CN101564840A - Robot component based on parallel mechanism, optimum design method and robot - Google Patents
Robot component based on parallel mechanism, optimum design method and robot Download PDFInfo
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- CN101564840A CN101564840A CNA2009100456723A CN200910045672A CN101564840A CN 101564840 A CN101564840 A CN 101564840A CN A2009100456723 A CNA2009100456723 A CN A2009100456723A CN 200910045672 A CN200910045672 A CN 200910045672A CN 101564840 A CN101564840 A CN 101564840A
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Abstract
The invention discloses a robot component based on a parallel mechanism, an optimum design method and a robot; the robot component comprises at least two parallel mechanisms; adjacent parallel mechanisms are connected with each other by an output converter; each parallel mechanism is provided with a fixed platform and a movable platform which moves correspondingly to the fixed platform, wherein the fixed platform of one parallel mechanism is movably connected with a motor. The robot with the parallel mechanism adopts the robot component and conducts optimum analysis and forward kinematics analysis on the initially selected parallel mechanism by inverse kinematics analysis to validate and debug the analysis results in the above steps so as to determine the component structure finally. By adjusting the motion types of the parallel mechanism, the space motion track of the robot in the motion process is realized, a genetic arithmetic is used to conduct the computation of inverse kinematics and gait planning to the parallel mechanism, the trajectory planning and motion form of the humanoid robot is improved, and the stability of the robot is improved during the motion process.
Description
Technical field
The present invention relates to a kind of robot component, optimal design method and comprise the robot of this robot component, the parallel institution robot that particularly relates to the Optimization Design of a kind of robot component, this robot component and adopt this member based on parallel institution.
Background technology
Along with the continuous development of science and technology, robot has become emphasis, difficult point and the focus in robot research field gradually.The scientific research kind of carrying out on robot platform also is tending towards diversity, wherein substantially the most also is most important surely belong to robot's gait planning and motion control.Because serial mechanism all is a kind of mature theory in theory of mechanisms and practical application, its positive inverse kinematics computing, dynamic analysis method, because the coupling in the motion process of serial mechanism between the different component is little, unusual analysis is easy, the space convenience of calculation, therefore present robot adopts serial mechanism to form the various piece of robot.At serial machine people practical application reverse side, Japanese HONDA company brings in constant renewal in and regenerates through research for many years, has finally released the ASIMO of robot.This robot whole body adopts the serial mechanism form, comprises head, body and four limbs three parts.Wherein head has 2DOF, and arm has 5DOF, and the bar leg comprises 6 DOF, owing to adopted new gait planning method, its motion is more flexible, can finish walking, the action such as stair activity of turning, more apish walking paces, the forms of motion of human body various piece.The SDR series robot of the Sony development of Japan is purpose with the amusement, and the SDR-3X of exploitation place, this robot architecture of SDR-4X robot are similar with ASIMO at present, and leaf is made up of head, body and four limbs, and the knowledge head has 4DOF.The humanoid machine of developments such as the Waseda University of Japan, Tokyo University has also all adopted similar structure.Some domestic units, as University of Science and Technology for National Defence, Harbin Institute of Technology and Tsing-Hua University, the robot of development has also adopted serial mechanism.
Because serial mechanism can only be realized the plane motion form, if finish the motion output in space, the forms of motion that must arrange in pairs or groups between each member can be realized, and the serial mechanism forms of motion is single, have only 14 kinds such as the motion output form of four-bar linkage, these forms of motion are some point or the lines that do not connect each other on plane, motion output that can not the implementation space, and get rid of the influence of singular point in these forms of motion, may make the motion output of robot become some lonely points.The stability of serial mechanism motion process is made up of each member series connection result, is that the stack of error is formed, and must the stability of robot motion's process be exerted an influence, the difficulty that the difficulty that has more increased design is controlled during with motion.The robot that occurs generally adopts single open chain mechanism now, and the stability of its motion has more increased the difficulty of control, and the output of its motion is very big to the dependence of motor.
Parallel institution is the member composition form that motion is finished in a kind of coupling that utilizes member, and not only bearing capacity is big, compact conformation, and motion process is stable, and the output movement space is face or body, the selection of enriching that this just provides for each application scenario.
Summary of the invention
The technical problem to be solved in the present invention is that robot motion space in the prior art is limited in order to overcome, the defective of control complexity and poor stability, and a kind of robot component based on parallel institution, Optimization Design and robot thereof are provided.
The present invention solves above-mentioned technical problem by following technical proposals:
A kind of robot component based on parallel institution, its characteristics are, it comprises two parallel institutions at least, connect with output translator between adjacent parallel institution, each parallel institution all has the moving platform of relative this silent flatform motion with of a silent flatform, and the silent flatform of one of them parallel institution flexibly connects some motors.
Wherein, this silent flatform and moving platform include some connecting rods and kinematic pair.
Wherein, this kinematic pair is that axle sleeve is connected with motor, and belt connects or gear connects.
Wherein, this output translator is a spherical pair.
Wherein, the moving platform of this parallel institution is as output block.
A kind of parallel institution robot, its characteristics are that this parallel institution robot adopts the above-mentioned robot component based on parallel institution.
Wherein, the head of this parallel institution robot, chest, upper arm, forearm, thigh, shank, hand and foot all adopt parallel institution as execution unit.
Wherein, the head of this parallel institution robot and chest, chest and upper arm, upper arm and forearm, forearm and hand, chest and thigh, thigh all adopts spherical pair to be connected with shank and shank with foot.
A kind of method for optimization analysis of the robot component based on parallel institution, its characteristics are that it comprises the steps:
Inverse kinematics is analyzed, and the primary election parallel institution is optimized analysis;
The positive motion credit is analysed, and the analysis result in the above-mentioned steps is verified and debugged.
Wherein, this robot component just, the inverse kinematics computational methods adopt genetic algorithm, vow that face method or discrete method calculate; The dynamics calculation method adopts Lagrangian second equation of motion or newton-Euler method to set up kinetics equation, finds the solution kinetics equation and adopts discrete method or Runge-Kutta method.
Wherein, the control algolithm of this robot component adopts the closed-loop control of genetic algorithm, adaptive algorithm, neutral net or pid algorithm or adopts local closed-loop control.
Wherein, this inverse kinematics analysis also comprises the steps:
T
1, robot component step-length and gait planning;
T
2, this member initial type selecting;
T
3, the subprogram that imports the inverse kinematics computational methods in software calculates;
T
4, robot component is optimized analysis.
Wherein, above-mentioned steps T
4Also comprise the steps:
T
41, in three-dimensional software, set up the parameterized model of robot mechanism;
T
42, this parameterized model is carried out kinematics and dynamic analysis;
T
43, this parameterized model is carried out structural design.
Wherein, this positive motion credit is analysed also and is comprised the steps:
S
1, according to step-length and gait planning robot component is carried out the point of zero moment analysis;
S
2, based on Dynamic Modeling, control design;
S
3, in program, import positive motion and learn the subprogram of computational methods and calculate;
S
4, according to S
3The calculating step-length and the gait of planning robot's member again.
Positive progressive effect of the present invention is: anthropomorphic robot all-around exercises member adopts parallel institution to form, and spherical pair is adopted in the connection between the member.By adjusting the motion mode of parallel institution, realize the space motion path of anthropomorphic robot in motion process, and carry out the parallel institution inverse kinematics by genetic algorithm and calculate and gait planning, improve the trajectory planning and the forms of motion of anthropomorphic robot, improve the stability of anthropomorphic robot in motion process, and enlarged the space of each execution unit of robot.
Description of drawings
Fig. 1 is the structural representation of a kind of revolute pair 3DOF parallel institution 1 of adopting among the present invention.
Fig. 2 is the structural representation of a kind of sliding pair 3DOF parallel institution 2 of adopting among the present invention.
Fig. 3 is the structural representation of a kind of 4DOF parallel institution 3 of adopting among the present invention.
Fig. 4 is the structural representation of a kind of 6DOF parallel institution 4 of adopting among the present invention.
Fig. 5 is applied to the structural representation of an Application Example of anthropomorphic robot arm for the present invention.
Fig. 6 is the flow chart of the method for optimization analysis inverse kinematics analytical method of the robot component among the present invention.
Fig. 7 is the flow chart of the method for optimization analysis positive motion credit analysis method of the robot component among the present invention.
The specific embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
Fig. 1-4 is four kinds of common parallel institutions, and those skilled in the art also can adopt similar parallel institution to substitute as robot component.Be that example illustrates robot component of the present invention with the anthropomorphic robot in the present embodiment, this anthropomorphic robot comprises the parallel institution as execution unit, and this execution unit comprises head, chest, upper arm, forearm, thigh, shank, hand and foot; Somely be arranged at the motor that this parallel institution is used for driven Parallel Kinematic Manipulator; And the spherical pair that is used to connect each parallel institution.It also comprises the control circuit of control anthropomorphic robot motion, and this control circuit comprises motor-driven plate, signal acquiring board and control panel.Fig. 5 is the annexation structural representation of the arm of employing anthropomorphic robot of the present invention.Fig. 6 and Fig. 7 among the present invention in the robot component Optimization Design just, the flow chart of contrary motion analysis.
Next the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is the tactic pattern of a revolute pair 3DOF parallel institution 1, parallel institution is provided with one by three traces 12 and three groups of silent flatforms 14 that kinematic pair 13 surrounds, and the moving platform 11 that moves of relative this silent flatform 14 that surrounds equally, i.e. output stage by three moving levers and three groups of kinematic pairs.Especially, the silent flatform of the parallel institution in robot is relative with moving platform, can change dynamic and static platform role in robot motion's process by arranging different connected modes.The shape of this silent flatform 14 and moving platform 11 can take different shapes according to the actual requirements, triangle for example, polygons such as hexagon.Wherein, each kinematic pair 13 of silent flatform 14 all connects a motor (not shown) by belt, being used to drive each kinematic pair 13 on this silent flatform 11 and the action by this kinematic pair 13 will move through three groups of mechanism's chains that are arranged at 14 of silent flatform 11 and moving platforms and be passed to its moving platform one by one, be output stage, also can adopt alternative belts such as axle sleeve connection or gear connection to connect.Because parallel institution is non-linear coupling, it is not the simple stack of output, but determine the output action of moving platform 11 jointly by these three groups of mechanism's chains, so its output can also can be spatial movement for plane motion, and reach and reduce the error stack and make the more accurate purpose of moving target.Especially, every group of mechanism's chain is a cascade machine structure it comprises connecting rod and auxiliary connection.The connecting rod of parallel institution can adopt different materials, for example in elastic mechanism, connecting rod can be an elastomeric material, the elastic characteristic that will say material in kinematics of mechanism and kinematics analysis adds in the analysis, and compare under the very little situation of influence with the mechanism kinematic feature at elastic properties of materials, can be assumed to rigidity characteristic, utilize the PLUCK coordinate, spinor coordinate or cartesian coordinate are analyzed; And auxiliary connection can adopt revolute pair, and sliding pair or aggregate motion pair comprise plane form and space form; Wherein the several limit numbers according to dynamic and static platform of the group of mechanism's chain are determined.
Fig. 2, Fig. 3 and Fig. 4 are respectively the tactic pattern of a kind of sliding pair 3DOF parallel institution B, 4DOF parallel institution C and a kind of 6DOF parallel institution D.Wherein, as shown in Figure 2, can in parallel institution, increase slide block 8 and make it become sliding pair; And can add the member 9 and 10 of being with the peculair motion syndeton in the parallel institution as shown in Figure 3, to reach robot motion's different action requests.
Fig. 5 is the arm parallel institution schematic diagram of anthropomorphic robot.Because big arm 6 adopts the 3DOF parallel institutions, therefore need three independently three revolute pairs 61,62 and 63 on the motor-driven silent flatform, thereby transmit motion to moving platform 65 places of big arm 6 by mechanism's chain, finish the motion change of big arm.The silent flatform 64 of big arm 6 is connected with the thoracic cavity (not shown) of robot.Spherical pair 7 connects the moving platform 65 that an end connects big arm 6, the other end connects the silent flatform 51 of forearm 5, wherein the silent flatform 51 of forearm 5 relatively with the annexation motion of the moving platforms 65 of big arms 6 by spherical pair 7; silent flatform 51 of forearm 5 relatively with the moving platform 52 of forearm 5; static constantly in motion, promptly the moving platform 52 of forearm 5 is finished the output that forearm moves.On the moving platform 52 of forearm 5, arrange two motor (not shown), drive respectively and connect the leading screw (not shown), be consolidated with paw on the leading screw and add and hold the piece (not shown).So just can be by the joint motions of parallel institution, space and the paw of finishing paw add the process of holding.
And the optimal design of robot component integral body in MATLAB (matrix experiment chamber) by just, contrary motion analysis finishes, also can in softwares such as CATIA, carry out.Just carrying out, before motion analysis calculates, needing earlier with dynamics operation method, Cable Power Computation method and control algolithm sequencing, with its subprogram importing as MATLAB.Wherein, this operation method can be calculated for genetic algorithm, arrow face method or discrete method, and the dynamics calculation method adopts Lagrangian second equation of motion or newton-Euler method to set up kinetics equation; This dynamics calculation method adopts Lagrangian second equation of motion or newton-Euler method to set up the operation method of kinetics equation with sequencing; And the control algolithm of robot component can adopt the closed-loop control of genetic algorithm, adaptive algorithm, neutral net or pid algorithm, perhaps adopts local closed-loop control.
Fig. 6 is the flow chart of the method for optimization analysis inverse kinematics analytical method of the robot component among the present invention.Should comprise the steps: by contrary motion analysis
Step 100: in MATLAB, robot component step-length and gait are planned;
Step 101: to the initial type selecting of carrying out of this member;
Step 102: utilize the inverse kinematics computational methods program that imports among the MATLAB to calculate;
Step 103: robot component is optimized analysis.By the dynamics calculation method program that imports the parameterized model of setting up robot mechanism in the three-dimensional software is carried out dynamic analysis, thereby finish the Preliminary design of structure.
Fig. 7 is the flow chart of the method for optimization analysis positive motion credit analysis method of the robot component among the present invention, and this positive motion credit is analysed and comprised the steps:
Step 200: in MATLB, robot component is carried out ZMP (point of zero moment) analysis according to step-length and gait planning;
Step 201: with the Dynamic Modeling is that the basis utilizes the control calculation procedure that imports to control design;
Step 202: the subprogram of utilizing the positive motion that imports among the MATLAB to learn computational methods is calculated;
Step 203: according to the calculating of step 202 step-length and the gait of planning robot's member again.
By above-mentioned just, inverse kinematics analyze and debug the parallel institution robot component structure that can be met customer requirements repeatedly.
The head of anthropomorphic robot, chest, thigh, shank, foot, upper arm, forearm and hand all can adopt parallel institution 1, parallel institution 2, parallel institution 3 and parallel institution 4.Therefore can be combined into dissimilar anthropomorphic robots, whole body free degree sum mostly is 84DOF most.PLUCK coordinate, spinor coordinate or cartesian coordinate are adopted in the foundation of the coordinate system of this anthropomorphic robot.
Though more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, under the prerequisite that does not deviate from principle of the present invention and essence, can make numerous variations or modification to these embodiments.Therefore, protection scope of the present invention is limited by appended claims.
Claims (14)
1, a kind of robot component based on parallel institution, it is characterized in that, it comprises two parallel institutions at least, connect with output translator between adjacent parallel institution, each parallel institution all has the moving platform of relative this silent flatform motion with of a silent flatform, and the silent flatform of one of them parallel institution flexibly connects some motors.
2, the robot component based on parallel institution as claimed in claim 1 is characterized in that, this silent flatform and moving platform include some connecting rods and kinematic pair.
3, the robot component based on parallel institution as claimed in claim 2 is characterized in that, this kinematic pair is that axle sleeve is connected with motor, and belt connects or gear connects.
4, the robot component based on parallel institution as claimed in claim 1 is characterized in that, this output translator is a spherical pair.
5, the robot component based on parallel institution as claimed in claim 1 is characterized in that, the moving platform of this parallel institution is as output block.
6, a kind of parallel institution robot is characterized in that, this parallel institution robot adopts the described robot component based on parallel institution of claim 1.
7, parallel institution as claimed in claim 6 robot is characterized in that, the head of this parallel institution robot, and chest, upper arm, forearm, thigh, shank, hand and foot all adopt parallel institution as execution unit.
8, parallel institution as claimed in claim 6 robot is characterized in that, the head of this parallel institution robot and chest, and chest and upper arm, upper arm and forearm, forearm and hand, chest and thigh, thigh all adopts spherical pair to be connected with shank and shank with foot.
9, a kind of method for optimization analysis of the robot component based on parallel institution is characterized in that it comprises the steps:
Inverse kinematics is analyzed, and the primary election parallel institution is optimized analysis;
The positive motion credit is analysed, and the analysis result in the above-mentioned steps is verified and debugged.
10, the method for optimization analysis of the robot component based on parallel institution as claimed in claim 9 is characterized in that, this robot component just, the inverse kinematics computational methods adopt genetic algorithm, vow that face method or discrete method calculate; The dynamics calculation method adopts Lagrangian second equation of motion or newton-Euler method to set up kinetics equation, finds the solution kinetics equation and adopts discrete method or Runge-Kutta method.
11, the method for optimization analysis of the robot component based on parallel institution as claimed in claim 9, it is characterized in that the control algolithm of this robot component adopts the closed-loop control of genetic algorithm, adaptive algorithm, neutral net or pid algorithm or adopts local closed-loop control.
12, the method for optimization analysis of the robot component based on parallel institution as claimed in claim 9 is characterized in that this inverse kinematics analysis also comprises the steps:
T
1, robot component step-length and gait planning;
T
2, this member initial type selecting;
T
3, the subprogram that imports the inverse kinematics computational methods in software calculates;
T
4, robot component is optimized analysis.
13, the method for optimization analysis of the robot component based on parallel institution as claimed in claim 12 is characterized in that above-mentioned steps T
4Also comprise the steps:
T
41, in three-dimensional software, set up the parameterized model of robot mechanism;
T
42, this parameterized model is carried out kinematics and dynamic analysis;
T
43, this parameterized model is carried out structural design.
14, the method for optimization analysis of the robot component based on parallel institution as claimed in claim 9 is characterized in that this positive motion credit is analysed also and comprised the steps:
S
1, according to step-length and gait planning robot component is carried out the point of zero moment analysis;
S
2, based on Dynamic Modeling, control design;
S
3, in program, import positive motion and learn the subprogram of computational methods and calculate;
S
4, according to S
3The calculating step-length and the gait of planning robot's member again.
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| CN101829989A (en) * | 2010-04-29 | 2010-09-15 | 北京理工大学 | Low degree-of-freedom parallel robot multi-index optimization design method based on interval analysis |
| CN102357880A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Nine-motion-degree robot mechanism |
| CN103235513A (en) * | 2013-04-24 | 2013-08-07 | 武汉科技大学 | Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm |
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN103472724A (en) * | 2013-09-16 | 2013-12-25 | 江苏大学 | Real-time control dynamics modeling method for multi-freedom-degree parallel mechanism |
| CN104181817A (en) * | 2014-09-12 | 2014-12-03 | 河海大学常州校区 | Novel two-wheeled self-balancing electric vehicle system controller designing method |
| CN103870718B (en) * | 2014-04-11 | 2017-02-15 | 成都信息工程学院 | Inverse kinematic solving method based on neural network |
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| CN107848107A (en) * | 2015-05-26 | 2018-03-27 | 韩方元 | A kind of multiple motion platforms parallel robot construction method and its parallel robot |
| CN108116529A (en) * | 2017-12-19 | 2018-06-05 | 奇瑞汽车股份有限公司 | A kind of analysis method of motion |
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| CN101829989A (en) * | 2010-04-29 | 2010-09-15 | 北京理工大学 | Low degree-of-freedom parallel robot multi-index optimization design method based on interval analysis |
| CN102357880A (en) * | 2011-09-22 | 2012-02-22 | 广西大学 | Nine-motion-degree robot mechanism |
| CN103235513B (en) * | 2013-04-24 | 2016-12-28 | 武汉科技大学 | A kind of mobile mechanical arm trajectory planning optimization method based on genetic algorithm |
| CN103235513A (en) * | 2013-04-24 | 2013-08-07 | 武汉科技大学 | Genetic-algorithm-based trajectory planning optimization method for mobile mechanical arm |
| CN103419192A (en) * | 2013-08-23 | 2013-12-04 | 江苏建筑职业技术学院 | Four-degree-of-freedom hybrid robot |
| CN103472724A (en) * | 2013-09-16 | 2013-12-25 | 江苏大学 | Real-time control dynamics modeling method for multi-freedom-degree parallel mechanism |
| CN103472724B (en) * | 2013-09-16 | 2016-03-02 | 江苏大学 | A kind of real-time control dynamics modeling method for multiple freedom parallel mechanism |
| CN103870718B (en) * | 2014-04-11 | 2017-02-15 | 成都信息工程学院 | Inverse kinematic solving method based on neural network |
| CN104181817A (en) * | 2014-09-12 | 2014-12-03 | 河海大学常州校区 | Novel two-wheeled self-balancing electric vehicle system controller designing method |
| CN104181817B (en) * | 2014-09-12 | 2017-02-15 | 河海大学常州校区 | Two-wheeled self-balancing electric vehicle system controller designing method |
| CN107848107A (en) * | 2015-05-26 | 2018-03-27 | 韩方元 | A kind of multiple motion platforms parallel robot construction method and its parallel robot |
| CN106844827A (en) * | 2016-12-05 | 2017-06-13 | 北京空间机电研究所 | A kind of six-degree-of-freedom parallel connection mechanism optimization method |
| CN106844827B (en) * | 2016-12-05 | 2020-07-14 | 北京空间机电研究所 | Six-degree-of-freedom parallel mechanism optimization method |
| CN108116529A (en) * | 2017-12-19 | 2018-06-05 | 奇瑞汽车股份有限公司 | A kind of analysis method of motion |
| CN108116529B (en) * | 2017-12-19 | 2020-02-07 | 奇瑞汽车股份有限公司 | Analysis method of movement mechanism |
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