Interference calculation model of Hooke joint of 6-DOF platform considering installation angle
To expand the reachable space of the 6-DOF platform,an interference calculation method of Hooke joint considering the installation angle parameters was proposed.According to the position and attitude relationship between Hooke joint and adjacent structures,the calculation models of Hooke joint angle including installation angle were established for upper and lower joint seats respectively.The rotation angle range of the oblique prism Hooke joint was solved by simulation method,the nonparametric model describing the workspace of Hooke joint was fitted,and the judgment conditions for interference of the oblique prism Hooke joint were established.By analyzing the translation track of the moving platform,the variation law between the joint movement and the installation angle was discussed.Combining the interference calculation of the Hooke joint with the inverse kinematics solution of the 6-DOF platform,the interference calculation model of the Hooke joint in extending the limit position and posture of the 6-DOF platform was verified through the motion test of the moving platform at the limit position.
mechanical design and theory6-DOF platformjoint constraintobstacle avoidanceworkspace
万方数据
维普
