CN113650052A - Rope drives many joints flexible mechanical arm and measures experiment platform - Google Patents
Rope drives many joints flexible mechanical arm and measures experiment platform Download PDFInfo
- Publication number
- CN113650052A CN113650052A CN202110936640.3A CN202110936640A CN113650052A CN 113650052 A CN113650052 A CN 113650052A CN 202110936640 A CN202110936640 A CN 202110936640A CN 113650052 A CN113650052 A CN 113650052A
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- mechanical arm
- rope
- front panel
- operation box
- hole
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a rope-driven multi-joint flexible mechanical arm measurement experiment platform which comprises a support frame, an operation box, a calibration plate and an attitude sensor, wherein the operation box is arranged on the support frame; the supporting frame is provided with an operation box and a calibration plate; the operation box comprises a front panel, a side panel, a connecting rod, a pulley, a graduated scale and a weight; the front panel is connected with the mechanical arm in a way of selecting an installation angle, and a circle of scales for indicating the angle are arranged outside the periphery of the front panel around the mechanical arm; the two side panels are respectively provided with a plurality of rod holes for the selective installation of the connecting rods; the pulleys and the graduated scale are respectively arranged on the connecting rods; the operation box is used for connecting a rope of the mechanical arm with a weight by bypassing the pulley; the calibration plate is arranged on one side of the operation box and used for the mechanical arm to perform projection measurement; the attitude sensor is used for being mounted on the mechanical arm to acquire attitude information of the mechanical arm; by adopting the scheme, accurate acquisition of each data can be completed, and the problem that accurate driving parameters of the mechanical arm are difficult to obtain in the prior art is practically solved.
Description
Technical Field
The invention relates to the field of experimental measurement, in particular to a rope-driven multi-joint flexible mechanical arm measurement experimental platform.
Background
With the development of science and technology, robots are gradually required to work in complex environments and narrow spaces, and flexible multi-joint continuous robots are a very popular development direction.
The continuous robot is a novel bionic robot, integrally presents a flexible characteristic, has excellent bending performance, and has strong adaptability under working conditions of non-cooperative target capturing operation, obstacle avoidance operation in a non-structural environment, limited work in a narrow space and the like. The rope driving mode of the continuous robot has the characteristics of large driving force, short response time, high reliability and the like. Therefore, the rope-driven continuous robot is widely studied. However, although the rope-driven flexible mechanical arm has the advantage of flexibility, the movement of the rope-driven flexible mechanical arm is difficult to accurately calculate due to the characteristics of flexibility of the rope, a large number of joints of the robot, large influence of friction force between the rope and the joints on deformation of the mechanical arm and the like, and particularly, the relation between the movement of each joint, length change of the rope and rope driving force is difficult to accurately determine by using a mathematical model.
Disclosure of Invention
The invention aims to provide a rope-driven multi-joint flexible mechanical arm measurement experiment platform to solve the problem that accurate driving parameters of a mechanical arm are difficult to obtain in the prior art.
In order to solve the technical problem, the invention provides a rope-driven multi-joint flexible mechanical arm measurement experiment platform which comprises a support frame, an operation box, a calibration plate and an attitude sensor, wherein the operation box is arranged on the support frame; the operating box and the calibration plate are arranged on the supporting frame; the operation box comprises a front panel, a side panel, a connecting rod, a pulley, a graduated scale and a weight; the front panel is used for mounting a mechanical arm, the front panel is connected with the mechanical arm in a manner of selecting a mounting angle, and a circle of angle indicating scales are arranged outside the periphery of the front panel around the mechanical arm; the two side panels are arranged on two opposite sides of the front panel, and a plurality of rod holes for the connecting rods to be selectively installed are formed in the two side panels; two ends of the connecting rods are respectively inserted into the rod holes of the two side panels; the pulleys are respectively arranged on the connecting rods in a rotatable mode; the graduated scales are respectively hung on the connecting rods; the operation box is used for enabling a rope of the mechanical arm to be connected with the weight by bypassing the pulley; the calibration plate is arranged on one side of the operation box and used for the mechanical arm to perform projection measurement; the attitude sensor is used for being installed on the mechanical arm to acquire attitude information of the mechanical arm.
In one embodiment, the front panel is provided with a through hole and a mounting hole, and the mounting holes are arranged around the circumference of the through hole in a circle; the control box still includes the fixed plate, the fixed plate is used for the installation the arm, the fixed plate is equipped with counterpoint hole and through wires hole, and is a plurality of the counterpoint hole is in a plurality of week side of through wires hole is the circumference outward and arranges, and is a plurality of the counterpoint hole is used for selecting and needs through screw and nut the mounting hole is connected, and is a plurality of the through wires hole all with it is relative to perforate, and is a plurality of the through wires hole is used for supplying the rope of arm passes in order to bypass the pulley is connected the weight.
In one embodiment, the fixing plate is provided with an alignment line at the peripheral side, and the alignment line is arranged adjacent to the scale.
In one embodiment, the connecting rod is a cylindrical optical axis for the pulley to move along the axial direction of the connecting rod.
In one embodiment, the graduated scale is provided with a hanging hole, and the connecting rod penetrates through the hanging hole to hang the graduated scale.
In one embodiment, a plurality of the rod holes are arranged in a group at intervals along the vertical direction, and a plurality of groups of the rod holes are arranged at intervals along the horizontal direction.
In one embodiment, the surface of the calibration plate is provided with grid lines.
The invention has the following beneficial effects:
the front panel is used for mounting the mechanical arm, the front panel is connected with the mechanical arm in a mode of selecting a mounting angle, and a circle of scales for indicating the angle are arranged outside the periphery of the front panel around the mechanical arm, so that the mechanical arm can select the mounting angle according to experimental requirements and can record the current angle through the scales; the two side panels are arranged on two opposite sides of the front panel, and a plurality of rod holes for the connecting rods to be selectively installed are formed in the two side panels, so that the connecting rods can be installed at different positions according to different experimental requirements; finally, the operation box is used for enabling the rope of the mechanical arm to bypass the pulley to be connected with the weight, so that the movable regulation and control of the mechanical arm can be realized by adjusting the weight of the weight, and in the moving process of the mechanical arm, a calibration plate, a graduated scale, an attitude sensor and the like are used for recording relevant information, so that accurate acquisition of all data can be completed, and the problem that accurate driving parameters of the mechanical arm are difficult to obtain in the prior art is practically solved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of the control box of FIG. 1;
FIG. 3 is a schematic view of the disassembled structure of the front panel and the fixing plate of FIG. 1;
FIG. 4 is a schematic view of the scale of FIG. 1;
FIG. 5 is a flowchart providing operation of an embodiment of the present invention.
The reference numbers are as follows:
10. a support frame;
20. an operation box; 21. a front panel; 211. calibration; 212. perforating; 213. mounting holes; 22. a side panel; 221. a rod hole; 23. a connecting rod; 24. a pulley; 25. a graduated scale; 251. a hanging hole; 26. a weight; 27. a fixing plate; 271. aligning holes; 272. threading holes; 273. aligning a bit line;
30. calibrating the plate; 31. grid lines;
40. an attitude sensor;
50. a mechanical arm; 51. a rope.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a rope-driven multi-joint flexible mechanical arm measurement experiment platform, which is shown in FIGS. 1 to 5 and comprises a support frame 10, an operation box 20, a calibration plate 30 and an attitude sensor 40; the supporting frame 10 is provided with an operation box 20 and a calibration plate 30; the operation box 20 comprises a front panel 21, a side panel 22, a connecting rod 23, a pulley 24, a graduated scale 25 and a weight 26; the front panel 21 is used for mounting the mechanical arm 50, the front panel 21 and the mechanical arm 50 are connected in a mode of selecting a mounting angle, and a circle of scales 211 for indicating the angle are arranged on the periphery of the front panel 21 around the mechanical arm 50; the two side panels 22 are arranged on two opposite sides of the front panel 21, and a plurality of rod holes 221 for the connecting rods 23 to be selectively installed are arranged on the two side panels 22; both ends of the plurality of connecting rods 23 are respectively inserted into the rod holes 221 of the two side panels 22; a plurality of pulleys 24 are respectively mounted on the plurality of connecting rods 23 in a rotatable manner; the plurality of scales 25 are respectively hung on the plurality of connecting rods 23; the operation box 20 is used for connecting a rope 51 of the mechanical arm 50 with a weight 26 by passing through the pulley 24; the calibration plate 30 is arranged on one side of the operation box 20, and the calibration plate 30 is used for the mechanical arm 50 to perform projection measurement; the attitude sensor 40 is for mounting on the robot arm 50 to acquire attitude information of the robot arm 50.
When the method is applied, the mechanical arm 50 is mounted on the front panel 21, the mounting angle of the mechanical arm 50 is selected, the mounting angle of the mechanical arm 50 is read by using the scale 211 of the front panel 21, then the rope 51 of the mechanical arm 50 penetrates through the front panel 21, and the rope 51 is connected with the weight 26 after passing around each pulley 24; wherein, the quantity of connecting rod 23, the setting position, and the weight of weight 26 all can be selected according to the experiment demand, then alright utilize scale 25 to learn the pulling distance of rope 51, utilize attitude sensor 40 to learn the motion gesture of arm 50, utilize calibration plate 30 to learn the position change information of arm 50, thereby realized the acquirement of accurate data in a plurality of dimensions, solved the problem that prior art is difficult to obtain the accurate drive parameter of arm 50 conscientiously, it is concrete, can refer to the flowchart shown in fig. 5 and operate.
As shown in fig. 1 to 3, the front panel 21 is provided with a through hole 212 and mounting holes 213, and the plurality of mounting holes 213 are arranged one turn around the circumferential side of the through hole 212; the operation box 20 further comprises a fixing plate 27, the fixing plate 27 is used for installing the mechanical arm 50, the fixing plate 27 is provided with alignment holes 271 and threading holes 272, the alignment holes 271 are circumferentially arranged on the periphery of the threading holes 272, the alignment holes 271 are used for being connected with the required installation holes 213 through screw and nut selection, the threading holes 272 are opposite to the through holes 212, and the threading holes 272 are used for enabling the rope 51 of the mechanical arm 50 to pass through the pulley 24 to be connected with the weight 26.
For example, in this embodiment, the installation positions of the robot arm 50 and the fixing plate 27 are fixed, and the number of the alignment holes 271 is three, so that the alignment state of the alignment holes 271 and the installation holes 213 can be changed by rotating the fixing plate 27, thereby changing the installation angle of the robot arm 50, and after the installation angle is adjusted, the fixing plate 27 and the front plate 21 are connected and fixed by using screws and nuts; after the arm 50 is fixed, the rope 51 is passed through the threading hole 272 and wound around the pulley 24 to connect the weight 26.
As shown in fig. 3, an alignment line 273 is provided at the circumferential side of the fixing plate 27, and the alignment line 273 is disposed adjacent to the scale 211.
After the opposite line 273 is provided, the rotation angle of the robot arm 50 can be determined by the relative position of the opposite line 273 and the scale 211, thereby facilitating data recording.
As shown in fig. 2, the connecting rod 23 is a cylindrical optical axis for the pulley 24 to move in the axial direction of the connecting rod 23.
After the arrangement mode is adopted, the connecting rod 23 is cylindrical, so that the pulley 24 can move along the axial direction of the connecting rod 23 conveniently, and the pulley 24 can be moved to the position meeting the experimental requirement.
As shown in fig. 2 and 4, a hanging hole 251 is provided on the scale 25, and the connecting rod 23 passes through the hanging hole 251 to hang the scale 25.
With this arrangement, the suspension of the scale 25 on the connecting rod 23 is facilitated.
As shown in fig. 2, the plurality of rod holes 221 are arranged in a group at intervals in the vertical direction, and the plurality of groups of rod holes 221 are arranged at intervals in the horizontal direction.
With this arrangement, the rod holes 221 will be disposed vertically and laterally about the side panel 22, thereby ensuring a wide range of arrangement of the rod holes 221 to provide more mounting position options for the connecting rods 23.
As shown in fig. 1, the surface of the calibration plate 30 is provided with grid lines 31.
After the grid lines 31 are formed on the surface of the calibration plate 30, the projected position of the robot arm 50 can be easily confirmed and recorded.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A rope-driven multi-joint flexible mechanical arm measurement experiment platform is characterized in that,
the device comprises a support frame, an operation box, a calibration plate and an attitude sensor;
the operating box and the calibration plate are arranged on the supporting frame;
the operation box comprises a front panel, a side panel, a connecting rod, a pulley, a graduated scale and a weight; the front panel is used for mounting a mechanical arm, the front panel is connected with the mechanical arm in a manner of selecting a mounting angle, and a circle of angle indicating scales are arranged outside the periphery of the front panel around the mechanical arm; the two side panels are arranged on two opposite sides of the front panel, and a plurality of rod holes for the connecting rods to be selectively installed are formed in the two side panels; two ends of the connecting rods are respectively inserted into the rod holes of the two side panels; the pulleys are respectively arranged on the connecting rods in a rotatable mode; the graduated scales are respectively hung on the connecting rods; the operation box is used for enabling a rope of the mechanical arm to be connected with the weight by bypassing the pulley;
the calibration plate is arranged on one side of the operation box and used for the mechanical arm to perform projection measurement;
the attitude sensor is used for being installed on the mechanical arm to acquire attitude information of the mechanical arm.
2. The rope-driven multi-joint flexible mechanical arm measurement experiment platform of claim 1,
the front panel is provided with a through hole and a plurality of mounting holes, and the plurality of mounting holes are arranged in a circle around the periphery of the through hole;
the control box still includes the fixed plate, the fixed plate is used for the installation the arm, the fixed plate is equipped with counterpoint hole and through wires hole, and is a plurality of the counterpoint hole is in a plurality of week side of through wires hole is the circumference outward and arranges, and is a plurality of the counterpoint hole is used for selecting and needs through screw and nut the mounting hole is connected, and is a plurality of the through wires hole all with it is relative to perforate, and is a plurality of the through wires hole is used for supplying the rope of arm passes in order to bypass the pulley is connected the weight.
3. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 2, wherein an alignment line is arranged on the peripheral side of the fixing plate, and the alignment line is arranged adjacent to the scale.
4. The rope-driven multi-joint flexible mechanical arm measurement experiment platform as claimed in claim 1, wherein the connecting rod is a cylindrical optical axis for the pulley to move along the axial direction of the connecting rod.
5. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 4, wherein a hanging hole is formed in the graduated scale, and the connecting rod penetrates through the hanging hole to hang the graduated scale.
6. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 1, wherein the plurality of rod holes are arranged in a group at intervals in the vertical direction, and a plurality of groups of rod holes are arranged at intervals in the horizontal direction.
7. The rope-driven multi-joint flexible mechanical arm measurement experiment platform as claimed in claim 1, wherein grid lines are arranged on the surface of the calibration plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110936640.3A CN113650052B (en) | 2021-08-16 | 2021-08-16 | Rope drives flexible arm measurement experiment platform of many joints |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110936640.3A CN113650052B (en) | 2021-08-16 | 2021-08-16 | Rope drives flexible arm measurement experiment platform of many joints |
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| Publication Number | Publication Date |
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| CN113650052A true CN113650052A (en) | 2021-11-16 |
| CN113650052B CN113650052B (en) | 2023-05-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110936640.3A Active CN113650052B (en) | 2021-08-16 | 2021-08-16 | Rope drives flexible arm measurement experiment platform of many joints |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714342A (en) * | 2022-04-24 | 2022-07-08 | 哈尔滨工业大学（深圳） | Device for measuring hysteresis deformation of driving rope of rope-driven flexible arm and compensation control method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61118810A (en) * | 1984-11-14 | 1986-06-06 | Aisin Seiki Co Ltd | Controller of flexible manipulator |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN111993398A (en) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学（深圳） | Testing device for closed-loop rope driving flexible mechanical arm |
| CN113043332A (en) * | 2021-04-01 | 2021-06-29 | 哈尔滨工业大学（深圳） | Arm shape measuring system and method of rope-driven flexible robot |
-
2021
- 2021-08-16 CN CN202110936640.3A patent/CN113650052B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61118810A (en) * | 1984-11-14 | 1986-06-06 | Aisin Seiki Co Ltd | Controller of flexible manipulator |
| CN110695993A (en) * | 2019-09-27 | 2020-01-17 | 哈尔滨工业大学（深圳） | Synchronous measurement method, system and device for flexible mechanical arm |
| CN111993398A (en) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学（深圳） | Testing device for closed-loop rope driving flexible mechanical arm |
| CN113043332A (en) * | 2021-04-01 | 2021-06-29 | 哈尔滨工业大学（深圳） | Arm shape measuring system and method of rope-driven flexible robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114714342A (en) * | 2022-04-24 | 2022-07-08 | 哈尔滨工业大学（深圳） | Device for measuring hysteresis deformation of driving rope of rope-driven flexible arm and compensation control method thereof |
| CN114714342B (en) * | 2022-04-24 | 2024-01-30 | 哈尔滨工业大学（深圳） | Rope-driven flexible arm driving rope hysteresis deformation measuring device and compensation control method thereof |
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| CN113650052B (en) | 2023-05-05 |
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