摘要
针对隧道快速检测系统研发中存在的关键技术问题,提出了一种应用多轴调节平台解决图像采集质量的技术方案。面向实际需求制定了多轴调节平台的机型综合原则,设计了一种新型三自由度并联机构,在分析机构运动特征的基础上建立并定义了机构的输入—输出映射关系及工作空间约束条件。最后对试验样机进行硬件选型及伺服控制方案设计,开展样机试验以测试和验证模型,并给出了多轴调节平台的转角—位移工作空间。将并联机构应用于机器视觉领域,研究成果为研发隧道快速检测系统提供了一种新方法和新思路。
Based on the key technology problems in the development of tunnel rapid detection system, a technology scheme of using multi-axes adjustment platform to solve the problem of image acquisition is proposed. The design principle of multi-axes adjustment platform is formulated based on application requirement and a new type of 3-DOF parallel mechanism is designed. On the basis of kinematic analysis of mechanism, the mapping relationship between the input and output of the mechanism is established, and the constraint conditions of the workspace are defined. Finally, the hardware selection and design of servo control scheme of the experimental prototype are carried out, the experimental tests are put forward to test and validate the model, and the workspace of multi-axes adjustment platform is analyzed. In this paper, parallel robot technology is applied to the field of intelligent image acquisition, and the research results offered a new method and new ideas for developing tunnel rapid detection system.
出处
《机械设计与制造》
北大核心
2016年第7期243-247,251,共6页
Machinery Design & Manufacture
基金
山西省基础研究计划项目(2015021126)
国家自然科学基金项目(51305380)
关键词
多轴调节平台
三自由度并联机构
机构学模型
隧道快速检测系统
Multi-axes Adjustment Platform
3-DOF Parallel Mechanism
Mechanism Model
Tunnel Rapid Detection System
