Rigidity and flexible two five pole closed chain mechanism devices based on vision

• Main Authors: QIU ZHICHENG, WANG XIANFENG
• Format: Patent
• Language: Chinese; English
• Published: 18.08.2017
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC ORINFRASONIC WAVES; MEASURING; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TESTING; TRANSPORTING

The utility model discloses a rigidity and flexible two five pole closed chain mechanism devices based on vision, including rigidity five -bar mechanism, flexible five -bar mechanism, quiet platform, industry camera, acceleration sensor, motion control card, voltage amplifier, computer, terminal block and piezoceramics piece driver, the utility model discloses well adoption servo motor drives rigidity five -bar mechanism simultaneously and flexible five -bar mechanism does exercises and the mutually noninterfere with the gesture of symmetry, the orbit of symmetry, adopt acceleration sensor and industry camera to measure the vibration information that produces in rigidity five -bar mechanism and the flexible five -bar mechanism motion process to contrastive analysis carries out, combine initiative control algorithm at last, carry out active control to the vibration that produces in rigidity five -bar mechanism and the flexible five -bar mechanism motion process respectively through piezoceramics piece driver.