CN113650052B - Rope drives flexible arm measurement experiment platform of many joints - Google Patents
Rope drives flexible arm measurement experiment platform of many joints Download PDFInfo
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- CN113650052B CN113650052B CN202110936640.3A CN202110936640A CN113650052B CN 113650052 B CN113650052 B CN 113650052B CN 202110936640 A CN202110936640 A CN 202110936640A CN 113650052 B CN113650052 B CN 113650052B
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- mechanical arm
- rope
- holes
- front panel
- operation box
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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 support frame is arranged on the support frame; the support frame is provided with an operation box and a calibration plate; the operation box comprises a front panel, a side panel, a connecting rod, pulleys, a graduated scale and weights; the front panel is connected with the mechanical arm at a selectable installation angle, and a circle of scale for indicating the angle is arranged outside the front panel around the periphery of the mechanical arm; the two side panels are provided with a plurality of rod holes for the connecting rods to be selectively installed; the pulleys and the graduated scales are respectively arranged on the connecting rods; the operation box is used for enabling a rope of the mechanical arm to bypass the pulley to be connected with the weight; the calibration plate is arranged on one side of the operation box and is used for carrying out projection measurement by the mechanical arm; the gesture sensor is used for being installed on the mechanical arm to acquire gesture 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 technology, robots are also required to work in complex environments and in narrow spaces, and flexible multi-joint continuous robots are a very popular development direction.
The continuous robot is a novel bionic robot, has excellent bending performance and strong adaptability under the 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, and integrally presents a flexible characteristic. The rope driving mode of the continuous robot has the characteristics of large driving force, short response time, high reliability and the like. Therefore, rope-driven continuous robots have been widely studied. However, the rope-driven flexible mechanical arm has the advantages of flexibility, but because the rope has the characteristics of flexibility, a large number of robot joints, large influence of friction force between the rope and the joints on the deformation of the mechanical arm, and the like, the motion of the rope-driven flexible mechanical arm is difficult to accurately calculate, and particularly, the relation between the motion of each joint, the length change of the rope and the driving force of the rope 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 so as 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 problems, 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; the operation box and the calibration plate are arranged on the support frame; the operating box comprises a front panel, a side panel, a connecting rod, pulleys, a graduated scale and weights; the front panel is used for installing the mechanical arm, the front panel is connected with the mechanical arm by a selectable installation angle, and a circle of scale for indicating the angle is arranged outside the front panel around the periphery of 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 plurality of connecting rods are respectively inserted into the rod holes of the two side panels; the pulleys are rotatably mounted on the connecting rods respectively; the graduated scales are respectively hung on the connecting rods; the operation box is used for enabling a rope of the mechanical arm to bypass the pulley to be connected with the weight; the calibration plate is arranged on one side of the operation box and is used for carrying out projection measurement on the mechanical arm; the gesture sensor is used for being installed on the mechanical arm so as to acquire gesture information of the mechanical arm.
In one embodiment, the front panel is provided with a perforation and a mounting hole, and a plurality of mounting holes are arranged around the circumference of the perforation; the operation box further comprises a fixing plate, the fixing plate is used for installing the mechanical arm, the fixing plate is provided with an alignment hole and a threading hole, the alignment holes are circumferentially arranged on the periphery of the threading holes, the alignment holes are used for being connected with required mounting holes through screw nuts, the threading holes are opposite to the perforation holes, and the threading holes are used for enabling ropes of the mechanical arm to pass through so as to bypass the pulleys to be connected with weights.
In one embodiment, the circumference of the fixing plate is provided with a pair of bit lines, and the pair of bit lines are arranged adjacent to the graduations.
In one embodiment, the connecting rod is a cylindrical optical axis for axial movement of the pulley along the connecting rod.
In one embodiment, the graduated scale is provided with a hanging hole, and the connecting rod passes 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 in the vertical direction, and a plurality of groups of the rod holes are arranged at intervals in the horizontal direction.
In one embodiment, the surface of the calibration plate is provided with grid lines.
The beneficial effects of the invention are as follows:
the front plate is used for installing the mechanical arm, the front plate is connected with the mechanical arm by a selectable installation angle, and a circle of scale for indicating the angle is arranged outside the front plate around the periphery of the mechanical arm, so that the mechanical arm can select the installation angle according to experimental requirements, and the current angle can be recorded through the scale; 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, as the operation box is used for enabling the rope of the mechanical arm to bypass the pulley and connect with the weight, the movable regulation and control of the mechanical arm can be realized by adjusting the weight of the weight, and the calibration plate, the graduated scale, the attitude sensor and the like are utilized for recording related information in the movable process of the mechanical arm, so that the accurate acquisition of each data can be completed, and the problem that the accurate driving parameters of the mechanical arm are difficult to obtain in the prior art is really solved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed 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 that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
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 partial structure of the operation box of FIG. 1;
FIG. 3 is a schematic illustration of the front panel and the fixing plate of FIG. 1 in a disassembled configuration;
FIG. 4 is a schematic view of the scale of FIG. 1;
fig. 5 is a flowchart of the operation provided by an embodiment of the present invention.
The reference numerals are as follows:
10. a support frame;
20. an operation box; 21. a front panel; 211. a scale; 212. perforating; 213. a mounting hole; 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. an alignment hole; 272. a threading hole; 273. an alignment line;
30. a calibration 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 implemented as shown in fig. 1 to 5, and comprises a support frame 10, an operation box 20, a calibration plate 30 and an attitude sensor 40; the support 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 weights 26; the front panel 21 is used for installing the mechanical arm 50, the front panel 21 is connected with the mechanical arm 50 by a selectable installation angle, and a circle of scales 211 for indicating the angle are arranged outside the front panel 21 around the periphery of 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 selectively installing the connecting rods 23 are arranged on the two side panels 22; two ends of the plurality of connection rods 23 are respectively inserted into the rod holes 221 of the both side panels 22; a plurality of pulleys 24 are rotatably mounted on the plurality of connecting rods 23, respectively; a plurality of graduated scales 25 are respectively hung on the plurality of connecting rods 23; the operation box 20 is used for connecting the weight 26 by a rope 51 of the mechanical arm 50 passing around the pulley 24; the calibration plate 30 is arranged at one side of the operation box 20, and the calibration plate 30 is used for carrying out projection measurement by the mechanical arm 50; the attitude sensor 40 is configured to be mounted on the mechanical arm 50 to acquire attitude information of the mechanical arm 50.
When the mechanical arm 50 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 utilizing the scales 211 of the front panel 21, then the rope 51 of the mechanical arm 50 passes through the front panel 21, and the weight 26 is connected after the rope 51 bypasses each pulley 24; the number, the setting position of the connecting rods 23 and the weight of the weights 26 can be selected according to the experimental requirements, then the pulling distance of the rope 51 can be obtained by using the graduated scale 25, the motion gesture of the mechanical arm 50 can be obtained by using the gesture sensor 40, and the position change information of the mechanical arm 50 can be obtained by using the calibration plate 30, so that the accurate data can be obtained in multiple dimensions, the problem that the accurate driving parameters of the mechanical arm 50 are difficult to obtain in the prior art can be practically solved, and the operation can be performed by referring to the flowchart shown in fig. 5.
As shown in fig. 1 to 3, the front panel 21 is provided with a through hole 212 and a mounting hole 213, and a plurality of mounting holes 213 are arranged one round 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 a plurality of 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 required installation holes 213 through screw nuts, the threading holes 272 are opposite to the perforation 212, and the threading holes 272 are used for allowing ropes 51 of the mechanical arm 50 to pass through so as to bypass pulleys 24 and connect weights 26.
For example, in this embodiment, the mounting positions of the mechanical arm 50 and the fixing plate 27 are fixed, and three alignment holes 271 are provided, so that the alignment state of the alignment holes 271 and the mounting holes 213 can be changed by rotating the fixing plate 27, so as to change the mounting angle of the mechanical arm 50, and after the mounting angle is adjusted, the fixing plate 27 and the front panel 21 are connected and fixed by using screws and nuts; after the mechanical arm 50 is installed and fixed, the rope 51 can pass through the threading hole 272 to pass through the pulley 24 and connect with the weight 26.
As shown in fig. 3, the fixing plate 27 is provided at the peripheral side thereof with a pair of bit lines 273, the pair of bit lines 273 being arranged adjacent to the graduations 211.
After setting the alignment line 273, the relative position of the alignment line 273 and the scale 211 can be used to determine the rotation angle of the mechanical arm 50, so as to facilitate data recording.
As shown in fig. 2, the connection rod 23 has a cylindrical optical axis, and the pulley 24 is moved in the axial direction of the connection rod 23.
After the arrangement mode is adopted, the connecting rod 23 is cylindrical, so that the pulley 24 can conveniently move along the axial direction of the connecting rod 23, and the pulley 24 can be ensured to move to a position meeting the experimental requirement.
As shown in fig. 2 and 4, the scale 25 is provided with a hanging hole 251, and the connection rod 23 passes through the hanging hole 251 to hang the scale 25.
With this arrangement, suspension of the scale 25 on the connecting rod 23 is facilitated.
As shown in fig. 2, the plurality of rod holes 221 are vertically spaced apart in one group, and the plurality of groups of rod holes 221 are horizontally spaced apart.
After this arrangement, the lever holes 221 would be disposed vertically and laterally about the side panels 22, thereby ensuring a wide range of lever holes 221 arrangements to provide more mounting location 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 provided on the surface of the calibration plate 30, it is possible to easily confirm and record the projection position of the robot arm 50.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (7)
1. A rope-driven multi-joint flexible mechanical arm measurement experiment platform is characterized in that,
comprises a supporting frame, an operation box, a calibration plate and an attitude sensor;
the operation box and the calibration plate are arranged on the support frame;
the operating box comprises a front panel, a side panel, a connecting rod, pulleys, a graduated scale and weights; the front panel is used for installing the mechanical arm, the front panel is connected with the mechanical arm by a selectable installation angle, and a circle of scale for indicating the angle is arranged outside the front panel around the periphery of 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 plurality of connecting rods are respectively inserted into the rod holes of the two side panels; the pulleys are rotatably mounted on the connecting rods respectively; the graduated scales are respectively hung on the connecting rods; the operation box is used for enabling a rope of the mechanical arm to bypass the pulley to be connected with the weight;
the calibration plate is arranged on one side of the operation box and is used for carrying out projection measurement on the mechanical arm;
the gesture sensor is used for being installed on the mechanical arm so as to acquire gesture information of the mechanical arm.
2. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 1, wherein,
the front panel is provided with a perforation and a mounting hole, and a plurality of mounting holes are arranged around the periphery of the perforation;
the operation box further comprises a fixing plate, the fixing plate is used for installing the mechanical arm, the fixing plate is provided with an alignment hole and a threading hole, the alignment holes are circumferentially arranged on the periphery of the threading holes, the alignment holes are used for being connected with required mounting holes through screw nuts, the threading holes are opposite to the perforation holes, and the threading holes are used for enabling ropes of the mechanical arm to pass through so as to bypass the pulleys to be connected with weights.
3. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 2, wherein an alignment line is arranged at the periphery of the fixed plate, and the alignment line is arranged adjacent to the scale.
4. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to 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 a plurality of the rod holes are vertically arranged at intervals into a group, and a plurality of groups of the rod holes are horizontally arranged at intervals.
7. The rope-driven multi-joint flexible mechanical arm measurement experiment platform according to claim 1, wherein the surface of the calibration plate is provided with grid lines.
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 CN113650052A (en) | 2021-11-16 |
| CN113650052B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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 |
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