CN101585188B - Multidimensional active joint based on dielectric type EAP - Google Patents
Multidimensional active joint based on dielectric type EAP Download PDFInfo
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- CN101585188B CN101585188B CN2009100334158A CN200910033415A CN101585188B CN 101585188 B CN101585188 B CN 101585188B CN 2009100334158 A CN2009100334158 A CN 2009100334158A CN 200910033415 A CN200910033415 A CN 200910033415A CN 101585188 B CN101585188 B CN 101585188B
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- driver
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- upper ledge
- active joint
- dielectric eap
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- 230000036316 preload Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 239000011159 matrix material Substances 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004154 testing of material Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The invention discloses a multidimensional active joint based on a dielectric type EAP, belonging to the technology field of active joint. The active joint is coaxially provided with an upper frame and a lower frame from top to bottom. An inner frame is arranged in the upper frame. The inner frame and the upper frame are hinged by a hinge mechanism. The upper end of the axle is fixed with the inner frame and the lower end of the axle penetrates a guide sleeve. The guide sleeve and the lower frame are firmly connected with a substrate. 2n dielectric type EAP drivers are coaxially and symmetrically arranged between the upper frame and the lower frame. The dielectric type EAP drivers are connected on the matrix of the upper frame and the lower frame through a link, wherein n is a natural number. The invention has simple structure, low cost, light weight and flexible working.
Description
Technical field
Invention relates to a kind of multidimensional active joint based on dielectric EAP, belongs to the initiatively technical field in joint.
Background technology
The joint is the bound fraction between robot, Mechatronic Systems relative movement part.Traditional move or rotary joint adopts motor (as electromagnetic machine) to add that transmission mechanism (as decelerator, rack-and-pinion transmission etc.) drives joint motions usually caused complicated in mechanical structure, cost an arm and a leg, volume is big, quality is big, power-mass ratio is little; Exist between driving parts and slide and rolling friction, efficiency is low; Next joint of most cases only has one degree of freedom, shortcomings such as very flexible, therefore and the relatively-stationary form of this quasi-driver has limited it in some environmental applications, can not satisfy future robot and Mechatronic Systems to joint light weight, simple in structure, requirement that energy utilization efficiency is high, moderate.
Except motor-driven joint, also has the joint that drives by Pneumatic artificial muscle.By the inquiry patent, the patent application of Zhejiang Polytechnical University " a kind of Pneumatic ball joint " (patent application number: 200710069689.3) adopt three Pneumatic artificial muscle drivers to realize the driving of ball-joints, need more annex such as source of the gas and control system thereof etc. but adopt Pneumatic artificial muscle to drive, system architecture size and quality are big.
For solving the problem that exists in the driving of joint, some intellectual materials (as piezoelectric ceramics, marmem etc.) are studied and are used for realizing joint driver.These drivers can be realized the microminaturization of robot system, Mechatronic Systems, can be implemented in the complex environment to operate.But piezoelectric ceramics is because deflection is little, often needs enlarger to carry out displacement when using and amplifies, and makes complex structure.Marmem causes spacing of lattice apart from becoming big macroscopical displacement drive that realizes because variations in temperature causes material phase transformation, and its efficient is lower, and response speed is slow.
Dielectric EAP is a kind of novel intelligent material, compares with traditional electromagnetic technique than other intellectual material to have many good qualities: can directly externally do work, need not transmission mechanism, simple in structure, volume is little, light weight; Action is level and smooth, no relative fricting movement parts, do not have hot, noiseless; Power-mass ratio is big, energy conversion efficiency is high; Distortion is big, can produce big displacement, response speed is fast; Have flexibility, be convenient to advantages such as structure arrangement, in the joint drives, tempting application prospect is arranged.
But the P.Lochmatter of Swiss Confederation's testing of materials and research laboratory uses VHB4910 as the articulation structure of single-degree-of-freedom bending that driven investigation of materials, adopt planar shaped driver push-and-pull joint skeleton to realize the joint swing, and the Dan Zidu swing in realizing the series connection of a plurality of joints on a large scale.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of multidimensional active joint based on dielectric EAP at the defective that prior art exists.
The present invention adopts following technical scheme for achieving the above object:
The present invention is based on the multidimensional active joint of dielectric EAP, it is characterized in that coaxial successively upper ledge, the lower frame of being provided with in this active joint from top to bottom, be provided with inside casing in the upper ledge, adopt linkwork hinged between inside casing and the upper ledge, the upper end and the inside casing of axle are fixed, fairlead is passed in the lower end of axle, fairlead is all fixedlyed connected with substrate with lower frame, coaxially between upper ledge and the lower frame be symmetrical arranged 2n dielectric EAP driver, described dielectric EAP driver is connected by connecting rod on the skeleton of upper ledge and lower frame, and wherein n is a natural number.
The quality that has the joint is big, the free degree is few, the not high deficiency of flexibility in order to overcome, the present invention utilize dielectric EAP power density ratio height, directly driving, light weight, have flexibility and be convenient to advantages such as structure arrangement, initiatively joint of a kind of multiple degrees of freedom based on dielectric EAP simple in structure is provided.
The present invention has that to drive the free degree many, and structure arrangement is convenient and simple, have the flexible protective function, and volume is little, and advantages such as light weight can replace joint, artificial limb or medical science between mechanical arm joint and the beformable body joint of robot in repairing.
Description of drawings
Fig. 1 is the active articulation structure based on dielectric EAP.
Title label among the figure: 1 is inside casing, and 2 is axle, and 3 is fairlead, and 4 is linkwork, and 5 is upper ledge, and 6 is connecting rod, and 7 is the EAP driver, and 8 is lower frame, and 9 are preloaded by applying.
Fig. 2 is for adopting the active articulation structure form of taper driver, and 10 for dividing plate electrode.
Fig. 3 is for adopting the active articulation structure form of cylindrical drive device.
The specific embodiment
Joint skeleton of the present invention can have three degree of freedom at most, promptly the z axle move and around the rotation of x, y axle.Joint skeleton is made up of axle 2, fairlead 3, inside casing 1, upper ledge 5 and lower frame 8.Wherein lower frame 8 and fairlead 3 all are connected with substrate, and axle 2 is connected with inside casing 1, can along fairlead 3 do z to rectilinear motion.Adopt linkwork 4 (Hooke's hinge or ball pivot) to be connected between inside casing 1 and the upper ledge 5, upper ledge 5 can be rotated around x, y axle with respect to inside casing 1.Described dielectric EAP driver is along the joint skeleton circumferential directions, and driver is connected between upper ledge and the lower frame by connecting rod 6.A joint can be realized three degrees of freedom of movement at most, comprise along the z axle move and around the rotation of x, y axle.When upper ledge 5 produces displacement at x to the driver energising of a side, during the opposite side no power, then make upper ledge 5 relative inside casings 1 produce rotatablely moving around the x axle.When upper ledge 5 produces displacement at y to the driver energising of a side, during the opposite side no power, then make upper ledge 5 relative inside casings 1 produce rotatablely moving around the y axle.When the driver 7 around the upper ledge 5 is all switched on, upper ledge 5 will produce along the rectilinear motion of z axle together with inside casing 1 and hinged 4, axle 2.When driver 7 energy bearing thrusts, connecting rod 6 adopts rigid rod or flexible link.When driver can only bear pulling force, connecting rod 6 adopted flexible link.When connecting rod 6 adopts flexible link, on axle 2, apply certain axial preload 9.
Driver form (taper, cylindrical) for rotary structure, can only adopt a driver, and on EAP, produce 2n punishment plate electrode 10, every plate electrode and the EAP that is clipped in the middle all can regard an EAP driver as, can reduce physical dimension, improve structural compactness, wherein n is a natural number.Multidimensional active joint based on dielectric EAP can be used for fields such as robot arm, artificial limb joint, bionical beformable body joint of robot, has flexibility, and structure arrangement is convenient, simple, and volume is little, light weight, and have defencive function.
Be elaborated below in conjunction with the technical scheme of accompanying drawing to invention:
Fig. 1 is the active articulation structure figure based on dielectric EAP.Driver 7 energisings produce displacement, drive upper ledge 5 and produce corresponding motion.When x produces displacement to the energising of the driver of a side, and the driver of opposite side then can promote upper ledge 5 and produce rotatablely moving around the x axle when not switching on.When y produces displacement to the energising of the driver of a side, and the driver of opposite side then can promote upper ledge 5 and produce rotatablely moving around the y axle when not switching on.When the driver around the upper ledge 5 is all switched on, then can all produce displacement, promote the linear displacement that upper ledge 5 produces along the z axle.
Fig. 2 is an adoptable another kind of initiatively articulation structure when adopting jatharapanvartanasana driver (taper).The EAP of taper driver is divided into 2n district, and the EAP positive and negative in each district is coated a pair of minute plate electrode 10, and with being spaced from each other between the branch plate electrode on the one side, the EAP between each reaches minute plate electrode can regard a sub-driver as.After the energising of group driver, upper ledge can produce corresponding action.
Fig. 3 is an adoptable another kind of initiatively articulation structure when adopting jatharapanvartanasana driver (cylindrical).The EAP of cylindrical drive device is divided into 2n district, and the EAP positive and negative in each district is coated branch plate electrode 10, and with separating between the branch plate electrode on the one side, the EAP between each reaches minute plate electrode can regard a sub-driver as.After the energising of group driver, upper ledge can produce corresponding action.
The present invention is simple in structure, cost is low, light weight, work are flexible, can be used for fields such as bio-robot, manipulator, artificial limb, medical science reparation.
Claims (3)
1. active joint based on dielectric EAP, it is characterized in that this active joint sets gradually upper ledge (5) from top to bottom, axle (2), lower frame (8), be provided with inside casing (1) in the upper ledge (5), adopt linkwork (4) hinged between inside casing (1) and the upper ledge (5), the upper end of axle (2) and inside casing (1) are fixing, fairlead (3) is passed in the lower end of axle (2), fairlead (3) is all fixedlyed connected with substrate with lower frame (8), coaxial (2) are symmetrical arranged 2n dielectric EAP driver (7) between upper ledge (5) and the lower frame (8), described dielectric EAP driver (7) is connected on the skeleton of upper ledge (5) and lower frame (8) by connecting rod (6), and wherein n is a natural number.
2. the active joint based on dielectric EAP according to claim 1, described dielectric EAP driver (7) and connecting rod (6) constitute drive unit, it is characterized in that having at least a drive unit, described drive unit adopts the dielectric EAP that divides plate electrode (10) and be clipped between the branch plate electrode to replace.
3. the active joint based on dielectric EAP according to claim 1 is characterized in that connecting rod (6) adopts rigidity or flexible link when dielectric EAP driver (7) energy bearing thrust; When dielectric EAP driver (7) can only bear pulling force, connecting rod (6) adopted flexible link; When adopting flexible link, on axle (2), apply axial preload (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100334158A CN101585188B (en) | 2009-06-19 | 2009-06-19 | Multidimensional active joint based on dielectric type EAP |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100334158A CN101585188B (en) | 2009-06-19 | 2009-06-19 | Multidimensional active joint based on dielectric type EAP |
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| Publication Number | Publication Date |
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| CN101585188A CN101585188A (en) | 2009-11-25 |
| CN101585188B true CN101585188B (en) | 2011-08-24 |
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| CN2009100334158A Expired - Fee Related CN101585188B (en) | 2009-06-19 | 2009-06-19 | Multidimensional active joint based on dielectric type EAP |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102837307A (en) * | 2012-09-13 | 2012-12-26 | 南京航空航天大学 | Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units |
| CN104920396A (en) * | 2015-06-01 | 2015-09-23 | 安徽华星化工有限公司 | Weeding composition containing pinoxaden and pyraflufen-ethyl |
| CN108516029A (en) * | 2018-04-02 | 2018-09-11 | 上海交通大学 | Autonomous rolling soft robot based on dielectric elastomer |
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Granted publication date: 20110824 Termination date: 20160619 |