Shisen Lin, Lubin Hang, Xiaobo Huang, H. Yang, Junrong Chen, Ziyu Liu, Lusheng Zhou, B. Zhang, Xiansheng Zhu
{"title":"水平度位姿对准的圆轨迹平台及并联机构研究","authors":"Shisen Lin, Lubin Hang, Xiaobo Huang, H. Yang, Junrong Chen, Ziyu Liu, Lusheng Zhou, B. Zhang, Xiansheng Zhu","doi":"10.1145/3366194.3366220","DOIUrl":null,"url":null,"abstract":"Considering the practical engineering problems of large cylindrical vessels which need to be machined, installed and detected, a new design scheme of large combined ring gear track as operating platform is proposed. The composition of multisegment arc ring gears is realized through pin-steel sleeve by means of 'one surface and two pins' locating method and rapidly spring clinching assembly. A novel fast and practical method to construct fixed fulcrums is proposed. Forming arbitrarily adjustable fixed fulcrums on the outer wall of the cylinder based on the Bernoulli's Principle of the vacuum chuck is proposed, and these fulcrums are used as a fixed platform of 2SPS-1PRR parallel mechanism for pose alignment of levelness. The kinematics model of the parallel mechanism is established and the forward and inverse kinematics problems are solved. The experimental results show that the parallel mechanism has an adjustment effect on the levelness of the track platform.","PeriodicalId":105852,"journal":{"name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2019-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Circular Track Platform and Parallel Mechanism for Pose Alignment of Levelness\",\"authors\":\"Shisen Lin, Lubin Hang, Xiaobo Huang, H. Yang, Junrong Chen, Ziyu Liu, Lusheng Zhou, B. Zhang, Xiansheng Zhu\",\"doi\":\"10.1145/3366194.3366220\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Considering the practical engineering problems of large cylindrical vessels which need to be machined, installed and detected, a new design scheme of large combined ring gear track as operating platform is proposed. The composition of multisegment arc ring gears is realized through pin-steel sleeve by means of 'one surface and two pins' locating method and rapidly spring clinching assembly. A novel fast and practical method to construct fixed fulcrums is proposed. Forming arbitrarily adjustable fixed fulcrums on the outer wall of the cylinder based on the Bernoulli's Principle of the vacuum chuck is proposed, and these fulcrums are used as a fixed platform of 2SPS-1PRR parallel mechanism for pose alignment of levelness. The kinematics model of the parallel mechanism is established and the forward and inverse kinematics problems are solved. The experimental results show that the parallel mechanism has an adjustment effect on the levelness of the track platform.\",\"PeriodicalId\":105852,\"journal\":{\"name\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-09-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3366194.3366220\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3366194.3366220","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Research on Circular Track Platform and Parallel Mechanism for Pose Alignment of Levelness
Considering the practical engineering problems of large cylindrical vessels which need to be machined, installed and detected, a new design scheme of large combined ring gear track as operating platform is proposed. The composition of multisegment arc ring gears is realized through pin-steel sleeve by means of 'one surface and two pins' locating method and rapidly spring clinching assembly. A novel fast and practical method to construct fixed fulcrums is proposed. Forming arbitrarily adjustable fixed fulcrums on the outer wall of the cylinder based on the Bernoulli's Principle of the vacuum chuck is proposed, and these fulcrums are used as a fixed platform of 2SPS-1PRR parallel mechanism for pose alignment of levelness. The kinematics model of the parallel mechanism is established and the forward and inverse kinematics problems are solved. The experimental results show that the parallel mechanism has an adjustment effect on the levelness of the track platform.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
