BENCH FOR MONITORING CONTOUR MOVEMENTS OF FLEXIBLE MANIPULATOR Russian patent published in 2020 - IPC B25J19/00 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measurement equipment, namely, to a bench for controlling movements of a flexible manipulator. Stand contains a base, on which there are two shaped linear guides with carriages arranged on them, on which the platform is installed. Between the guides on the supports attached to the base there is a lead screw with a nut, to which the platform is attached. End of lead screw through coupling is connected with shaft of linear displacement motor, located on base. On the platform there is a frame, on the walls of which step motors are fixed, on shafts of which there are coils. Chamber in the form of a rectangular parallelepiped is fixed to the base end; at that, the chamber wall facing the platform has a hole in the central part. Tube is inserted into the hole through the bushing, one end of which is installed in the stop located on the frame, and the other end of the tube located inside the chamber is intended for attachment of the base of the flexible manipulator. Threads from links of flexible manipulator are arranged through hole, bushing and attached to corresponding coils. Bottom of chamber, inner surfaces of rear wall and sidewall adjacent to base are made with contrasting color relative to color of links of flexible manipulator. Front and top sides of the chamber, as well as its lateral side, opposite to the wall adjacent to the base, are open. Rack supports are arranged on the ribs of the upper and the front sides of the chamber. On each rack-mounted support a video camera is fixed. Video cameras are connected to a computer. Linear displacement engine and step motors are connected to control unit, which is connected to computer.

EFFECT: high information value and accuracy of control.

1 cl, 5 dwg