CN101695838A - Four-DOF (degree of freedom) waist joint of humanoid robot - Google Patents
Four-DOF (degree of freedom) waist joint of humanoid robot Download PDFInfo
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- CN101695838A CN101695838A CN200910309442A CN200910309442A CN101695838A CN 101695838 A CN101695838 A CN 101695838A CN 200910309442 A CN200910309442 A CN 200910309442A CN 200910309442 A CN200910309442 A CN 200910309442A CN 101695838 A CN101695838 A CN 101695838A
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Abstract
The invention relates to a four-DOF (degree of freedom) waist joint of a humanoid robot, belonging to the technical field of simulate robotics. The waist joint comprises a static platform, a dynamic platform, a first branch mechanism and three second branch mechanisms, wherein the dynamic platform is arranged above the static platform; one end of the first branch mechanism is connected with the static platform, and the other end is connected with the dynamic platform; one end of each second branch platform is respectively connected with the static platform, and the other end is respectively connected with the dynamic platform; the first branch mechanism comprises a first connecting rod and a spherical hinge, wherein one end of the first connecting rod is connected with the dynamic platform and forms a sliding pair, and the other end is connected with the spherical hinge which is movably connected with the static platform; and the DOF restraining of the second branch mechanisms to the dynamic platform is zero. The invention has the advantages of simple structure, low sensitivity on machining error and high bearing capacity.
Description
Technical field
What the present invention relates to is a kind of waist joint of anthropomorphic robot technical field, specifically is a kind of four-DOF (degree of freedom) waist joint of humanoid robot.
Background technology
The waist joint of human body has four frees degree, promptly move up and down around the rotation of three different directions with along vertical is axial, in order to reach the effect of realistic simulation, the waist joint of anthropomorphic robot should have and the similar function in human lumbar joint, and promptly having 3 changes 1 four frees degree of moving.Adopt that the anthropomorphic robot waist joint of serial mechanism often exists that rigidity is low, cumulative errors are high, the load capacity difference can problem, therefore, the waist joint of anthropomorphic robot adopts parallel institution mostly at present.
Through existing correlation technique literature search is found, Wu Wenkui etc. have delivered " kinematics analysis of novel four-degree-of-freedom parallel-connection structure waist joint " literary composition on " Machine Design and research " 2008 the 24th the 1st phases of volume, this article has been introduced a kind of waist joint of the anthropomorphic robot based on 4-RRR-RR type parallel institution, first three of an every side chain revolute pair axis intersects at center of rotation, and latter two revolute pair axis is parallel to each other.The center of rotation of four all side chains overlaps, and latter two all planes, revolute pair axis place is all not parallel.Move four frees degree though this waist joint has 3 commentaries on classics 1, its structure is complicated, required machining accuracy height, and to the mismachining tolerance sensitivity, bearing capacity is relatively poor.
Summary of the invention
The objective of the invention is to overcome the above-mentioned shortcoming that exists in the prior art, a kind of four-DOF (degree of freedom) waist joint of humanoid robot is provided, target is to simplify waist joint mechanism, reduces the susceptibility to mismachining tolerance, improves the waist joint bearing capacity.
The present invention is achieved by the following technical solutions:
The present invention includes: silent flatform, moving platform, first branch and three second branches, wherein: moving platform is positioned at the top of silent flatform, one end of first branch links to each other with silent flatform, the other end links to each other with moving platform, three second branch's ends separately link to each other with silent flatform respectively, and the other end separately links to each other with moving platform respectively; Described first branch comprises: first connecting rod and ball pivot, and wherein: an end of first connecting rod links to each other with moving platform and forms moving sets, and the other end links to each other with ball pivot, and this ball pivot and silent flatform flexible connection; Described second branch is constrained to zero to the free degree of moving platform.
Described second branch comprises: second connecting rod and third connecting rod, and wherein: an end of second connecting rod links to each other with ball pivot, and this ball pivot and moving platform flexible connection, and the other end of second connecting rod links to each other with ball pivot, Hooke's hinge or third connecting rod.
One end of described third connecting rod links to each other with ball pivot, Hooke's hinge or second connecting rod, and the other end links to each other with ball pivot, Hooke's hinge or silent flatform.
Described second connecting rod links to each other with third connecting rod and forms moving sets.
Described third connecting rod links to each other with silent flatform and forms moving sets.
Three tie points of described three second branches and silent flatform constitute triangle, and the tie point of first branch and silent flatform is positioned at this triangle.
The present invention forms four-freedom parallel mechanism by silent flatform, moving platform, first branch and three second branches, under the moving sets effect of first branch and three second branches, moving platform can realize along first branch's moving sets direction move and around the rotation of three different directions of first branch's ball pivot, thereby reach the purpose of simulation human body waist joint motion.
Compared with prior art, the invention has the advantages that: (1) does not need the center of rotation between each branch to overlap because the free degree of the relative moving platform of second branch is constrained to zero, has reduced the complexity of mechanism and to the susceptibility of mismachining tolerance; (2) there was not constraint in the present invention, had improved the load capacity of mechanism.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the structural representation of the embodiment of the invention 2;
Fig. 3 is the structural representation of the embodiment of the invention 3;
Fig. 4 is the structural representation of the embodiment of the invention 4.
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, embodiment 1 comprises: silent flatform 1, moving platform 2, first branch 3 and three second branches 4, wherein: moving platform 2 is positioned at the top of silent flatform 1, one end of first branch 3 links to each other with silent flatform 1, the other end links to each other with moving platform 2, three second branch 4 ends separately link to each other with silent flatform 1 respectively, and the other end separately links to each other with moving platform 2 respectively; Described first branch 3 comprises: first connecting rod 5 and ball pivot 6, and wherein: an end of first connecting rod 5 links to each other with moving platform 2 and forms moving sets 7, and the other end links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with silent flatform 1; The free degree of 4 pairs of moving platforms 2 of described second branch is constrained to zero.
Described second branch 4 comprises: second connecting rod 8 and third connecting rod 9, and wherein: an end of second connecting rod 8 links to each other with ball pivot 6, and this ball pivot 6 and moving platform 2 flexible connections, and the other end of second connecting rod 8 links to each other with third connecting rod 9 and forms moving sets 7.
One end of described third connecting rod 9 links to each other with second connecting rod 8, and the other end links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with silent flatform 1.
Described three second branches 4 constitute triangle with three tie points of silent flatform 1, and the tie point of first branch 3 and silent flatform 1 is positioned at this triangle.
As shown in Figure 2, embodiment 2 comprises: silent flatform 1, moving platform 2, first branch 3 and three second branches 4, wherein: moving platform 2 is positioned at the top of silent flatform 1, one end of first branch 3 links to each other with silent flatform 1, the other end links to each other with moving platform 2, three second branch 4 ends separately link to each other with silent flatform 1 respectively, and the other end separately links to each other with moving platform 2 respectively; Described first branch 3 comprises: first connecting rod 5 and ball pivot 6, and wherein: an end of first connecting rod 5 links to each other with moving platform 2 and forms moving sets 7, and the other end links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with silent flatform 1; The free degree of 4 pairs of moving platforms 2 of described second branch is constrained to zero.
Described second branch 4 comprises: second connecting rod 8 and third connecting rod 9, wherein: an end of second connecting rod 8 links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with moving platform 2, and the other end of second connecting rod 8 links to each other with ball pivot 6, and this ball pivot 6 links to each other with third connecting rod 9.
One end of described third connecting rod 9 links to each other with ball pivot 6, and the other end links to each other with silent flatform 1 and forms moving sets 7.
Described three second branches 4 constitute triangle with three tie points of silent flatform 1, and the tie point of first branch 3 and silent flatform 1 is positioned at this triangle.
As shown in Figure 3, embodiment 3 comprises: silent flatform 1, moving platform 2, first branch 3 and three second branches 4, wherein: moving platform 2 is positioned at the top of silent flatform 1, one end of first branch 3 links to each other with silent flatform 1, the other end links to each other with moving platform 2, three second branch 4 ends separately link to each other with silent flatform 1 respectively, and the other end separately links to each other with moving platform 2 respectively; Described first branch 3 comprises: first connecting rod 5 and ball pivot 6, and wherein: an end of first connecting rod 5 links to each other with moving platform 2 and forms moving sets 7, and the other end links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with silent flatform 1; The free degree of 4 pairs of moving platforms 2 of described second branch is constrained to zero.
Described second branch 4 comprises: second connecting rod 8 and third connecting rod 9, wherein: an end of second connecting rod 8 links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with moving platform 2, and the other end of second connecting rod 8 links to each other with Hooke's hinge 10, and this Hooke's hinge 10 links to each other with third connecting rod 9.
One end of described third connecting rod 9 links to each other with Hooke's hinge 10, and the other end links to each other with silent flatform 1 and forms moving sets 7.
Described three second branches 4 constitute triangle with three tie points of silent flatform 1, and the tie point of first branch 3 and silent flatform 1 is positioned at this triangle.
As shown in Figure 4, embodiment 4 comprises: silent flatform 1, moving platform 2, first branch 3 and three second branches 4, wherein: moving platform 2 is positioned at the top of silent flatform 1, one end of first branch 3 links to each other with silent flatform 1, the other end links to each other with moving platform 2, three second branch 4 ends separately link to each other with silent flatform 1 respectively, and the other end separately links to each other with moving platform 2 respectively; Described first branch 3 comprises: first connecting rod 5 and ball pivot 6, and wherein: an end of first connecting rod 5 links to each other with moving platform 2 and forms moving sets 7, and the other end links to each other with ball pivot 6, and this ball pivot 6 flexibly connects with silent flatform 1; The free degree of 4 pairs of moving platforms 2 of described second branch is constrained to zero.
Described second branch 4 comprises: second connecting rod 8 and third connecting rod 9, and wherein: an end of second connecting rod 8 links to each other with ball pivot 6, and this ball pivot 6 and moving platform 2 flexible connections, and the other end of second connecting rod 8 links to each other with third connecting rod 9 and forms moving sets 7.
One end of described third connecting rod 9 and second connecting rod 8 connect, and the other end links to each other with Hooke's hinge 10, and this Hooke's hinge 10 flexibly connects with silent flatform 1.
Described three second branches 4 constitute triangle with three tie points of silent flatform 1, and the tie point of first branch 3 and silent flatform 1 is positioned at this triangle.
Among above-mentioned four embodiment, because the free degree of the relative moving platform of second branch is constrained to zero, do not need the center of rotation between each branch to overlap, therefore reduced the complexity of mechanism and, improved the load capacity of mechanism the susceptibility of mismachining tolerance.
Claims (6)
1. four-DOF (degree of freedom) waist joint of humanoid robot, comprise: silent flatform, moving platform, first branch and three second branches, wherein: moving platform is positioned at the top of silent flatform, one end of first branch links to each other with silent flatform, the other end links to each other with moving platform, three second branch's ends separately link to each other with silent flatform respectively, the other end separately links to each other with moving platform respectively, it is characterized in that, described first branch comprises: first connecting rod and ball pivot, wherein: an end of first connecting rod links to each other with moving platform and forms moving sets, and the other end links to each other with ball pivot, and this ball pivot and silent flatform flexible connection; Described second branch is constrained to zero to the free degree of moving platform.
2. four-DOF (degree of freedom) waist joint of humanoid robot according to claim 1, it is characterized in that, described second branch comprises: second connecting rod and third connecting rod, wherein: an end of second connecting rod links to each other with ball pivot, and this ball pivot and moving platform flexibly connect, and the other end of second connecting rod links to each other with ball pivot, Hooke's hinge or third connecting rod.
3. four-DOF (degree of freedom) waist joint of humanoid robot according to claim 2 is characterized in that, an end of third connecting rod links to each other with ball pivot, Hooke's hinge or second connecting rod, and the other end links to each other with ball pivot, Hooke's hinge or silent flatform.
4. according to claim 2 or 3 described four-DOF (degree of freedom) waist joint of humanoid robot, it is characterized in that second connecting rod links to each other with third connecting rod and forms moving sets.
5. four-DOF (degree of freedom) waist joint of humanoid robot according to claim 3 is characterized in that third connecting rod links to each other with silent flatform and forms moving sets.
6. four-DOF (degree of freedom) waist joint of humanoid robot according to claim 1 is characterized in that, three tie points of three second branches and silent flatform constitute triangles, and the tie point of first branch and silent flatform is positioned at this triangle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910309442A CN101695838A (en) | 2009-11-09 | 2009-11-09 | Four-DOF (degree of freedom) waist joint of humanoid robot |
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| CN200910309442A CN101695838A (en) | 2009-11-09 | 2009-11-09 | Four-DOF (degree of freedom) waist joint of humanoid robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431030A (en) * | 2011-12-28 | 2012-05-02 | 广西大学 | Spatial six-mobility drilling robot mechanism |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103831839A (en) * | 2014-01-17 | 2014-06-04 | 南京航空航天大学 | Robot bionic wrist joint and structure optimization method of robot bionic wrist joint |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN106945071A (en) * | 2017-03-22 | 2017-07-14 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN108856898A (en) * | 2018-08-30 | 2018-11-23 | 广东宏穗晶科技服务有限公司 | A kind of cutting robot |
| CN110653847A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Magnetic spherical hinge joint and reconfigurable robot based on same |
| CN111332718A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Four-way unloading express sorting trolley with overturning direction controlled by air cylinder |
| CN112353581A (en) * | 2020-09-30 | 2021-02-12 | 北京工业大学 | Wheelchair waist power assisting device with four converged rotary joint axes |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112659100A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local three-degree-of-freedom rigid-soft coupling bionic robot waist joint |
-
2009
- 2009-11-09 CN CN200910309442A patent/CN101695838A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102431030A (en) * | 2011-12-28 | 2012-05-02 | 广西大学 | Spatial six-mobility drilling robot mechanism |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103831839A (en) * | 2014-01-17 | 2014-06-04 | 南京航空航天大学 | Robot bionic wrist joint and structure optimization method of robot bionic wrist joint |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN104985585B (en) * | 2015-05-12 | 2017-06-16 | 北京理工大学 | A kind of bionical waist mechanism of the anthropomorphic robot of telescopic drive |
| CN104924294A (en) * | 2015-06-15 | 2015-09-23 | 上海交通大学 | Quadruped robot with parallel waist structure |
| CN104924294B (en) * | 2015-06-15 | 2017-03-08 | 上海交通大学 | There is the quadruped robot of waist structure in parallel |
| CN106945071A (en) * | 2017-03-22 | 2017-07-14 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN106945071B (en) * | 2017-03-22 | 2019-04-26 | 陕西科技大学 | A kind of Three Degree Of Freedom lumbar device of anthropomorphic robot |
| CN110653847A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Magnetic spherical hinge joint and reconfigurable robot based on same |
| CN108856898A (en) * | 2018-08-30 | 2018-11-23 | 广东宏穗晶科技服务有限公司 | A kind of cutting robot |
| CN111332718A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Four-way unloading express sorting trolley with overturning direction controlled by air cylinder |
| CN112353581A (en) * | 2020-09-30 | 2021-02-12 | 北京工业大学 | Wheelchair waist power assisting device with four converged rotary joint axes |
| CN112353581B (en) * | 2020-09-30 | 2022-07-29 | 北京工业大学 | Wheelchair waist power assisting device with four converged rotary joint axes |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112659100A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local three-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112659100B (en) * | 2020-11-17 | 2022-04-19 | 燕山大学 | Local three-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
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Open date: 20100421 |