CN101934525B - Variable-rigidity flexible joint design of humanoid robot - Google Patents
Variable-rigidity flexible joint design of humanoid robot Download PDFInfo
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- CN101934525B CN101934525B CN2010102835642A CN201010283564A CN101934525B CN 101934525 B CN101934525 B CN 101934525B CN 2010102835642 A CN2010102835642 A CN 2010102835642A CN 201010283564 A CN201010283564 A CN 201010283564A CN 101934525 B CN101934525 B CN 101934525B
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Abstract
The invention discloses a variable-rigidity flexible joint of a humanoid robot, which mainly comprises a variable flexible joint driver and a 2D differential drive joint mechanism, wherein, the variable flexible joint driver mainly comprises a micro-drive unit, a motor support and an elastic unit; and the 2D differential drive joint mainly comprises flexible cable input wheels, an output wheel and a flexible cable. The variable-rigidity flexible joint is characterized in that the variable-rigidity flexible joint driver introduces a special elastic element which can realize variable rigidity to adapt to the need of the joint rigidity in different walking stages and store/release energy and absorb shock; the variable flexible joint driver is connected with the 2-DOF differential drive joint mechanism through the flexible cable and has no redundant drive; and the variable-rigidity flexible joint adopts the 2-DOF differential mechanism and flexible cable transmission, thus having simple structure, small friction, no hysteresis error and reduced joint size of the robot compared with a gear design, and realizing drive torque redistribution according to the angle of energy consumption distribution of human.
Description
One. technical field
The present invention relates to the anthropomorphic robot technical field, be specifically related to a kind of anthropomorphic robot stiffness variable flexible joint design.
Two. background technology
Development and human appearance feature class seemingly have highly intelligence, can exchange with the people as the flexible action of people, and the biped robot that can constantly conform are human dreams always.From last century the seventies Japan Waseda University add Mr. rattan raiser humanoid robot notion since, the research and development of nearly four more than ten years, the researcher has obtained the achievement that attracts people's attention in this field.
At present, the servomotor that existing anthropomorphic robot adopts big moment, high rigidity mostly makes robot in gait processes, accurately follow the tracks of predefined joint angles track as driver through accurate SERVO CONTROL, realizes stablizing walking.Though the validity of this method obtains the checking of a plurality of robots project, the high rigidity of servomotor and deceleration system thereof and high inertia make anthropomorphic robot be difficult to overcome the collision phenomenon with ground in the process of walking.That is, anthropomorphic robot because of its swing pin is landing moment, bumps with ground when walking fast, makes point of zero moment produce big saltus step, has caused the stability margin reduction of anthropomorphic robot, causes robot to be fallen when serious.In addition; The ground running that adopts the precision of stiffener and legacy drive to make up to realize the biped robot is the ground running class derived product of modern advanced machinery motion arm, its rigid mechanism with only plan that with motor SERVO CONTROL tracking off-line the control method of movement locus and traditional motion arm do not have essential distinction; Energy efficiency is low and energy consumption is very big; Like ASIMO, when carrying the battery walking, stream time is for being merely 1 hour.So, want really to make this type biped robot to be applied to must improve its walking energy efficiency and environmental suitability thereof in human true environment or the human danger that can not arrive, the complex environment.
And in research, find phenomenon to human walking: land front leg portions muscle and can loosen to absorb and impact leading leg, and in the both feet after landing of leading leg supported mutually, leg muscle shrank to keep balance.Through this mechanism, the mankind can effectively reduce impact and keep stable in quick walking and running process.Thereby for overcoming the anthropomorphic robot impact phenomenon; Lax and the tensioning action of human leg muscle is similar to the rigidity control procedure of flexible actuator; Therefore adopt the stiffness variable flexible actuator can effectively absorb impact, realize quick walking as the drive source of robot.The impact resistance of stiffness variable flexible actuator and security in addition is the development of auxiliary walking arrangements such as ectoskeleton, and new solution is provided.Existing flexible joint adopts the Pneumatic flexible joint mostly, realizes more complicated, for example:
Chinese patent CN87107075A, a kind of flexible cylinder and bending, torsion knuckle, its swept volume is to be surrounded by elastic wall.Do not have friction and leakage at work, but flexure operation is done in the simulating human joint when work.This structure adopts pneumatic actuation, realizes more complicated, and its flexible being difficult for is regulated.
Three. summary of the invention
The objective of the invention is defective to above-mentioned prior art; A kind of more effectively anthropomorphic robot stiffness variable flexible joint system is provided; In walking and running process, effectively reduce and impact, realize the storage and the release of energy, solve existing robot high energy consumption and environmental suitability problem.
To achieve these goals, the technical scheme that the present invention takes is: a kind of anthropomorphic robot stiffness variable flexible joint mainly comprises variable flexible joint driver, 2-DOF differential driving articulation mechanism; It is characterized in that: described variable flexible joint driver links to each other with 2D differential driving articulation mechanism through gentle rope.
Described variable flexible joint driver mainly comprises miniature drive units, electric machine support, Flexible element;
Said miniature drive units comprises micromachine, decelerator; It is characterized in that: described micromachine is cemented on biped robot's body through electric machine support A; Said micromachine output shaft links to each other with helical axis through shaft coupling, and said helical axis is that both sides have helical guideway, and the centre is the rotating shaft of polished rod, and its two ends are respectively by the bearings of assembling in electric machine support A, the B;
Described electric machine support A and guide rod are fixed, it is characterized in that, the said guide rod other end and electric machine support B are fixed, have only slide block on the guide rod, and slide block can move along guide rod;
Described slide block, spring A micromachine shell and electric machine support A is fixed; Guide rod one end is consolidated in electric machine support A, and the other end connects electric machine support B; Slide block can move along guide rod; Said slide block, upper surface meet flexible member A; It is characterized in that: said flexible member A, a part is through on the helical axis along helical guideway, and remainder is effective active length; The flexible member diameter should be slightly less than the helical axis diameter, prevents that flexible member under external force, moving axially;
Said slide block, lower surface meet flexible member B; It is characterized in that: said flexible member B, a part is through on the helical axis along helical guideway, and remainder is effective active length; The flexible member diameter should be slightly less than the helical axis diameter, prevents that flexible member under external force, moving axially;
Said slide block is characterized in that: under the common active force of flexible member A, B, slide block can slide along guide rod;
Said slide block both sides are respectively equipped with gentle rope stiff end; The end of described flexible stiff end fixed gentle rope A of difference and gentle rope B;
Described 2D differential driving joint mainly comprises gentle rope wheel for inputting A, gentle rope wheel for inputting B, output wheel C, gentle rope C, D, fixed pulley, and its annexation is: described flexible wheel for inputting A, B link to each other with output wheel C through gentle rope C, D;
Said gentle rope wheel for inputting A, B, fixed gentle rope A, B after said gentle rope B need walk around the fixed pulley of electric machine support A earlier, are consolidated on the gentle rope wheel for inputting of joint more respectively, turn to completion;
Described output wheel C is the joint outlet terminal, links to each other with sole.
For realizing position closed loop control, magnetic rotary encoder is installed as position sensor at described joint shaft one end;
Controlled for realizable force, deformeter is installed as the power sensor at described Flexible element place;
The present invention has the following advantages and outstanding property effect: the stiffness variable flexible joint that is designed, adopt gentle rope differential attachment, and design of gears was simple in structure more in the past, and it is little to rub, no hysterisis error, and dwindle the joint of robot size.According to the angle that human energy consumption distributes, realize the driving moment reallocation, also be the key character that the present invention is different from other existing achievement in research; The stiffness variable flexible joint drive system that is designed; Introduce the special elastic element; In gait processes; Change the rigidity of stiffness variable flexible drive mechanism through continuous adjustment spring element rigidity, adapting to asynchronous row order section joint stiffness needs, and can store/release energy and absorb impact; The irredundant driving of the present invention; Adopt gentle Suo Chuandong, simple in structure, be easy to process and assemble, it is little to rub, no hysterisis error; The stiffness variable flexible joint that the present invention proposes is compact, is easy to install, and makes the flexible biped robot of structure full power variable stiffness become possibility, realizes the variation of biped robot's walking function, like the self-balancing under stabilized walking, uneven ground walking and the disturbance.
Four. description of drawings
Fig. 1 is the structural representation of anthropomorphic robot stiffness variable flexible joint of the present invention;
Fig. 2 is a stiffness variable flexible actuator structural representation among the present invention;
Fig. 3 is a 2-DOF difference ankle-joint structure forward direction sketch map among the present invention;
Fig. 4 is a 2-DOF difference ankle-joint structure schematic rear view among the present invention;
Fig. 5 is a stiffness variable flexible actuator stiffness variation principle schematic among the present invention;
Among the figure: 1 sole, 2 gentle rope input A, 3 output D, 4 gentle ropes, 5 input C, 6 gentle ropes, 7 stiffness variable flexible actuators; 8 stiffness variable flexible actuators, 9 bracing frames, 10 shanks support, 11 gentle ropes, 12 gentle ropes, 132-DOF differential driving ankle-joint; 14 gentle rope input B, 15 foot plate support, the 16 joints rope wheel for inputting that soften, 17 guide rods, the 18 rope B that soften, 19 fixed pulleys; 20 encoders, 21 micromachines, 22 decelerators, 23 motor bracing frame A, 24 helical axis, 25 spring A; 26 slide blocks, 27 spring B, 28 motor bracing frame B, 29 gentle rope A, 30 gentle rope knot A, 31 gentle rope knot B
Five. the specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is described further, but not as to qualification of the present invention.
Referring to Fig. 1, the variable flexible joint structure of a kind of anthropomorphic robot mainly comprises 2-DOF differential driving ankle-joint 12, stiffness variable flexible actuator 7,8, gentle rope 4,6,11,12. Gentle rope 4,6,11,12 is passed by stiffness variable flexible actuator 7,8 respectively, and an end is walked around fixed pulley, is consolidated in the gentle rope knot 5,20 of difference 2-DOF differential driving ankle-joint 12.Concrete implementation method is: through gentle rope 4,6,11,12; To soften rope wheel for inputting A 2, gentle rope wheel for inputting B 14 links to each other with output C 5, output D 3, and with wheel for inputting A 2,14 two of wheel for inputting B are parallel to rotatablely move and be converted into two orthogonal directions and move; It is big that this kind of drive is abandoned the gear drive friction; Easy to wear, there are characteristics such as hysterisis error, wheel for inputting A, B axial direction are the main movement shaft of ankle-joint; Can realize bending instep/bend toe motion, in addition ankle-joint can around output C axially do small turn up with in turn over motion.
Referring to Fig. 2, stiffness variable flexible actuator 7 is cemented on biped robot's body through electric machine support A 13, and wherein, micromachine 21 shells and electric machine support A 23 are fixed; Guide rod 17 1 ends are consolidated in electric machine support A 23, and the other end connects electric machine support B 28; Slide block 26 can move along guide rod 17; Micromachine 21 output shafts link to each other with helical axis 24 through shaft coupling; Wherein, helical axis 24 is for both sides have helical guideway, and the centre is the rotating shaft of polished rod, and its two ends are respectively by the bearings of assembling in electric machine support A23, the electric machine support B 28; Flexible member A 25, flexible member B 27, a part is through on the helical axis 24 along helical guideway, and remainder is effective active length, connects slide block 26 upper and lower surfaces respectively; Flexible member 25,27 diameters should be slightly less than helical axis 24 diameters, prevent flexible member 25,27 under external force, move axially.
When micromachine 21 rotates, drive helical axis 24 rotations; Simultaneously, flexible member A 25 and flexible member B 27 move axially along helical axis 24, and its effective active length also changes thereupon; Because of the rigidity of flexible member is the function of its effective length, when its effective active length changed, the rigidity of flexible member also changed thereupon, and then changed the rigidity of bionic joint.
Referring to Fig. 3,4, the ankle-joint operation principle that designs.Be the gentle Suo Raoxiang of convenient explanation, the rope input A 2 that at present will soften, gentle rope input B 14 launches to illustrate; When wheel for inputting 2,14 turns an angle θ with identical direction; Ankle-joint master rotation direction rotates, and promptly whole foot rotates around wheel for inputting A, B axis, realizes elevating movement; As wheel for inputting A 2, when gentle rope input B 14 turns an angle θ with opposite direction, secondary rotation direction rotates, and promptly sole changes around the axis of output C 5, output D 3, realizes rotatablely moving; Under other situation, realize the 2-DOF motion of foot.
Participate in Fig. 5, the institute's stiffness variable soft drive joint stiffness that designs variation principle, the effective length of establishing flexible member 25 is L
A1, initial stiffness is K
A=f
A(L
A1), flexible member 27 initial effective length L
B1, initial stiffness is K
B=f
B(L
B1), this moment, bionic joint rigidity can be expressed as K so
Jonit=f
Jonit(L
A1, L
B1), the effective active length that changes flexible member 25,27 just can change the rigidity of bionic joint; The bionic joint that is designed can absorb certain impact, thereby prevents to impact the damage to the robot mechanical device; Do the time spent when joint receives external force F, slide block 26 compression springs move right, and the variable quantity of equilbrium position is Ax=F/K
Joint Flexible member 25,27 places are provided with deformeter, are used for measuring the deflection of flexible member, just can calculate the size of the power that is applied to joint by Hooke's law, thereby realize closed-loop control, and reduce bionic joint output impedance.
Claims (1)
1. anthropomorphic robot stiffness variable flexible joint; Mainly comprise stiffness variable flexible joint driver, 2-DOF differential driving articulation mechanism ankle-joint; Stiffness variable flexible joint driver mainly is made up of miniature drive units, shaft coupling, helical axis (24), slide block (26), guide rod (17), electric machine support A (23), electric machine support B (29), flexible member A (25), flexible member B (27), fixed pulley (19), and miniature drive units comprises micromachine (21) and decelerator (22), micromachine (21) output shaft; Link to each other with helical axis (24) through shaft coupling; Helical axis (24) is for both sides have helical guideway, and the centre is the rotating shaft of polished rod, flexible member A (25); Flexible member B (a 27) part is through on the helical axis (24) along helical guideway; Remainder is effective active length, and helical axis (24) two ends are provided with between electric machine support A (23) and the electric machine support B (29) and helical axis (24) parallel guide rod (17) respectively by the bearings of assembling in electric machine support A (23), the electric machine support B (29); Slide block (26) is through on the guide rod (17); Can be along guide rod (17) motion, flexible member A (25) and flexible member B (27) connect the upper and lower surface of slide block (26) respectively, and the effective active length that makes micromachine (21) can change flexible member A (25) and flexible member B (27) when rotating changes stiffness variable flexible joint rigidity; Adapting to asynchronous row order section joint stiffness needs, and store/release energy and absorb impact; 2-DOF differential driving articulation mechanism ankle-joint; Mainly form by gentle rope wheel for inputting A (2), gentle rope wheel for inputting B (14), output wheel C (5), output D (3), gentle rope C, gentle rope D; As gentle rope wheel for inputting A (2), when gentle rope wheel for inputting B (14) turns an angle θ with identical direction; 2-DOF differential driving articulation mechanism ankle-joint master rotation direction rotates, and promptly whole foot rotates around gentle rope wheel for inputting A (2) and gentle rope wheel for inputting B (14) axis, realizes elevating movement; As gentle rope wheel for inputting A (2), when gentle rope wheel for inputting B (14) turns an angle θ with opposite direction, secondary rotation direction rotates, and promptly sole changes around the axis of output wheel C (5), output D (3), realizes rotatablely moving; Stiffness variable flexible joint driver is through gentle rope A (28) and gentle rope B (18); Link to each other with 2-DOF differential driving articulation mechanism ankle-joint; Its annexation does; Slide block (26) both sides in the stiffness variable flexible joint driver are respectively equipped with gentle rope stiff end A and gentle rope stiff end B, and the end of difference fixed gentle rope A (28) and gentle rope B (18), the other end of gentle rope A (28) directly are cemented on the gentle rope wheel for inputting A (2) of 2-DOF differential driving articulation mechanism ankle; After gentle rope B (18) need walk around the fixed pulley (19) on the electric machine support A (23) earlier, be consolidated in again on the gentle rope wheel for inputting A (2) of 2-DOF differential driving articulation mechanism ankle, turn to completion.
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| CN2010102835642A CN101934525B (en) | 2010-09-15 | 2010-09-15 | Variable-rigidity flexible joint design of humanoid robot |
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| CN2010102835642A CN101934525B (en) | 2010-09-15 | 2010-09-15 | Variable-rigidity flexible joint design of humanoid robot |
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| CN101934525B true CN101934525B (en) | 2012-07-25 |
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