US 12,064,884 B2
Automated calibration system and calibration method for flexible robot actuator
Aiguo Song, Nanjing (CN); Jianwei Lai, Nanjing (CN); Huijun Li, Nanjing (CN); Hong Zeng, Nanjing (CN); and Baoguo Xu, Nanjing (CN)
Assigned to SOUTHEAST UNIVERSITY, Nanjing (CN)
Appl. No. 17/774,317
Filed by SOUTHEAST UNIVERSITY, Nanjing (CN)
PCT Filed Jan. 6, 2022, PCT No. PCT/CN2022/070409
§ 371(c)(1), (2) Date May 4, 2022,
PCT Pub. No. WO2022/166514, PCT Pub. Date Aug. 11, 2022.
Claims priority of application No. 202110155682.3 (CN), filed on Feb. 4, 2021.
Prior Publication US 2023/0211504 A1, Jul. 6, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1692 (2013.01) 10 Claims
OG exemplary drawing
 
1. An automated calibration system for a flexible robot actuator, comprising a support frame, wherein a visual positioning system, a pressure measuring system and a pneumatic pressure control system are respectively installed on the support frame;
the visual positioning system is configured to measure a relative displacement and an angle between two ends of the flexible actuator;
the pneumatic pressure control system is configured to charge air into an actuating end of the flexible actuator and measure an input pneumatic pressure of the flexible actuator; and
the pressure measuring system comprises a pressure gauge installed on the support frame through a vertical axis motor system, and the flexible actuator to be calibrated installed on the support frame through a horizontal axis motor system and a rotating motor system; and the rotating motor system is installed on the support frame through the horizontal axis motor system, the actuating end of the flexible actuator is fixed on the rotating motor system, and a free end of the flexible actuator is in contact with a measuring end of the pressure gauge to carry out pressure measurement.