Design Reserarch Of Monitoring Platform Based On Binocular Active Vision

On account of blind situation of parallel robots and the need of improve motive precision for parallel robots, a kind of binocular active visual monitoring platform(BAVMP),which can be used to monitor the work space of parallel robots ,is invented by our research team. The paper focuses on the structure design of BAVMP with the application of virtual prototyping technology. The main contributions of study are as follows:A kind of mechanism based on circular guideway with the flexible active binocular structure is put forward, which can realize the detection in total space and wide angle and also have the ability to avoid dangerous condition. By using matrix transform method, the kinematic analysis for the mechanism is carried out and the mathematical model is established. So the transformation relationship between the camera coordinate system and the world coordinate system is confirmed. The forward and inverse solution of position, speed and acceleration are worked out.The assemble model of the monitoring platform is constructed based on virtual prototyping technology. By means of the software COSMOSMotion, the dynamical simulation is carried out. The dynamics parameters are analyzed and the changing curve of measuring points are plotted so as to describe distinctly.Based on the gridding plot method, the finite element analysis about the main parts of the visual monitoring platform is carried out, by using the software COSMOSWorks. The nephograms of stress, displacement and strain are created so the danger sections are obtained and the design of the main parts can be optimized.By means of the three-dimensional parametric model of the visual monitoring platform, the structural design of the main parts is optimized. The virtual assemble and interference checkout about the whole model are carried out so as to ensure the reliability of the machine design.The prototype of the monitoring platform is developed and also calibrated primarily. By using the mark target image, the interior and exterior parameters of the camera are calibrated and the three-dimensional circle of the optic center coordinate of the camera is fitted. So the structure parameters and motor impulse equivalent of the machine are calibrated. The high velocity, better flexibility and high accuracy are shown in the operation of the machine. The theoretical analysis is verified and the expectant goal is fulfilled.