweep of the eye.
Piezoelectric ceramic piece driver is specifically made up of four piezoelectric ceramic pieces, and two sides is symmetrically pasted, per face two panels, attitude angle
It is 0 degree.
Also include camera support, the camera support is specially rectangular body support frame, and silent flatform is placed in rectangular body support frame.
Rigid driven bar is more long than rigid driving lever, and the flexible follower lever is more long than flexible driving lever.
Two flexible driving levers, two flexible follower levers, two rigid driving levers and two rigid driven bars are on quiet flat
Platform Central Symmetry.
The camera support also includes the sliding block for adjusting industrial camera position.
Described two servomotors are symmetrically mounted in the transversal centerline of silent flatform.
A kind of rigidity and the investigating method of flexible double five bar closed chain mechanism devices, comprise the following steps：
First step acceleration transducer detects the vibration information of follower lever, two follower lever junctions of industrial camera detection
Vibration information；
The vibration signal that second step acceleration transducer is detected is by after modification amplifier treatment, exporting in terminal board
After A/D modules are processed, then digital quantity is exported in motion control card, then carry out subsequent treatment through computer；Industrial camera
The signal input for detecting carries out subsequent treatment to computer, according to control law, feedback signal is controlled accordingly；
After the feedback signal that 3rd step will be obtained in step 2 is through D/A resume modules in terminal board, then through voltage amplifier
After enhanced processing, piezoelectric ceramic piece driver is input to, so as to suppress the vibration of rigidity and flexible double five bar closed chain mechanisms.
The signal input that the industrial camera is detected carries out subsequent treatment to computer, concretely comprises the following steps：
In the non-setting in motion of rigid and flexible double five connecting rod closed chain mechanisms, figure of the 10-15 width comprising circular indicia is shot
Picture, calculates the central coordinate of circle of circular indicia in each image, and calculates average value, as the coordinate under original state, if
It is (x0, y0)；
When simultaneously servomotor drives rigid five-rod to be transported with symmetrical attitude, symmetrical track with flexible five-rod
During fortune, if the coordinate in the center of circle of circular indicia is (x1(t), y1(t)), then the displacement that can obtain x-axis direction is Sx=x1-x0, y
The displacement of direction of principal axis is Sy=y1-y0；Further according to the result of camera calibration, rigid five-rod and flexible five-rod are just obtained
Vibration displacement information.
Beneficial effects of the present invention：
(1) device in the present invention is a kind of rigidity and flexible double five bar closed chain mechanism devices, and it includes five bar machines of rigidity
Structure and flexible five-rod two types mechanism, and they are symmetric；Servomotor drive simultaneously rigid five-rod and
Flexible five-rod is moved with symmetrical attitude, symmetrical track, and non-interference；
(2) the same industrial camera of two models is mounted with the present invention to detect rigid five-rod and flexible five bars machine
Vibration information in structure motion process, vibration information, another camera in a camera calibration rigidity five-rod motion process
Vibration information in the flexible five-rod motion process of detection；At identical conditions, extracted respectively using vision sensor
Vibration information in rigid five-rod and flexible five-rod motion process, and vibration information is analyzed, obtain
The vibration otherness gone out in rigid five-rod and flexible five-rod motion process；
(3) present invention in using machine vision come the vibration information of testing agency, compared to other sensors, machine vision
With non-contact measurement, structure additional mass is not increased, do not change the advantages of architectural feature, multimetering.Machine vision is surveyed
What is measured is the image comprising vibration information, and abundant information in image, the global property of mechanism vibrations can be reflected.Take
Suitable image processing algorithm, can obtain a lot of other significant parameters；
(4) system in the present invention is multi-sensor fusion system, and existing machine vision sensor has acceleration sensing again
Device, can be by multi-sensor information fusion come more accurate measurement, comparative analysis rigidity five-rod and flexible five bars machine
Vibration information in structure motion process.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is rigidity and the flexible pair of floor map of five bar closed chain mechanisms in Fig. 1；
Fig. 3 is the close-up schematic view of follower lever in Fig. 2；
Fig. 4 is the structural representation of camera support in Fig. 1.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
Shown in Fig. 1-Fig. 4, five bar closed linkage devices of a kind of rigidity of view-based access control model and flexibility pair, including basic machine portion
Point, detection part and drive control part；
The basic machine part：It is main including 1, two flexible driving levers of silent flatform, two flexible follower levers, two rigidity
Lever 3 and two rigid driven bars 2, silent flatform are provided below two servomotors 10, and described two servomotors are respectively mounted
One planetary reduction gear 17, the planetary reduction gear is arranged on silent flatform by its flange, and two servomotors are arranged on quiet
On the center of one direction of platform, isolated edge nearby, is symmetrical arranged.
The output shaft input planetary reduction gear of servomotor, each planetary reduction gear installs an output by ring flange
Axle, two ground floors of the output shaft of servomotor be connecteds with two rigid driving lever one end respectively, two rigidity driving levers
The other end is connected with two rigid driven bars respectively, and two rigid driven bars are more long than rigid driving lever, meet the bar of mechanism kinematic
Part, two rigid driven bars are connected through the hinge, and constitute rigid five-rod.
Two second layers of the output shaft of servomotor are connected with two flexible one end of driving lever 9 respectively, two Flexible Mains
The other end of lever 9 is connected with two flexible follower levers 8 respectively, and two flexible follower levers are connected through the hinge, it is described it is flexible from
Lever is more long than flexible driving lever, constitutes flexible five-rod.
Two servomotors drive the fortune of rigid five-rod and flexible five-rod by the output shaft of planetary reduction gear
Dynamic, both are in respective plane motion, and non-interference, the center of rigid five-rod and flexibility five-rod on silent flatform
Line is symmetrical, and connecting rod is connect with the output shaft of planetary reduction gear by being bonded, and is rotated with the rotation of output shaft.
Also include two circular indicias 4, the circular indicia two altogether is respectively provided at two rigid driven bars and two
The hinge connection of flexible follower lever, one at one, circular indicia is the vibration information that industrial camera extracts follower lever junction
Offer condition.
The detection part, including acceleration transducer 6 and industrial camera 7, the industrial camera 7 are specially two, point
An Zhuan not be on the section bar of the crown center of camera support 11, an industrial camera correspond to two junctions of rigid driven bar,
Two rigid driven bars in this industrial camera within sweep of the eye, and with a certain distance from having from rigid five-rod plane so that
In can ensureing the motion process of rigid five-rod, circular indicia all the time in industrial camera within sweep of the eye；Another work
The junction of the flexible follower lever of industry camera correspondence two, and the flexible five-rod plane of the second layer has certain distance, so that can
To ensure in the motion process of flexible five-rod, the circular indicia for being laid in two junctions of flexible follower lever exists all the time
In the coverage of industrial camera.
Camera support is a rectangular body support frame being made up of section bar, and it is grown and wide all long and wide bigger than silent flatform 1,
Such that it is able to make silent flatform 1 be put into the space of camera support 11, and with a distance from each face all around of camera support 11
Equally；After putting silent flatform 1 well in camera support 11, the sliding block of regulation connection industrial camera 7 slides industrial camera 7 and arrives suitable
Position；
The acceleration transducer is arranged on the centre position of flexible follower lever and rigid driven bar.
The acceleration transducer detects the vibration information of follower lever, and the signal of its detection is processed by modification amplifier 13
Afterwards, after output is processed to terminal board, in output digital quantity to motion control card, then by being input into computer after A/D conversions
12 carry out subsequent treatment.
The industrial camera detects two vibration informations of follower lever junction, and the signal of its detection is directly inputted to calculating
Subsequent treatment is carried out in machine.
The drive control part, including piezoelectric ceramic piece driver 5, the piezoelectric ceramic piece driver 5 are pasted onto soft
Property follower lever 8 on, near the two ends of flexibility follower lever, every flexible follower lever has four piezoelectric ceramic pieces, per face two panels, appearance
State angle is 0 ° of symmetrical stickup.
After computer obtains above-mentioned vibration signal, controlled quentity controlled variable is calculated according to control law, controlled quentity controlled variable is by motion control
The treatment output of card 14, then amplify to voltage amplifier 16 by exporting analog quantity after the treatment of terminal board 15, then it is input to piezoelectricity pottery
Ceramics driver 5, so as to suppress the vibration of rigidity and flexible double five bar closed chain mechanisms.
In the present embodiment, silent flatform 1 is made up of section bar, and its physical dimension size is 900mm × 800mm × 600mm.
Rigid driven bar 2 uses aluminum alloy materials, and its physical dimension size is 250mm × 25mm × 10mm.Rigidity
Driving lever 3 uses aluminum alloy materials, and its physical dimension size is 180mm × 25mm × 10mm.
Piezoelectric ceramic piece driver 5 is piezoelectric ceramic piece, and physical dimension is 50mm × 20mm × 1mm, piezoceramic material
Elastic modelling quantity be Epe=63GPa, d31=-166pm/v.During piezoelectric ceramic piece driver 5 is used for suppressing follower lever motion process
The vibration of generation.Acceleration transducer 6 is from the 8312B10 type acceleration sensings in the acceleration transducer of K-Beam companies
Device, it is a kind of low-frequency acceleration sensor, and its measurement frequency scope is 0-180Hz.
Industrial camera selects the COMS cameras of the Basler companies of Germany, its model BasleracA1600-60gc to adopt
The image size for integrating is 1600*1200 pixels, about 200 mega pixels, and frame per second is 60 frames/second, and its lens interface is C interface,
Camera is GigE with the interface of computer, and its transmission speed is better than USB interface.
The camera lens of industrial camera selects the industrial lens of Computar companies of Japan, its model computarM1214-
MP2, focal length is 12mm, and size is Φ 33.5mm × 28.2mm, and image full-size is 8.8mm × 6.6mm, and interface is C interface.
Flexible follower lever 8 uses aluminum alloy materials, and its physical dimension size is 250mm × 25mm × 3mm.Flexible Main
Lever 9 uses aluminum alloy materials, and its physical dimension size is 180mm × 25mm × 3mm.
Servomotor 10 selects the Mitsubishi Electric of MIT, and its model HC-KF43 types, and electric drilling match is used
Decelerator from Germany NEUGRAT companies PLN series decelerator, its model, the decelerator have motor install letter
Just the features such as, output torque is high.
Camera support 11 is made up of section bar, its physical dimension size 1200mm × 1200mm × 900mm, to two industrial phases
Machine is demarcated using Zhang Zhengyou plane references method, using MATLAB calibration tool casees.
A kind of rigidity of view-based access control model and the investigating method of flexible double five bar closed chain mechanism devices, comprise the following steps：
First step acceleration transducer detects the vibration information of follower lever；
Industrial camera detects the vibration information of follower lever junction, and specific detection method is：Do not opened also in mechanism arrangement
When beginning to move, image of the 10-15 width comprising circular indicia is shot, calculate the central coordinate of circle of circular indicia in each image, and
Its average value is calculated, as the coordinate under original state, (x is set to0, y0)；
When simultaneously servomotor 10 drives rigid five-rod with flexible five-rod with symmetrical attitude, symmetrical track
During fortune fortune, if the coordinate in the center of circle of circular indicia 4 is (x1(t), y1(t)).The displacement that x-axis direction can then be obtained is Sx=x1-
x0, the displacement in y-axis direction is Sy=y1-y0；Further according to the result of camera calibration, it is possible to obtain rigid five-rod and flexibility
The real vibration displacement information of five-rod.
The central coordinate of circle of circular indicia is obtained using image processing method, specific method is as follows：First with Canny edges
Detective operators split circular indicia 4 and background, and obtain the edge of circular indicia 4, so as to obtain the two-value of circular indicia 4
Figure；Contours extract is carried out to binary map again, the profile diagram of circular indicia 4 is obtained；Its image moment is calculated profile diagram again, so that
To the central coordinate of circle of circular indicia 4.
The vibration signal that second step acceleration transducer is detected is by after the treatment of modification amplifier 13, terminal board is arrived in output
After middle A/D modules are processed, then digital quantity is exported in motion control card, then carry out subsequent treatment through computer；Industrial phase
The signal input that machine examination is measured carries out subsequent treatment to computer, according to control law, feedback signal is controlled accordingly；
After the feedback signal that 3rd step will be obtained in step 2 is through D/A resume modules in terminal board, then through voltage amplification electricity
After device enhanced processing, piezoelectric ceramic piece driver is input to, so as to suppress the vibration of rigidity and flexible double five bar closed chain mechanisms.
Arrow connection in Fig. 1 represents the connection of electric signal and detection drive dynamic control device.
CPU models Intel (R) Core (TM) i5-4590CPU 3.30GHz that computer 12 is selected, inside save as 4G, main
There are multiple PCI slots on plate, motion control card can be very easily installed.Modification amplifier 13 is from Bruel＆Kjaer companies
NEXUS series modification amplifiers, it has low noise, HDR, a high-precision feature, and model is from 4 passages
2692-C modification amplifiers.
Motion control card 14 selects the GTS-400-PV-PCI movement sequence controllers of Gu Gao companies, and its core is mainly
DSP and FPGA, there is provided the pci bus interface of standard.The model GT2-400-ACC2-V- of the terminal board 15 supporting with it
AD16, it contains A/D and D/A modules.
Voltage amplifier 16 can select the parts such as the voltage amplifier of model APEX-PA241DW or APEX-PA240CX
Composition, its research institute is South China Science ＆ Engineering University, in entitled " space sailboard bend and the torsion mode vibration of applicant's application
Simulation active control device and method ", is discussed in detail in the patent of Application No. 200810027186.4.Multiplication factor is reachable
To 52 times, will -5V~+5V be amplified to -260~+260V.
Rigidity is main with flexible double five bar closed chain mechanisms by rigid five-rod and the big type of mechanism of flexible five-rod two
Constitute.When motor drives rigid five-rod and flexible five-rod is run with symmetrical attitude, symmetrical track simultaneously, adopt
Detect the vibration information in rigid five-rod and flexible five-rod motion process respectively with machine vision sensor, and
Vibration information is analyzed, the otherness in rigid five-rod and flexible five-rod motion process is drawn.Finally
Suppress the vibration in rigid five-rod and flexible five-rod motion process using piezoelectric ceramic piece driver, and it is right
Control result is analyzed.
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of rigidity of view-based access control model and flexible double five bar closed chain mechanism devices, it is characterised in that including basic machine part,
Detection part and drive control part；
The basic machine part：Including silent flatform, two flexible driving levers, two flexible follower levers, two rigid driving levers
And two rigid driven bars, the silent flatform is provided below two servomotors, two servomotors respectively with planetary reduction gear
Connection, the planetary reduction gear is arranged on silent flatform, and two one end of flexible driving lever connect with two planetary reduction gears respectively
Connect, two other ends of flexible driving lever are connected with two flexible follower levers respectively, and described two flexible follower levers are connected with each other；
One end of two rigid driving levers be connected with two planetary reduction gears respectively, two other ends of rigidity driving lever respectively with
Two rigid driven bar connections, described two rigid driven bars are connected with each other；
The detection part：Including industrial camera and acceleration transducer, the acceleration transducer is arranged on flexible follower lever
And the centre position of rigid driven bar, the industrial camera is specially two, is separately mounted to two rigid driven bars and two
The junction top of flexible follower lever；
The vibration information of the acceleration transducer detection rigidity and flexible follower lever is by after modification amplifier treatment, output is arrived
It is input in computer by motion control card after terminal board；
The industrial camera detects that the vibration signal of two follower lever junctions is input in computer；
The drive control part：Including piezoelectric ceramic piece driver, the piezoelectric ceramic piece driver is pasted onto flexible driven
On bar, the computer calculates controlled quentity controlled variable by motion control card after obtaining vibration signal, then export terminal board treatment after
Analog input to piezoelectric amplifier is obtained, further drives piezoelectric ceramic piece driver to suppress the vibration of closed chain mechanism.
2. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that also marked including circle
Know, the circular indicia there are 2, be separately positioned on the junction of two rigid driven bars and two flexible follower levers, circle mark
Know in industrial camera within sweep of the eye.
3. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that piezoelectric ceramic piece drives
Dynamic implement body is made up of four piezoelectric ceramic pieces, and two sides is symmetrically pasted, and per face two panels, attitude angle is 0 degree.
4. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that also including camera branch
Frame, the camera support is specially rectangular body support frame, and silent flatform is placed in rectangular body support frame.
5. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that rigid driven bar ratio
Rigid driving lever is long, and the flexible follower lever is more long than flexible driving lever.
6. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that two it is flexible actively
Bar, two flexible follower levers, two rigid driving levers and two rigid driven bars are on silent flatform Central Symmetry.
7. rigidity according to claim 4 and flexible double five bar closed chain mechanism devices, it is characterised in that the camera support
Also include the sliding block for adjusting industrial camera position.
8. rigidity according to claim 1 and flexible double five bar closed chain mechanism devices, it is characterised in that described two servos
Motor is symmetrically mounted in the transversal centerline of silent flatform.
9. the investigating method of the rigidity according to claim any one of 1-8 and flexible double five bar closed chain mechanism devices, it is special
Levy and be, comprise the following steps：
First step acceleration transducer detects the vibration information of follower lever, and industrial camera detects two vibrations of follower lever junction
Information；
The vibration signal that second step acceleration transducer is detected is by after modification amplifier treatment, exporting to A/D in terminal board
After module is processed, then digital quantity is exported in motion control card, then carry out subsequent treatment through computer；Industrial camera is detected
To signal input carry out subsequent treatment to computer, according to control law, feedback signal is controlled accordingly；
After the feedback signal that 3rd step will be obtained in step 2 is through D/A resume modules in terminal board, then amplify through voltage amplifier
After treatment, piezoelectric ceramic piece driver is input to, so as to suppress the vibration of rigidity and flexible double five bar closed chain mechanisms.
10. investigating method according to claim 9, it is characterised in that the signal input that the industrial camera is detected is arrived
Computer carries out subsequent treatment, concretely comprises the following steps：
In the non-setting in motion of rigid and flexible double five connecting rod closed chain mechanisms, image of the 10-15 width comprising circular indicia is shot, counted
The central coordinate of circle of circular indicia in each image is calculated, and calculates average value, as the coordinate under original state, be set to (x0,
y0)；
When simultaneously servomotor drives rigid five-rod with flexible five-rod with symmetrical attitude, symmetrical track fortune
When, if the coordinate in the center of circle of circular indicia is (x1(t), y1(t)), then the displacement that can obtain x-axis direction is Sx=x1-x0, y-axis
The displacement in direction is Sy=y1-y0；Further according to the result of camera calibration, rigid five-rod is just obtained with flexible five-rod
Vibration displacement information.
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| CN107421626A (en) * | 2017-07-18 | 2017-12-01 | 华南理工大学 | Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser |
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| CN104729665A (en) * | 2015-03-10 | 2015-06-24 | 华南理工大学 | Flexible cantilever slab vibration detection device and method based on binocular vision |
| CN206416158U (en) * | 2016-12-20 | 2017-08-18 | 华南理工大学 | The rigidity of view-based access control model and flexible double five bar closed chain mechanism devices |
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| CN107421626A (en) * | 2017-07-18 | 2017-12-01 | 华南理工大学 | Flexible arm space oscillations specificity analysis apparatus and method based on polyphaser |
| CN107421626B (en) * | 2017-07-18 | 2023-03-21 | 华南理工大学 | Flexible arm space vibration characteristic analysis device and method based on multiple cameras |
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