CN101530969A - Redundancy actuating mechanism with dynamic stability - Google Patents
Redundancy actuating mechanism with dynamic stability Download PDFInfo
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- CN101530969A CN101530969A CN200910048728A CN200910048728A CN101530969A CN 101530969 A CN101530969 A CN 101530969A CN 200910048728 A CN200910048728 A CN 200910048728A CN 200910048728 A CN200910048728 A CN 200910048728A CN 101530969 A CN101530969 A CN 101530969A
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Abstract
The invention provides a redundancy actuating mechanism with dynamic stability, belonging to the field of industrial robot. The actuating mechanism comprises fixed worktables, cylinder bodies, piston rods, coordination rods and extremity actuators, wherein, one ends of the cylinder bodies are arranged on the fixed worktables by hinges, the other ends of the cylinder bodies are connected with one ends of the piston rods by a moving pair, the other ends of the piston rods are connected with the hinges at the base angles of the coordination rods having the shape of isoceles triangles or space polyhedrons, the cylinder bodies and piston rods form driving devices, the number of the cylinder bodies is equal to that of the piston rods, wherein, the number are two or more than two; the vertex angles of the coordination rods are arranged at one sides of the cylinder bodies and the piston rods, one ends of the extremity actuators are connected with the hinges which are arranged at the vertex angles of the coordination rods by hinges, and the other ends of the extremity actuators are arranged on the fixed worktables by a moving pair. The invention has the advantages of stable structure, high rigidity, good force bearing characteristic, good flexibility, simple structure, easy control, high reliability, high moving precision and low cost.
Description
Technical field
What the present invention relates to is a kind of drive unit of industrial robot technical field, and specifically, what relate to is a kind of redundancy actuating mechanism that possesses dynamic stability.
Background technology
The drive unit number that redundant actuation system is meant is greater than the drive system of number of degrees of freedom.From the kinematics angle, it is unnecessary that one group or above drive unit are arranged, do not influence the motion of mechanism characteristic after these drive units are removed, and in over-loading operation equipment, in order to improve the bearing capacity of over-loading operation equipment, improve the force-bearing situation of member, increase the rigidity and stability of mechanism, usually Driving Scheme is become redundant actuation system.
The normal operating conditions of mechanical system is often corresponding to certain special exercise of system, as poised state or certain periodic motion.Real system is difficult to avoid the interference in the external world in the course of the work, and this interference meeting exerts an influence to proper motion, As time goes on, if the motion and the interference-free motion of interfered with system differ very little, then proper motion is stable, otherwise is called unsettled.General each drive unit of redundant actuation system is interfered after the motion, itself does not have dynamic stability its mechanism, can only rely on control system to suppress to disturb, if redundancy actuating mechanism itself just has dynamic stability, then can reduce and control cost, increase system reliability.
Find through literature search prior art, existing lower-mobility redundant unit, as " a kind of three freedom redundancy parallel mechanism of realizing a bidimensional translation and a rotation " (referring to Chinese invention patent, publication number CN1586807), " a kind of two rotation-translation three freedom redundancy parallel institution that is used for parallel machine " is (referring to Chinese invention patent, open CN1586806) etc., by adopting redundancy parallel mechanism to enlarge working space, increased mechanism precision and rigidity, but mechanism do not have dynamic stability on kinematics.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of redundancy actuating mechanism that possesses dynamic stability is provided, can be inharmonious at the input motion of each drive unit, perhaps the driving force on the drive unit is distributed under the unbalanced situation, do not rely on the effect of control system by mechanical system self dynamic stability, make input motion, the driving force of each drive unit be tending towards coordinating and balance.This redundancy actuating mechanism Stability Analysis of Structures, rigidity height, mechanical characteristic is good, flexibility is good, and simple in structure, control easily, the reliability height, the kinematic accuracy height, cost is low.
The present invention is achieved by the following technical solutions, the present invention includes fixed platform, cylinder body, piston rod, coordination bar, end effector.One end of cylinder body is installed on the fixed platform by a hinge, and the other end of cylinder body is connected with an end of a piston rod by a moving sets.The other end of piston rod is connected by the hinge at the hinge place, coordination bar base angle polyhedron-shaped with being isosceles triangle or space.Wherein cylinder body and piston rod are formed drive unit of the present invention together, are called piston cylinder, and the number of cylinder body and piston rod equates, can be two or more, thereby constitute two groups or more drive unit.The drift angle of coordinating bar then is positioned at cylinder body, piston rod one side, one end of end effector is connected by the hinge of a hinge with the drift angle place of coordinating bar, the other end of end effector is installed on the fixed platform by a moving sets, and the motion of whole device and the transmission of power then realize by end effector.
Described hinge can be common components such as revolute pair, ball pivot.Wherein, described hinge is a revolute pair when the present invention's combination that to have two groups of piston cylinders be cylinder body and piston rod, and described hinge is a ball pivot when the present invention has many group piston cylinders.
Between described cylinder body and the fixed platform can be to fixedly connected.At this moment, cylinder body still is connected with moving sets with piston rod, is connected but the other end of piston rod is necessary for oscillating bearing with the coordination bar.
The hinge that is connected with piston rod and end effector on the described coordination bar is isosceles triangle or space polyhedral cone shape on relative position, the triangular apex place is a hinge, and the triangle drift angle is positioned at cylinder body, piston rod one side.
Described two or more cylinder body equal in length, the piston rod equal in length, the installation site of cylinder body and piston rod can exchange.
Described cylinder body is connected with piston rod by moving sets, and the two combination can be device of variable-lengths such as hydraulic cylinder, cylinder, motor etc.
Can increase other devices on the described end effector, as buffer unit, power sensor, displacement transducer etc.
The drive unit that the present invention has two groups or more is the combination of cylinder body and piston rod, and drive unit piston rod respectively moves and the application of force on fixed platform thereby drive end effector by the coordination bar in the cylinder interior motion at place separately.Two covers or overlap drive unit more and drive an end effector, be redundant drive, in general to require be identical more for two covers or the input motions that overlap drive unit, and driving force also equates, but the present invention allows two cover input motions of drive units and driving force difference to some extent, in this case, because mechanical system of the present invention itself has dynamic stability, do not having under the situation of control system, the fast drive unit that moves has the trend of slowing down gradually, and the slow drive unit that moves has the trend of quickening gradually, motion at last reaches unanimity, the drive unit driving force that driving force is big reduces gradually, and the drive unit driving force that former driving force is little increases gradually, and last driving force is tending towards equal.
Compared with prior art, the present invention is inharmonious at the input motion of each drive unit, perhaps the driving force on the drive unit is distributed under the unbalanced situation, dynamic stability effect by self mechanical device, make input motion, the driving force of each drive unit be tending towards coordinating and balance, this makes the mechanical characteristic of mechanism good, flexibility is good, control is easier, and can improve kinematic accuracy, requirement to the accuracy of manufacture simultaneously also can suitably reduce, thereby cuts down finished cost.
Description of drawings
Fig. 1 is the embodiment of the invention 1 structural representation.
Fig. 2 is the embodiment of the invention 2 structural representations.
Fig. 3 is the embodiment of the invention 3 structural representations.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment is by forming with lower member: 1 is fixed platform, and 2,3 is cylinder body, and 4,5 is piston rod, and 6 for coordinating bar, and 7 is end effector.
In the present embodiment, described two cylinder bodies 2 and 3 equal in length, two piston rods 4 and 5 equal in length.The installation site of cylinder body and piston rod can exchange.
The hinge that described coordination bar 6 is connected with piston rod and end effector is the isosceles triangle shape on relative position, the triangular apex place is a revolute pair, and the triangle drift angle is positioned at a side of cylinder body 2 and 3, piston rod 4 and 5.
Can increase other devices on the described end effector 7, as buffer unit, power sensor, displacement transducer etc.
Described cylinder body 2 is connected with 5 with piston rod 4 by moving sets respectively with 3, constitutes two groups of piston cylinders, can be the device of variable-lengths such as hydraulic cylinder, cylinder, motor, thereby as the drive unit of entire mechanism.Two groups of drive unit difference piston rod 4 and 5 are moved and the application of force on fixed platform 1 thereby drive end effectors 7 by coordination bar 6 at cylinder body 2 and 3 internal motions.
Present embodiment is when the input motion of two groups of drive units and driving force to some extent during difference, because mechanism's self dynamic stability, do not having under the situation of control system, the fast drive unit that moves has the trend of slowing down gradually, and the slow drive unit that moves has the trend of quickening gradually, and motion at last reaches unanimity, and the drive unit driving force that driving force is big has the trend that reduces gradually, the little drive unit driving force of fortune driving force has the trend that increases gradually, and last driving force is tending towards equal.
As shown in Figure 2, present embodiment is by forming with lower member: 1 is fixed platform, and 2,3,4 is cylinder body, and 5,6,7 is piston rod, and 8 for coordinating bar, and 9 is end effector.
In the present embodiment, described three cylinder bodies, 2,3,4 equal in length, three piston rod 5,6,7 equal in length.The installation site of cylinder body and piston rod can exchange.
The hinge that is connected with piston rod and end effector on the described coordination bar 8 is four sides, space cone shape on relative position, the triangular apex place is a ball pivot, and the triangle drift angle is positioned at a side of cylinder body 2,3,4, piston rod 5,6,7.
Can increase other devices on the described end effector 9, as buffer unit, power sensor, displacement transducer etc.
Described cylinder body 2,3,4 is connected with piston rod 5,6,7 by moving sets respectively, and three groups of piston cylinders can be the device of variable-lengths such as hydraulic cylinder, cylinder, motor.
But present embodiment drive unit hydraulic cylinder, plunger case, electronic cylinder, pneumatic linear actuator etc.Drive unit can be two or more sets, and the kinematic pair number of coordinating on the bar should equate with the number of drive unit.
As shown in Figure 3, this embodiment is by forming with lower member: 1 is fixed platform, and 2,3 is cylinder body, and 4,5 is piston rod, and 6 for coordinating bar, and 7 is end effector.
In this embodiment, described two cylinder bodies 2 and 3 equal in length, two piston rods 4 and 5 equal in length.The installation site of cylinder body and piston rod can exchange.
The hinge that described coordination bar 6 is connected with piston rod and end effector is the isosceles triangle shape on relative position, the triangular apex place is 1 revolute pair, and the triangle drift angle is positioned at a side of cylinder body 2 and 3, piston rod 4 and 5.
Can increase other devices on the described end effector 7, as buffer unit, power sensor, displacement transducer etc.
Described cylinder body 2 is connected with 5 with piston rod 4 by moving sets respectively with 3, constitutes two groups of piston cylinders, can be the device of variable-lengths such as hydraulic cylinder, cylinder, motor, thereby as the drive unit of entire mechanism.Two groups of drive unit difference piston rod 4 and 5 are moved and the application of force on fixed platform 1 thereby drive end effectors 7 by coordination bar 6 at cylinder body 2 and 3 internal motions.
Present embodiment is when the input motion of two groups of drive units and driving force to some extent during difference, because mechanism's self dynamic stability, do not having under the situation of control system, the fast drive unit that moves has the trend of slowing down gradually, and the slow drive unit that moves has the trend of quickening gradually, and motion at last reaches unanimity, and the drive unit driving force that driving force is big has the trend that reduces gradually, the little drive unit driving force of fortune driving force has the trend that increases gradually, and last driving force is tending towards equal.
As can be seen from the above embodiments, the present invention combines redundant drive and dynamic stability principle, make the final redundancy actuating mechanism that possesses dynamic stability can be inharmonious at the input motion of each driving link, perhaps the driving force on the driving link is distributed under the unbalanced situation, not by control system, make input motion, the driving force of each driving link be tending towards coordinating and balance by the self dynamic stabilization.This redundancy actuating mechanism Stability Analysis of Structures, rigidity height, mechanical characteristic is good, flexibility is good, and simple in structure, control easily, the reliability height, the kinematic accuracy height, cost is low.
Claims (7)
1, a kind of redundancy actuating mechanism that possesses dynamic stability, comprise fixed platform, cylinder body, piston rod, coordinate bar, end effector, it is characterized in that: an end of described cylinder body is arranged on the fixed platform by a hinge, the other end of cylinder body is connected with an end of a piston rod by a moving sets, the other end of piston rod is connected by the hinge at the hinge place, coordination bar base angle polyhedron-shaped with being isosceles triangle or space, described cylinder body and piston rod are formed drive unit together, the number of cylinder body and piston rod equates, is two or more; The drift angle of coordinating bar then is positioned at cylinder body, piston rod one side, and an end of end effector is connected by the hinge of a hinge with the drift angle place of coordinating bar, and the other end of end effector is arranged on the fixed platform by a moving sets.
2, the redundancy actuating mechanism that possesses dynamic stability according to claim 1, it is characterized in that, the hinge that is connected with piston rod and end effector on the described coordination bar is isosceles triangle or space polyhedral cone shape on relative position, coordinating masthead point place is a rotation width of cloth or ball pivot, coordinates the masthead angle and is positioned at cylinder body, piston rod one side.
3, the redundancy actuating mechanism that possesses dynamic stability according to claim 1 and 2 is characterized in that, described hinge is revolute pair or ball pivot, and when wherein cylinder body and piston rod were two groups, hinge was a revolute pair; In the time of more than cylinder body and piston rod are two groups, hinge is a ball pivot.
4, the redundancy actuating mechanism that possesses dynamic stability according to claim 1, it is characterized in that, be to fixedly connected between described cylinder body and the fixed platform, at this moment, cylinder body is connected with moving sets with piston rod, and the other end of piston rod is that oscillating bearing is connected with coordinating bar.
5, according to claim 1 or the 2 or 4 described redundant drive coordination organizations that possess dynamic stability, it is characterized in that described cylinder body equal in length, piston rod equal in length.
6, the redundancy actuating mechanism that possesses dynamic stability according to claim 1 is characterized in that described drive unit is two or more sets, and the hinge number of coordinating on the bar should equate with the number of drive unit.
7, the redundancy actuating mechanism that possesses dynamic stability according to claim 1 is characterized in that, buffer unit, power sensor or displacement transducer are set on the described end effector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100487280A CN101530969B (en) | 2009-04-02 | 2009-04-02 | Redundancy actuating mechanism with dynamic stability |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100487280A CN101530969B (en) | 2009-04-02 | 2009-04-02 | Redundancy actuating mechanism with dynamic stability |
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| CN101530969A true CN101530969A (en) | 2009-09-16 |
| CN101530969B CN101530969B (en) | 2010-12-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690717A (en) * | 2015-01-23 | 2015-06-10 | 上海交通大学 | Redundant sub-drive unit with deflected load self-coordination capacity |
| CN107972031A (en) * | 2017-11-10 | 2018-05-01 | 浙江科技学院 | A kind of redundant mechanical arm repeats the initial position fix method of movement |
| CN110270967A (en) * | 2019-07-01 | 2019-09-24 | 烟台大学 | A kind of offset-type rotation table device and working method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19614641B4 (en) * | 1996-04-13 | 2004-03-25 | Wurst, Karl-Heinz, Dr.-Ing. | Device for machining and assembling workpieces |
| CN1257041C (en) * | 2003-09-09 | 2006-05-24 | 电子科技大学 | One-dimensional moving three-dimensional rotating parallel machine tool |
| CN1238157C (en) * | 2004-07-22 | 2006-01-25 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN1238156C (en) * | 2004-07-22 | 2006-01-25 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN200951497Y (en) * | 2005-11-15 | 2007-09-26 | 哈尔滨工业大学深圳研究生院 | Two-D moving and two-D rotation parallel platform mechanism |
| CN101362336A (en) * | 2008-09-11 | 2009-02-11 | 上海交通大学 | Two-degree of freedom translational parallel manipulator by redundant actuation |
-
2009
- 2009-04-02 CN CN2009100487280A patent/CN101530969B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690717A (en) * | 2015-01-23 | 2015-06-10 | 上海交通大学 | Redundant sub-drive unit with deflected load self-coordination capacity |
| CN104690717B (en) * | 2015-01-23 | 2016-03-16 | 上海交通大学 | There is the sub-driver element of redundancy of unbalance loading self-coordinating ability |
| CN107972031A (en) * | 2017-11-10 | 2018-05-01 | 浙江科技学院 | A kind of redundant mechanical arm repeats the initial position fix method of movement |
| CN107972031B (en) * | 2017-11-10 | 2020-07-07 | 浙江科技学院 | Method for positioning repeatable-motion initial position of redundant mechanical arm |
| CN110270967A (en) * | 2019-07-01 | 2019-09-24 | 烟台大学 | A kind of offset-type rotation table device and working method |
| CN110270967B (en) * | 2019-07-01 | 2021-01-05 | 烟台大学 | Compensation type rotary table device and working method |
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| CN101530969B (en) | 2010-12-29 |
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