Rigid-flexible coupling body-oriented rigidity measurement system and method

Abstract

The invention discloses a rigid-flexible coupling body-oriented rigidity measurement system, which comprises a mounting and fixing unit, a power measurement unit and a motion capture unit, and is characterized in that the mounting and fixing unit comprises a Z-axis sliding table, a mounting bracket, a rigid-flexible coupling body and a stay wire, and the rigid-flexible coupling body is detachably connected with the mounting bracket; the rigid-flexible coupling body comprises a flexible body and rigid bodies, and the stay wire is connected with the two rigid bodies; and the power measuring unit comprises a driver, a torque measuring instrument and a winding wheel, the driver is in transmission connection with the winding wheel through the torque measuring instrument, and the stay wire is connected with the winding wheel. The invention further provides a rigidity measuring method for the rigid-flexible coupling body, motion data obtained by monitoring the rigid-flexible coupling body through the torquemeter and the capturing element, and then theoretical bending rigidity solved by combining the rigid-flexible coupling body with the section shape is obtained. On the basis of obtaining the measured data of the torquemeter, constructing a theoretical stiffness model, obtaining the actual bending stiffness measured by the rigid-flexible coupling body, and carrying out verification and correction.

Description

technical field [0001] The invention relates to the technical field of rigid-flexible coupling, in particular to a stiffness measurement system and a measurement method for a rigid-flexible coupling body. Background technique [0002] Rigid-flexible coupling body is widely used in the execution parts of robots because of its good flexibility and flexibility. Usually, the rigid-flexible coupling body in the robot is connected and fixed by the rigid body part, and the flexible body part realizes the bending motion. Common driving forms of rigid-flexible coupling include rope drive, pneumatic, and elastic dielectric. The above driving forms convert the kinetic energy or electrical energy of the motor into the bending motion of the target. In order to precisely control the above-mentioned energy conversion process, it is necessary to obtain the stiffness of the rigid-flexible coupling body, so as to establish the corresponding relationship between the deformation amount of the ...

AI Technical Summary

Problems solved by technology

At the same time, the existing stiffness measurement system does not accurately track the motion trajectory of the measurement object, and does not consider the cross-sectional shape, which makes the relationship between the actual deformation and stiffness inaccurate, especially for rigid-flexible couplings with complex and asymmetric structures , it is still difficult to measure the actual stiffness of the rigid-flexible coupling body

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