CN106426149B - 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver - Google Patents
2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver Download PDFInfo
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- CN106426149B CN106426149B CN201610966909.1A CN201610966909A CN106426149B CN 106426149 B CN106426149 B CN 106426149B CN 201610966909 A CN201610966909 A CN 201610966909A CN 106426149 B CN106426149 B CN 106426149B
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- axis
- variation rigidity
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- joint
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The present invention relates to a kind of 2-DOF flexible mechanical arms based on antagonism formula variation rigidity driver, including mounting base, elbow joint driving device, shoulder joint driving device, bionic arm, the elbow joint driving device, shoulder joint driving device and bionic arm are respectively arranged in the rear portion of mounting base.It is exactly to change that elbow joint driving device and shoulder joint driving device of the present invention, which are based on rigidity when antagonism formula variation rigidity driver, in this way two axis of two flexible mechanical arms of driving,.In the application for being related to human-computer interaction, rigidity can change with the variation of operative scenario, effectively increase the safety of operator, and the research and development for servicing humanoid robot have very profound significance.
Description
Technical field
The present invention relates to a kind of 2-DOF flexible mechanical arms based on antagonism formula variation rigidity driver, belong to industrial robot
Field.
Background technique
Traditional industrial robot needs whole system rigidity with higher, response speed to realize accurate control
The faster the better.Driver is the power resources of robot system, and the quality of performance and the size of rigidity directly affect machine
The overall performance of people and the accuracy of control, existing robotically-driven mode mostly uses greatly pure rigid motor, although high
The drive system of rigidity realize executing agency accurate positioning and accurate track following, but with people's rhythm of life
Accelerate, people more pursue healthy lifestyles and comfortable working environment, are unwilling to do very difficult, danger close, do not defend very much
Raw work, is also unwilling to do tasteless, repetitive work, and the hot spot of robot research has gradually been transferred to " artificial
The service robot of " center ", to bring new challenge, i.e. man-computer combination to robot research field.Service-delivery machine
Maximum danger is from the collision between them during contacting by person to person, although having had a large amount of collision detections and having avoided
The research of collision, still, avoiding absolutely not collision from being impossible.The submissive driver of variation rigidity rigid so just seems of crucial importance.
Summary of the invention
The design of the submissive driver of variation rigidity of the invention is originally derived from bionics thought, with viscoelasticity property
The mankind of the muscle skeleton as drive system, an additional extremely accurate neural Machinery Control System, enable the mankind very
Good adaptation external complex environment protects inherently safe.
To solve above-mentioned technical problem insight of the invention is that
It realizes the linear transfor of spring to be non-linear by two quadratic surfaces and spring, realizes that the change of driver is rigid
Degree.Shoulder joint and elbow joint form two pairs of Opposing muscles with the submissive driver of two variation rigidities to drive the fortune in two joints respectively
It is dynamic.
Conceived according to foregoing invention, the present invention adopts the following technical solutions:
A kind of 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver, including mounting base, elbow joint driving dress
It sets, shoulder joint driving device, bionic arm, the elbow joint driving device, shoulder joint driving device and bionic arm are pacified respectively
Rear portion loaded on mounting base.
The elbow joint driving device is mounted on installation by two first motor brackets including two DC servo motors
On bottom plate, motor output shaft passes through the side panel fixed frame of the first wireline pulley and the first wirerope and the submissive driver of variation rigidity
Connection, the curved slab of the submissive driver of variation rigidity become rigid by the second wirerope and the second wireline pulley and 2 axis joint axis connections
It spends submissive driver to be connected by the submissive driver fixed frame of variation rigidity with the first guide rail slide block, first straight line guide rail is installed on
It fills on bottom plate, 2 axis joint axis are fixed on mounting base by encoder bracket and 2 axis joint bracing struts, 2 axis joint axis and 2
It is connected between axis joint bracing strut by bearing, the first encoder is fixed on the first encoder bracket.
The shoulder joint driving device is mounted on installation by two the second electric machine supports including two DC servo motors
On bottom plate, motor output shaft passes through the side panel fixed frame of the first wireline pulley and the first wirerope and the submissive driver of variation rigidity
The curved slab of connection, the submissive driver of variation rigidity passes through the second wirerope and third wireline pulley and 2 axis joint axis connections, third
It is connected between wireline pulley and 2 axis joint axis by breast wheel and rolling bearing, such two axle movement is not interfered, elbow joint driving
Wheel is connect with third wireline pulley by breast wheel, is connected between elbow joint driving wheel and 2 axis joint axis by rolling bearing, 2
Axis joint axis passes through the first bracing strut and second encoder bracket, the two brackets are fixed on bracket bottom plate, bracket bottom plate peace
Loaded on mounting base, the submissive driver of variation rigidity is connected by the submissive driver fixed frame of variation rigidity with the first guide rail slide block,
First straight line guide rail is installed on mounting base by aluminum profile cushion block, and the first synchronous pulley is coaxially installed on the first encoder
Second encoder bracket two sides, the second synchronous pulley are installed on 2 axis joint axis, with third wireline pulley moved in coaxial, distribution
Ipsilateral in the first synchronous pulley, the first synchronous belt is installed between the first synchronous pulley and the second synchronous pulley.
The submissive driver of variation rigidity includes that the curved surface of curved slab and two big rollers contact, the hollow space of curved slab
It is contacted with four trundles, trundle is made of rolling bearing and a small axis；Two side panels are solid by a side panel
Determine frame connection, meanwhile, the both ends of trundle are installed on two side panels, and big roller is embedded in the slot of side panel by big roller axis
It in ditch, is connected between two big roller axis of each side panel by Hookean spring, the submissive driver of variation rigidity passes through its curved surface
Plate is connect with the submissive driver fixed frame of variation rigidity.
The bionic arm includes two postbrachium plates that 2 axis joint axis pass through, and third synchronous pulley is installed on two postbrachiums
On 2 axis joint axis between plate, it is connected by key between third synchronous pulley and 2 axis joint axis, postbrachium plate passes through end cap respectively
Plate is connect with 2 axis joint axis connections and by screw with elbow joint driving wheel, and postbrachium plate top is connected with Cover plate, two postbrachiums
It is fixed in the middle part of plate by two postbrachium board mounts, postbrachium plate lower part passes through two end casings and 2 axis second joint axis connections, 2 axis
Second joint axis is connect by forearm plate fast pulley with the 4th synchronous pulley, and tensioning wheel is mounted in postbrachium plate by tension wheel shaft
Lower part is connected between tensioning wheel and tension wheel shaft by bearing, and the second synchronous belt is mounted on third synchronous pulley and the 4th and synchronizes
Between belt wheel；Two forearm plates are fixed on 2 axis second joint axis by forearm plate fast pulley, pass through forearm plate in the middle part of forearm plate
Fixed frame is fixed, and forearm plate end is fixed by end roller.
The present invention compared with prior art, has following prominent inner characteristic point and remarkable advantage:
The submissive driver of variation rigidity of the invention compared with traditional pneumatic muscle actuator, the flexibility of pneumatic muscles compared with
By force, it is not easy to realize accurate control, and more accurate position control may be implemented in the present invention on the basis of variable rigidity.
Detailed description of the invention
Fig. 1 is a kind of general assembly drawing of 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity.
Fig. 2 is mounting base schematic diagram.
Fig. 3 is elbow joint schematic diagram of driving device.
Fig. 4 is the submissive driver schematic diagram a of variation rigidity.
Fig. 5 is the submissive driver schematic diagram b of variation rigidity.
Fig. 6 is the submissive driver schematic diagram c of variation rigidity.
Fig. 7 is shoulder joint schematic diagram of driving device a.
Fig. 8 is shoulder joint schematic diagram of driving device b.
Fig. 9 is bionic arm schematic diagram a.
Figure 10 is bionic arm schematic diagram b.
Specific embodiment
With reference to the accompanying drawing, specific motion process of the invention is described further.
As depicted in figs. 1 and 2, a kind of 2-DOF flexible mechanical arm based on the submissive driver of antagonism formula variation rigidity, including peace
Dress bottom plate 1, elbow joint (2 axis) driving device 2, shoulder joint (1 axis) driving device 3, bionic arm (flexible mechanical arm) 4 are described
Axis joint (2 axis) driving device 2, shoulder joint (1 axis) driving device 3, bionic arm (flexible mechanical arm) 4 is successively according to Fig. 1's
Sequence is installed on the rear portion of mounting base (1), and elbow joint (2 axis) driving device 2 is installed on the mounting hole 5 and peace of mounting base 1
Fill hole 9 and among it, shoulder joint (1 axis) driving device 3 be installed on mounting base 1 mounting hole 6 and mounting hole 8 and among it.
As shown in figure 3, the elbow joint driving device 2 includes that two DC servo motors 10 pass through two first motor branch
Frame 11 is mounted on mounting base 1, and motor output shaft is submissive by the first wireline pulley 16 and the first wirerope 17 and variation rigidity
The side panel fixed frame 30 of driver 12 connects, and the curved slab 29 of the submissive driver 12 of variation rigidity passes through the second wirerope 24 and the
Two axis joint of wireline pulley 13 and 2 axis 23 are connect, and the submissive driver 12 of variation rigidity passes through the submissive driver fixed frame 20 of variation rigidity
It is connected with the first guide rail slide block 19, first straight line guide rail 18 is installed on mounting base 1, and 2 axis joint axis 23 pass through encoder branch
The axis joint of frame 15 and 2 bracing strut 21 is fixed on mounting base 1, passes through axis between 2 axis joint of axis joint axis 23 and 2 bracing struts 21
22 connections are held, the first encoder 14 is fixed on the first encoder bracket 15.
As shown in Figure 4, Figure 5 and Figure 6, the submissive driver 12 of the variation rigidity includes that the curved surface of curved slab 29 and two roll greatly
28 contact of wheel, the hollow space of curved slab 29 are contacted with four trundles 31, and trundle 31 is by rolling bearing and a small axis structure
At；Two side panels 27 are connected by a side panel fixed frame 30, meanwhile, the both ends of trundle 31 are installed on two sides
On plate 27, big roller 28 is embedded in the groove of side panel 27 by big roller axis 26, two big roller axis of each side panel 27
It is connected between 26 by Hookean spring 25, the submissive driver 12 of variation rigidity is solid by its curved slab 29 and the submissive driver of variation rigidity
Determine the connection of frame 20.
As shown in Figure 7 and Figure 8, the shoulder joint driving device 3 includes that two DC servo motors 10 pass through two second
Electric machine support 33 is mounted on mounting base 1, and motor output shaft is rigid by the first wireline pulley 16 and the first wirerope 17 and change
The side panel fixed frame 30 for spending submissive driver 12 connects, and the curved slab 29 of the submissive driver 12 of variation rigidity passes through the second wirerope
24 and the axis joint of third wireline pulley 38 and 2 axis 23 connect, pass through breast wheel between the axis joint of third wireline pulley 38 and 2 axis 23
42 connect with rolling bearing, and such two axle movement is not interfered, and elbow joint driving wheel 37 and third wireline pulley 38 pass through breast wheel
It connects, is connected between the axis joint of elbow joint driving wheel 37 and 2 axis 23 by rolling bearing, 2 axis joint axis 23 pass through first axle branch
Frame 36 and second encoder bracket 32, the two brackets are fixed on bracket bottom plate 35, and bracket bottom plate 35 is installed on mounting base 1
On, the submissive driver 12 of variation rigidity is connected by the submissive driver fixed frame 20 of variation rigidity with the first guide rail slide block 19, and first is straight
Line guide rail 18 is installed on mounting base 1 by aluminum profile cushion block 34, the first synchronous pulley 40 and the coaxial peace of the first encoder 14
Loaded on 32 two sides of second encoder bracket, the second synchronous pulley 41 is installed on 2 axis joint axis 23, same with third wireline pulley 38
Axis movement, is distributed in that the first synchronous pulley 40 is ipsilateral, and the first synchronous belt 39 is installed on the first synchronous pulley 40 and the second synchronous belt
Between wheel 41.
As shown in Figure 9 and Figure 10, the bionic arm 4 includes two postbrachium plates 44 that 2 axis joint axis 23 pass through, and third is same
Step belt wheel 55 is installed on 2 axis joint axis 23 between two postbrachium plates 44, between the axis joint of third synchronous pulley 55 and 2 axis 23
It is connected by key, postbrachium plate 44 is connect by the axis joint of end casing 45 and 2 axis 23 respectively and by screw and elbow joint driving wheel
37 connections, 44 top of postbrachium plate are connected with Cover plate 43, are fixed in the middle part of two postbrachium plates 44 by two postbrachium board mounts 52, after
44 lower part of arm plate is connect by the two axis second joint of end casing 45 and 2 axis 49, and 2 axis second joint axis 49 are fixed by forearm plate
Wheel 56 is connect with the 4th synchronous pulley 50, and tensioning wheel 53 is mounted on 44 middle and lower part of postbrachium plate, tensioning wheel 53 by tension wheel shaft 54
It is connect between tension wheel shaft 54 by bearing, the second synchronous belt 51 is mounted on third synchronous pulley 55 and the 4th synchronous pulley 50
Between；Two forearm plates 46 are fixed on 2 axis second joint axis 49 by forearm plate fast pulley 56, before passing through in the middle part of forearm plate 46
Arm plate fixed frame 48 is fixed, and 46 end of forearm plate is fixed by end roller 47.
The motion process of apparatus of the present invention is as follows:
Elbow joint driving device 2 drives the elbow joint of bionic arm 4 to be moved, and shoulder joint driving device 3 drives bionical
The shoulder joint of arm 4 is moved, and elbow joint driving device 2 and shoulder joint driving device 3 pass through the submissive driver 12 of variation rigidity
Realize stiffness variation, specific as follows:
Variation rigidity 12 variation rigidity principles of submissive driving: as shown in Figure 4, Figure 5 and Figure 6, the deformation quantity of Hookean spring 25 and drawing
Be between power it is linear, big roller 28 along the movement of curved slab 29 be it is nonlinear, perpendicular to spring deformation amount
On direction, the pulling force between the first wirerope 17 and the second wirerope 24 becomes non-linear, to realize the submissive of driver
Stiffness variation.
Bionical arm shoulder joint kinesitherapy process: as shown in Figure 7 and Figure 8, the direct current generator 10 of 3 one end of shoulder joint driving device is logical
It overdrives the first wireline pulley 16, drives the first wirerope 17, drive the second wirerope 24 by the submissive driver 12 of variation rigidity,
Third wireline pulley 38 is driven again, then drives elbow joint driving wheel 37 to move by breast wheel 42, and elbow joint driving wheel 37 drives
The postbrachium plate 44 of dynamic bionic arm 4 moves, as shown in Figure 9；The other end principle of shoulder joint driving device 3 is same as above, both ends association
The movement of shoulder joint is realized with movement.As shown in figure 8, the first encoder 14 is synchronous by the first synchronous pulley 40, first
With 39 and second synchronous pulley 41 detect shoulder joint rotation angle.Because the second synchronous pulley 41 and third wireline pulley 38 are same
Axis movement.
Bionical elbow joint motions process: as shown in figure 3, the direct current generator 10 of 2 one end of elbow joint driving device passes through drive
Dynamic first wireline pulley 16, drives the first wirerope 17, drives the second wirerope 24 by the submissive driver 12 of variation rigidity, then drive
Dynamic second wireline pulley 13, the second wireline pulley 13 drive the movement of 2 axis joint axis 23, and the first encoder 14 is used to detect angle of rotation
Degree.As shown in Figure 10,2 axis joint axis 23 drive third synchronous pulley 55, and third synchronous pulley 55 passes through 51 band of the second synchronous belt
Dynamic 4th synchronous pulley 50 movement, the 4th synchronous pulley 50 drives forearm fast pulley 56 to move, so that forearm plate 46 is realized around 2
The other end principle of the movement of axis second joint axis 49, elbow joint driving device 2 is same as above, and both ends cooperative motion is to realize elbow
The movement in joint.
Claims (4)
1. a kind of 2-DOF flexible mechanical arm based on antagonism formula variation rigidity driver, which is characterized in that including mounting base (1),
Elbow joint driving device (2), shoulder joint driving device (3), bionic arm (4), the elbow joint driving device (2), shoulder joint
Driving device (3) and bionic arm (4) are respectively arranged in the rear portion of mounting base (1)；The bionic arm (4) is closed including 2 axis
Two postbrachium plates (44) that nodal axisn (23) passes through, third synchronous pulley (55) are installed on the pass of 2 axis between two postbrachium plates (44)
On nodal axisn (23), it is connected by key between third synchronous pulley (55) and 2 axis joint axis (23), postbrachium plate (44) passes through end respectively
Cover board (45) connect with 2 axis joint axis (23) and is connect by screw with elbow joint driving wheel (37), and postbrachium plate (44) top connects
It is connected to Cover plate (43), fixed by two postbrachium board mounts (52) in the middle part of two postbrachium plates (44), postbrachium plate (44) lower part is logical
It crosses two end casings (45) to connect with 2 axis second joint axis (49), 2 axis second joint axis (49) pass through forearm plate fast pulley (56)
It is connect with the 4th synchronous pulley (50), tensioning wheel (53) is mounted on postbrachium plate (44) middle and lower part by tension wheel shaft (54), is tensioned
It is connect between wheel (53) and tension wheel shaft (54) by bearing, the second synchronous belt (51) is mounted on third synchronous pulley (55) and the
Between four synchronous pulleys (50)；Two forearm plates (46) are fixed on 2 axis second joint axis (49) by forearm plate fast pulley (56)
On, fixed by forearm plate fixed frame (48) in the middle part of forearm plate (46), forearm plate (46) end is fixed by end roller (47).
2. the 2-DOF flexible mechanical arm according to claim 1 based on antagonism formula variation rigidity driver, which is characterized in that
The elbow joint driving device (2) includes that two DC servo motors (10) are mounted on by two first motor brackets (11)
It fills on bottom plate (1), motor output shaft passes through the first wireline pulley (16) and the first wirerope (17) and the submissive driver of variation rigidity
(12) side panel fixed frame (30) connection, the curved slab (29) of the submissive driver of variation rigidity (12) pass through the second wirerope (24)
It is connect with the second wireline pulley (13) with 2 axis joint axis (23), the submissive driver of variation rigidity (12) passes through the submissive driving of variation rigidity
Device fixed frame (20) is connected with the first guide rail slide block (19), and first straight line guide rail (18) is installed on mounting base (1), and 2 axis close
Nodal axisn (23) is fixed on mounting base (1) by encoder bracket (15) and 2 axis joint bracing struts (21), 2 axis joint axis
(23) it is connect between 2 axis joint bracing struts (21) by bearing (22), the first encoder (14) is fixed on the first encoder branch
On frame (15).
3. the 2-DOF flexible mechanical arm according to claim 1 based on antagonism formula variation rigidity driver, which is characterized in that
The shoulder joint driving device (3) includes that two DC servo motors (10) are mounted on by two the second electric machine supports (33)
It fills on bottom plate (1), motor output shaft passes through the first wireline pulley (16) and the first wirerope (17) and the submissive driver of variation rigidity
(12) side panel fixed frame (30) connection, the curved slab (29) of the submissive driver of variation rigidity (12) pass through the second wirerope (24)
It connect with third wireline pulley (38) with 2 axis joint axis (23), passes through between third wireline pulley (38) and 2 axis joint axis (23)
Breast wheel (42) is connected with rolling bearing, and such two axle movement is not interfered, elbow joint driving wheel (37) and third wireline pulley
(38) it is connected by breast wheel, is connect between elbow joint driving wheel (37) and 2 axis joint axis (23) by rolling bearing, 2 axis close
Nodal axisn (23) passes through the first bracing strut (36) and second encoder bracket (32), the two brackets are fixed on bracket bottom plate (35)
On, bracket bottom plate (35) is installed on mounting base (1), and the submissive driver of variation rigidity (12) is solid by the submissive driver of variation rigidity
Determine frame (20) to be connected with the first guide rail slide block (19), first straight line guide rail (18) is installed on installation bottom by aluminum profile cushion block (34)
On plate (1), the first synchronous pulley (40) and the first encoder (14) are coaxially installed on second encoder bracket (32) two sides, and second
Synchronous pulley (41) is installed on 2 axis joint axis (23), with third wireline pulley (38) moved in coaxial, is distributed in the first synchronous belt
Wheel (40) is ipsilateral, and the first synchronous belt (39) is installed between the first synchronous pulley (40) and the second synchronous pulley (41).
4. the 2-DOF flexible mechanical arm according to claim 2 or 3 based on antagonism formula variation rigidity driver, feature exist
In the submissive driver of variation rigidity (12) includes that the curved surface of curved slab (29) and two big rollers (28) contact, curved slab
(29) hollow space is contacted with four trundles (31), and trundle (31) is made of rolling bearing and a small axis；Two
Side panel (27) is connected by a side panel fixed frame (30), meanwhile, the both ends of trundle (31) are installed on two side panels
(27) on, in groove of the big roller (28) by big roller axis (26) insertion side panel (27), two of each side panel (27)
It is connected between big roller axis (26) by Hookean spring (25), the submissive driver of variation rigidity (12) is by its curved slab (29) and becomes
Submissive driver fixed frame (20) connection of rigidity.
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| CN107175657B (en) * | 2017-05-11 | 2019-10-25 | 东北大学 | A kind of permanent magnetism variation rigidity drive module for flexible robot |
| CN107030729B (en) * | 2017-06-14 | 2019-11-29 | 东北大学 | A kind of apery elbow joint |
| CN108032331B (en) * | 2017-11-27 | 2019-09-27 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108247666B (en) * | 2017-12-28 | 2020-12-01 | 中国科学院沈阳自动化研究所 | Parallel connection type light robot joint rigidity-variable actuator |
| CN108789395B (en) * | 2018-06-07 | 2021-03-30 | 上海交通大学 | Series viscoelastic driver based on bionic tendon |
| CN110254552B (en) * | 2018-11-27 | 2022-04-19 | 武汉理工大学 | Variable-rigidity flexible continuum spinal mechanism of bionic quadruped robot |
| CN110718129B (en) * | 2019-05-13 | 2022-07-12 | 上海大学 | Six-degree-of-freedom knee joint motion simulation system |
| CN113305825B (en) * | 2021-05-27 | 2022-09-20 | 北京航空航天大学 | Single-degree-of-freedom rope-driven variable-stiffness joint and measurement and control platform thereof |
| TWI763544B (en) | 2021-06-18 | 2022-05-01 | 財團法人工業技術研究院 | Actuator |
| CN114012715B (en) * | 2021-11-29 | 2023-03-07 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
| CN114227708B (en) * | 2021-12-16 | 2024-04-12 | 燕山大学 | Modularized bionic device based on variable rigidity and control method thereof |
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