A test system for extreme motion characteristics of manipulator transmission unit

Abstract

The present invention discloses a mechanical hand driving unit limit movement characteristic testing system, belonging to the field of mechanical hand design. The system comprises a test platform, a control detection unit and a test evaluation subsystem. The test platform is formed by a fixed clamp, a platform rack, an adjustable mounting bracket, a crank, a screw rod, a screw rod elevator, a lifting platform, a support table, a load torque controller, a coupling, and a motion parameter measurement sensor. The control detection is formed by a dedicated measurement and control module, an RS-232 / USB conversion module, a CAN / LAN conversion module, four wiring terminals, an indicating unit and a power supply system. The test evaluation subsystem is formed by a database module, a human-computer interaction module, a process control module, a servo motor control module, a load torque control module, a motion parameter measurement module, a data communication module and a data analysis module. The system has an important role in the design of a mechanical hand and especially in the field of mechanical hand driving unit design and model selection.

Description

technical field [0001] The invention belongs to the field of manipulator design, and relates to a test system for extreme motion characteristics of a manipulator transmission unit. Background technique [0002] The manipulator transmission unit is composed of servo controller, servo motor, reducer and other components. It is the core to realize the motion function of the manipulator. Its motion characteristics, especially the extreme motion characteristics, determine the motion performance, quality and life of the manipulator. When designing the manipulator, the dynamic parameters of the manipulator are usually used as the basis, and the target operating parameters of the manipulator transmission unit are analyzed and calculated by the method of computer simulation design. Preliminary design and selection of manipulator transmission unit. Then install the manipulator transmission unit on the target manipulator for testing to obtain the actual extreme motion characteristics ...

AI Technical Summary

Problems solved by technology

Although this test method can effectively test and evaluate the transmission unit of the manipulator, since the preliminary design and selection are mainly based on the nameplate parameters of the servo controller, servo motor and reducer, it cannot guarantee that the actual limit motion characteristics of the transmission unit of the manipulator can reach design standards

Once the actual extreme motion characteristics are not up to standard in the test, it may cause damage to the target manipulator and cause serious economic losses; replacing the manipulator transmission unit on the target manipulator will also generate a lot of workload and lead to a lag in the development progress

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