4 results about "Two degrees of freedom" patented technology

The invention relates to a mechanical arm joint module with two degrees of freedom. The mechanical arm joint module aims at solving the problems that the existing mechanical arm joint is formed by uniaxial combination, and has a plurality of non-concentric degrees of freedom, great control difficulty, and complex connection. A first output rotating disc and a first output rotating shaft are connected by transmission, the first output rotating shaft is fixed on a first fixed frame, a first following-up rotating disc is arranged on a second side wall, a first gear and the first output rotating shaft are fixedly connected, the first gear is meshed with an input end of a first speed-reducing mechanism, an output end of the first speed-reducing mechanism is meshed with a second gear, the firstspeed-reducing mechanism is fixedly arranged on the first fixed support, the second gear is arranged on an output shaft of a first motor, a transmission structure of a second output rotating disc is the same with that of the first output rotating disc, and the second output rotating disc and the first output rotating disc are vertically arranged. The mechanical arm joint module is used for controlling a mechanical arm to complete the special actions.

The invention discloses a disturbing force compensation method of a two-degree-of-freedom double electro-hydraulic vibrostand array simulation system. The two-degree-of-freedom double electro-hydraulic vibrostand array simulation system comprises a lower platform, a six-degree-of-freedom vibrostand, a two-degree-of-freedom vibrostand, a pier A, a pier B and a bridge board. According to the disturbing force compensation method disclosed by the invention, pressure difference signals of two chambers of hydraulic cylinders in 10 valve-controlled cylinder cylinders and acceleration signals of piston rods of the hydraulic cylinders are collected, and disturbing force compensation signals are obtained by calculation. Driving signals of the valve-controlled cylinder cylinders are adjusted by usingthe disturbing force compensation signals to achieve the purpose of improving the control precision of the array simulation system. By application of the disturbing force compensation method proposedby the invention, the fluctuation 6dB of amplitude-frequency characteristics of a closed-loop transfer function of a rolling degree-of-freedom position in the vicinity of 18 Hz can be reduced within2dB, and the fluctuation 16dB of the amplitude-frequency characteristics of the closed-loop transfer function of a pitching degree-of-freedom position in the vicinity of 35 Hz can be reduced within 4dB, and the control precision of the array simulation system is obviously improved.

The invention relates to the technical field of micro-nano operation and precision location, in particular to a three-stage displacement amplification flexible precision locating platform with two degrees of freedom. The flexible precision locating platform comprises a base, a movable platform and two three-stage amplification structures which are of the same structure; a piezoelectric ceramic isfixed to the base by a pre-tightening bolt, and a hemisphere of the output end of the piezoelectric ceramic is connected with an arc box on a movable block; the both sides of the movable block are connected with first fixing bases through first parallel blade flexible leaf springs; and each three-stage amplification structure comprises conventional levers, L-type levers and a half-bridge structure. A wire-cutting technology and integral manufacturing are adopted by the whole locating platform, and assembly errors caused by a traditional mechanical device are overcome; the fiction problem of atraditional kinematic pair is solved by adopting a flexible hinge as a transmission pair; by adopting the three-stage displacement amplification structures, the translational output range of the piezoelectric ceramic in the X and Y directions is improved effectively, and the displacement amplification ratio of the three-stage displacement amplification locating platform is far larger than the displacement amplification ratio of a two-stage displacement amplification locating platform.