CN100450857C - Decoupling legs mechanism for apery robot - Google Patents
Decoupling legs mechanism for apery robot Download PDFInfo
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- CN100450857C CN100450857C CNB2007100630699A CN200710063069A CN100450857C CN 100450857 C CN100450857 C CN 100450857C CN B2007100630699 A CNB2007100630699 A CN B2007100630699A CN 200710063069 A CN200710063069 A CN 200710063069A CN 100450857 C CN100450857 C CN 100450857C
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- revolute pair
- forward swing
- robot
- sway
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Abstract
The invention relates to an anthropomorphic robot decoupling leg mechanism, which uses dual branch chain coupling mechanism of the complete decoupling, with one branch chain composed of sequentially connected active platform, No.1 side oscillating rotation sub, No.1 connecting piece, No.1 front oscillating rotation sub and static platform, the other branch chain composed of sequentially connected active platform, No.2 side oscillating rotation sub, No.2 linking piece, No.2 front oscillating rotation sub, big thigh, No.3 front oscillating rotation sub, small thigh, No.4 front oscillating rotation sub, moving sub, and static platform, with all front oscillating rotation sub parallel with the rotation shaft, all side oscillating rotation shaft sub parallel with the rotation shaft and vertical to the front oscillating rotation sub roation shaft and moving sub, with the front oscillating and side oscillating driven by the No.1 front oscillating rotation sub and moving sub. It effectively solves the coupling issue of analog robot legs front oscillating and side oscillating movement with improved robot leg rigidity and walking stability.
Description
Technical field
The present invention relates to a kind of decoupling legs mechanism for apery robot, belong to the robot field.
Background technology
The anthropomorphic robot technology is to utilize Mechatronic Systems to simulate the technology of the dexterous human body that forms through very long natural evolutionary process, one of them important research direction relates to lower limb and the motion planning and the control of anthropomorphic robot, and a main objective is the speed of travel and the walking stability that improves constantly robot.
In the anthropomorphic robot research history of three more than ten years, the lower limb structure that serial mechanism is formed is so far also in occupation of position of mainstream (Fig. 1).For example: represent the ASIMO of Japanese HONDA company of current anthropomorphic robot research highest level and the QRIO robot of Sony Corporation, its lower limb structure is the series connection form, and every leg has 6 motors, can realize actions such as walking, turning and stair activity.But, serial mechanism itself exists congenital shortcomings such as rigidity is poor, accumulated error is big; In addition, support the phase at both legs, form the parallel institution of two side chains between robot lower limb and the ground, the degree of coupling of this parallel institution is very strong, can cause the close coupling effect, thereby causes electric machine control and gait planning difficulty very big; Also have, support the phase at both legs, the drive motor number causes super definite input problem much larger than the number of parallel institution degree of freedom, the interference between a plurality of motors not only can cause energy consumption higher with problem such as the unstability of walking, also can burn motor in the time of seriously.
In recent years, many scholars begin to attempt utilizing parallel institution to improve the leg mechanism of anthropomorphic robot.For example: the anthropomorphic robot WL-16RII that Japanese Waseda was released in 2005, its two legs has respectively adopted the Stewart parallel institution of a 6DOF, thereby its load-carrying capacity is very strong, can carry the upper and lower 15 centimetres of high stair of adult of 60 kg body weight.Because traditional parallel institution itself just has coupling effect, so although adopt the lower limb rigidity of the anthropomorphic robot of traditional parallel institution to increase to some extent, its kinematics and dynamics calculation are complicated more.The Stewart parallel institution that WL-16RII adopts just has coupling effect.
Hybrid mechanism has merged some advantage of serial mechanism and parallel institution, so hybrid mechanism also has been used the lower limb structure of improving anthropomorphic robot, though the mechanical characteristics of the model machine lower limb structure after the improvement strengthens to some extent, but do not solve coupling effect problem and super definite input problem.
Summary of the invention
The objective of the invention is for a kind of decoupling legs mechanism for apery robot is provided, make it can solve the coupled problem that has now between the existing forward swing of anthropomorphic robot shank (pitch) motion and side-sway (roll) motion, reduce the difficulty of electric machine control and gait planning; Improve the rigidity and the walking stability of robot shank.
It is as follows that the present invention solves the scheme that its technical matters adopts:
A kind of decoupling legs mechanism for apery robot is characterized in that: adopt full decoupled two side chain parallel institutions, comprise moving platform and silent flatform; Moving platform, the first side-sway revolute pair, first attaching parts, the first forward swing revolute pair link to each other successively with silent flatform, form a side chain of parallel institution; Moving platform, the second side-sway revolute pair, second attaching parts, the second forward swing revolute pair, thigh, the 3rd forward swing revolute pair, shank, the 4th forward swing revolute pair, moving sets link to each other successively with silent flatform, form another side chain of parallel institution; The turning cylinder of the described first forward swing revolute pair, the second forward swing revolute pair, the 3rd forward swing revolute pair and the 4th forward swing revolute pair is parallel to each other; The turning cylinder of the described first side-sway revolute pair and the second side-sway revolute pair is parallel to each other, and vertical with the turning cylinder of the described first forward swing revolute pair; The moving direction of described moving sets is vertical with the turning cylinder of the described first side-sway revolute pair; Described first forward swing revolute pair and described moving sets are respectively as the preceding pendular motion of described decoupling legs mechanism for apery robot and the drive part of side-sway motion.
Decoupling legs mechanism for apery robot of the present invention is characterized in that: mounting robot trunk on described moving platform.The sole of mounting robot on described silent flatform or shank.
The first forward swing revolute pair of the present invention is a motor.Described moving sets is linear electric motors or motor---the feed screw nut assembly.
The present invention compares following characteristics with prior art: the robot shank has adopted above-mentioned full decoupled two side chain parallel institutions, thereby successfully solved the coupled problem between the motion of anthropomorphic robot shank forward swing (pitch) and side-sway (roll), and then reduced the difficulty of electric machine control and gait planning; The use of parallel institution has improved the rigidity of robot shank, and then has improved the walking stability of robot; The driver element number that the present invention needs is few, thereby weight and energy consumption decrease.In addition, the number of driver element of the present invention equals the number of mechanism freedom, supports super definite input problem of phase thereby solved both legs.
Description of drawings
The anthropomorphic robot lower limb structural representation that Fig. 1 forms for traditional serial mechanism.
Fig. 2 is a scheme drawing of the present invention.
Fig. 3 is the scheme drawing of an exemplary embodiments of the present invention.
Forward swing (pitch) the motion simulation result that Fig. 4 (a), 4 (b) carry out on dynamics simulation software Adams for the present invention.
Side-sway (roll) the motion simulation result that Fig. 5 (a), 5 (b) carry out on dynamics simulation software Adams for the present invention.
Among the figure: 1-robot trunk; The 2-second forward swing revolute pair; The 3-thigh; 4-the 3rd forward swing revolute pair; The 5-shank; 6-the 4th forward swing revolute pair; The 7-moving sets; The 8-first forward swing revolute pair; The 9-first side-sway revolute pair; The 10-second side-sway revolute pair; The 11-silent flatform; 12; First attaching parts; The 13-moving platform; 14-second attaching parts; 18-the one L type support; The 19-long connecting rod; 20-the 2nd L type support; 21-U type stock; 22-L type bar; 23-U type quarter butt; 24-forward swing drive motor; 25-first coupler; 26-side-sway drive motor; 27-second coupler; The 28-contiguous block.
The specific embodiment
Below in conjunction with accompanying drawing the principle of the invention, structure and the specific embodiment are described in further detail.
Fig. 2 is the structural principle scheme drawing of decoupling legs mechanism for apery robot provided by the invention.This decoupling legs mechanism for apery robot adopts full decoupled two side chain parallel institutions, comprises moving platform 13 and silent flatform 11; Moving platform 13, the first side-sway revolute pair 9, first attaching parts 12, the first forward swing revolute pair 8 link to each other successively with silent flatform 11, form a side chain of parallel institution; Moving platform 13, the second side-sway revolute pair 10, second attaching parts 14, the second forward swing revolute pair 2, thigh 3, the 3rd forward swing revolute pair 4, shank 5, the 4th forward swing revolute pair 6, moving sets 7 link to each other successively with silent flatform 11, form another side chain of parallel institution; The turning cylinder of the described first forward swing revolute pair 8, the second forward swing revolute pair 2, the 3rd forward swing revolute pair 4 and the 4th forward swing revolute pair 6 is parallel to each other; The turning cylinder of the described first side-sway revolute pair 9 and the second side-sway revolute pair 10 is parallel to each other, and vertical with the turning cylinder of the described first forward swing revolute pair 8; The moving direction of described moving sets 7 is vertical with the turning cylinder of the described first side-sway revolute pair 9; Described first forward swing revolute pair 8 and described moving sets 7 are respectively the preceding pendular motion of described decoupling legs mechanism for apery robot and the drive part of side-sway motion.But mounting robot trunk 1 on described moving platform 13, but on described silent flatform 11 or shank 5 sole of mounting robot.
As shown in Figure 3, a L type support 18, long connecting rod 19 and the 2nd L type support 20 are connected mutually, form the silent flatform of described parallel institution; Forward swing drive motor 24 is installed on the described L type support 18, and rotor links to each other with U type quarter butt 23 by first coupler 25, and rotor can rotate around the x axle; L type bar 22 can be regarded the moving platform of described parallel institution as, and its end links to each other with U type quarter butt 23, and connecting bridge forms can be around the first side-sway revolute pair 9 of y axle rotation; So just, a side chain having formed described parallel institution.Side-sway drive motor 26 is installed on the 2nd L type support 20 of silent flatform, the motion mouth then links to each other with contiguous block 28 by second coupler 27, wherein, the motion of side-sway drive motor 26 is output as straight-line motion, can adopt linear electric motors, also can adopt the motor that can realize said function---the feed screw nut assembly waits and replaces, like this, contiguous block 28 can move at the effect lower edge of side-sway drive motor 26 x axle, like this, side-sway drive motor 26, second coupler 27 are formed moving sets 7 together with contiguous block 28; Contiguous block 28 links to each other with the shank 5 of robot by the bearing pin that the x direction of principal axis is provided with, and formation can be around the 4th forward swing revolute pair 6 of x axle rotation; One end of the thigh 3 of robot links to each other with shank 5 by the bearing pin that the x direction is provided with, formation can be around the 3rd forward swing revolute pair 4 of x axle rotation, the other end of robot thigh 3 then is connected with U type stock 21 by the bearing pin of x direction setting, and formation can be around the second forward swing revolute pair 2 of x axle rotation; L type bar 22 links to each other with described U type stock 21, and connecting bridge forms can be around the second side-sway revolute pair 10 of y axle rotation; So just, another side chain of having formed parallel institution.When forward swing drive motor 24 is done the time spent separately, the robot shank has only forward swing (pitch) motion, and does not have side-sway (roll) motion; When side-sway drive motor 26 is done the time spent separately, the robot shank has only side-sway (roll) motion, and does not have forward swing (pitch) motion.So just, realize the decoupling zero between robot shank forward swing (pitch) motion and side-sway (roll) motion, made the motion of robot shank and gait planning become more easy.In addition, but on described L type bar 22 the mounting robot trunk, the sole of robot can be installed on the shank 5 of described the 2nd L type support 20 or robot.
For further specifying motion principle of the present invention, on dynamics simulation software Adams to Fig. 2 in the motion of robot decoupling zero leg carried out emulation, robot trunk 1 keeps motionless in the simulation process.(a) and (b) picture among Fig. 4 has showed that respectively the pose before and after robot shank forward swing (pitch) motion changes among Fig. 2, under the effect of the first forward swing revolute pair 8, angle between silent flatform 11 and the moving platform 13 changes, thereby the thigh 3 and the shank 5 that drive robot are finished forward swing (pitch) motion.(a) and (b) picture among Fig. 5 has showed that respectively the pose before and after robot shank side-sway (roll) motion changes among Fig. 2, under the effect of moving sets 7, the thigh 3 and the shank 5 that drive robot are finished side-sway (roll) motion, at this moment, first attaching parts 12 and second attaching parts 14 are respectively around the first side-sway revolute pair 9 and 10 motions of the second side-sway revolute pair.When the first forward swing revolute pair 8 is done the time spent separately, the robot shank has only forward swing (pitch) motion, and does not have side-sway (roll) motion; When moving sets 7 is done the time spent separately, the robot shank has only side-sway (roll) motion, and does not have forward swing (pitch) motion, has realized the decoupling zero between moving of robot shank forward swing (pitch) motion and side-sway (roll).
Claims (5)
1. a decoupling legs mechanism for apery robot is characterized in that: adopt full decoupled two side chain parallel institutions, comprise moving platform (13) and silent flatform (11); Moving platform (13), the first side-sway revolute pair (9), first attaching parts (12), the first forward swing revolute pair (8) link to each other successively with silent flatform (11), form a side chain of parallel institution; Moving platform (13), the second side-sway revolute pair (10), second attaching parts (14), the second forward swing revolute pair (2), thigh (3), the 3rd forward swing revolute pair (4), shank (5), the 4th forward swing revolute pair (6), moving sets (7) link to each other successively with silent flatform (11), form another side chain of parallel institution; The turning cylinder of the described first forward swing revolute pair (8), the second forward swing revolute pair (2), the 3rd forward swing revolute pair (4) and the 4th forward swing revolute pair (6) is parallel to each other; The turning cylinder of the described first side-sway revolute pair (9) and the second side-sway revolute pair (10) is parallel to each other, and vertical with the turning cylinder of the described first forward swing revolute pair (8); The moving direction of described moving sets (7) is vertical with the turning cylinder of the described first side-sway revolute pair (9); Described first forward swing revolute pair (8) and described moving sets (7) are respectively as the preceding pendular motion of described decoupling legs mechanism for apery robot and the drive part of side-sway motion.
2. decoupling legs mechanism for apery robot according to claim 1 is characterized in that: go up mounting robot trunk (1) at described moving platform (13).
3. decoupling legs mechanism for apery robot according to claim 1 is characterized in that: at the sole of described silent flatform (11) or the last mounting robot of shank (5).
4. according to claim 1,2 or 3 described decoupling legs mechanism for apery robot, it is characterized in that: the described first forward swing revolute pair (8) is motor.
5. according to claim 1,2 or 3 described decoupling legs mechanism for apery robot, it is characterized in that: described moving sets (7) is linear electric motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100630699A CN100450857C (en) | 2007-01-26 | 2007-01-26 | Decoupling legs mechanism for apery robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100630699A CN100450857C (en) | 2007-01-26 | 2007-01-26 | Decoupling legs mechanism for apery robot |
Publications (2)
| Publication Number | Publication Date |
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| CN101011985A CN101011985A (en) | 2007-08-08 |
| CN100450857C true CN100450857C (en) | 2009-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100630699A Expired - Fee Related CN100450857C (en) | 2007-01-26 | 2007-01-26 | Decoupling legs mechanism for apery robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101898594B (en) * | 2010-07-28 | 2012-05-16 | 清华大学 | Walking method for dynamic biped robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5158493A (en) * | 1991-05-30 | 1992-10-27 | Richard Morgrey | Remote controlled, multi-legged, walking robot |
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| JP2004344989A (en) * | 2003-05-20 | 2004-12-09 | Honda Motor Co Ltd | Leg type mobile robot |
| JP2005118938A (en) * | 2003-10-16 | 2005-05-12 | Sanyo Electric Co Ltd | Leg part mechanism for robot device |
| CN1651188A (en) * | 2005-03-03 | 2005-08-10 | 江苏工业学院 | Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism |
-
2007
- 2007-01-26 CN CNB2007100630699A patent/CN100450857C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5158493A (en) * | 1991-05-30 | 1992-10-27 | Richard Morgrey | Remote controlled, multi-legged, walking robot |
| JPH07227482A (en) * | 1994-02-21 | 1995-08-29 | Takara Co Ltd | Bipedalism robot |
| JP2004344989A (en) * | 2003-05-20 | 2004-12-09 | Honda Motor Co Ltd | Leg type mobile robot |
| JP2005118938A (en) * | 2003-10-16 | 2005-05-12 | Sanyo Electric Co Ltd | Leg part mechanism for robot device |
| CN1651188A (en) * | 2005-03-03 | 2005-08-10 | 江苏工业学院 | Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism |
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| CN101011985A (en) | 2007-08-08 |
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Granted publication date: 20090114 Termination date: 20120126 |