CN102841602B - Robot single-leg assembly control development performance test platform and method - Google Patents
Robot single-leg assembly control development performance test platform and method Download PDFInfo
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- CN102841602B CN102841602B CN201210355304.0A CN201210355304A CN102841602B CN 102841602 B CN102841602 B CN 102841602B CN 201210355304 A CN201210355304 A CN 201210355304A CN 102841602 B CN102841602 B CN 102841602B
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Abstract
The invention discloses a robot single-leg assembly control development performance test platform and method. The platform comprises a gantry three-coordinate mechanical arm assembly, a robot leg connection bracket, a Stewart platform, a six-dimensional force sensor, a robot single-leg assembly and a five-dimensional force measurement platform, wherein a servo controller and a displacement sensor are integrated in the Stewart platform; the Stewart platform is invertedly arranged on a base of the robot leg bracket; the five-dimensional force measurement platform is arranged at the center of the ground below the robot single-leg assembly; and the robot leg connection bracket is fixed on a Z-axis-direction mobile supporting frame assembly of the gantry three-coordinate mechanical arm assembly. The test platform is suitable for single-leg movement and quick gait control during bionic gait generation of a four-foot or multi-foot hydraulic driving robot as well as development and research on multiple control strategies for robot load distribution, control force distribution, single-leg force feedback control and 'discrete gait and continuous force control' attitude stabilization control.
Description
Technical field
The present invention relates to the testing apparatus of a kind of robot essential elements, relate in particular to a kind of robot list leg assembly control exploitation Testing Platform and method.
Background technology
Leg biped robot is the nonlinear system of a connection in series-parallel-highly branched chain, when its parameter is strong, becomes.In the time of dynamic walking, robot is quiet unstable, and the terrain information obtaining exists uncertain.Unstability very easily in the time that moving gait rapid movement, landform change and be subject to foreign impacts.How realizing robot attitude stabilization is in these cases the success or failure point of four-leg bionic robot development.For the interactive moment property in robot-ground with for the uncertain feature of the computer vision information of reciprocation research, adaptability requirement in conjunction with robot to complex environment, the present invention proposes a kind of robot list leg assembly control exploitation Testing Platform first, this test platform is applicable to single leg motion and gait control fast in four-footed or the bionical gait generation of polypody hydraulic-driven machine people, and robot load distribution, control is distributed, single leg strength FEEDBACK CONTROL, exploitation and the research of the multiple control strategies such as " control of discrete gait+continuous force " pose stabilization control.
Chinese patent literature CN102556197A discloses " a kind of single leg experimental platform for multi-foot walking robot ", and this list leg experiment porch is by single leg experiment porch basic machine and single leg experiment porch composition of the control system.Single leg experiment porch basic machine comprises single leg experiment porch framework, walking robot list leg and experiment porch arrangement for adjusting height.Single leg experiment porch framework is made up of fixed support, sliding stand and installation of sensors plate group.Experiment porch height manual adjustments.Two height sensors and a horizontal displacement sensors are arranged on experiment porch framework, the relative position of robot measurement leg and experiment porch framework.Power installation of sensors is on robot shank, for measuring the acting force between walking robot list leg and ground.The rotational angle of each joint servo motor of scrambler robot measurement leg.This list leg experiment porch can obtain the height of experiment porch, the height change curve of walking robot list leg buttocks in traveling process, the movement velocity of walking robot list leg.Can obtain the acting force between robot list leg and ground, because not having respective sensor, robot each joint servo motor power output measures, so this experiment porch can only be realized the research of robot location's control strategy, and do the debugging research of basic impedance Control based on vola force feedback with position control system.This experiment porch can not be realized the simulation to landform, can not be used for studying exploitation and the research of the multiple control strategies such as robot load distribution, control distribution, " control of discrete gait+continuous force " pose stabilization control.
When Chinese patent literature CN202188963U discloses " a kind of device for testing walking capacity of foot robot " use, by controlling the rotation of each motor, bracing frame can be made pitching deflection and roll deflection simultaneously.Rotating mechanism is fixed on bracing frame, also can make pitching deflection and roll deflection, realizes the simulation to full landform.This device for testing walking capacity of foot robot is only only applicable to the terrain simulation of robot overall test.The mutual of robot and ground can not be directly portrayed, robot list leg test can not be used for.
Summary of the invention
Object of the present invention is exactly in order to address the above problem, for the interactive moment property in robot-ground with for the uncertain feature of the computer vision information of reciprocation research, adaptability requirement in conjunction with robot to complex environment, a kind of robot list leg assembly control exploitation Testing Platform and method are provided, this test platform is applicable to single leg motion and gait control fast in four-footed or the bionical gait generation of polypody hydraulic-driven machine people, and robot load distribution, control is distributed, single leg strength FEEDBACK CONTROL, exploitation and the research of the multiple control strategies such as " control of discrete gait+continuous force " pose stabilization control.
To achieve these goals, the present invention adopts following technical scheme:
A kind of robot list leg assembly control exploitation Testing Platform, comprises a gate-type three-dimensional machinery arm assembly, a robot leg connection bracket, a Stewart platform, a six-dimension force sensor, five dimension force plate/platforms, described gate-type three-dimensional machinery arm assembly comprises gate type support frame column, gate type support frame crossbeam, gate type support frame the first base, gate type support frame the second base, gate type support frame the first journal stirrup, gate type support frame the second journal stirrup, described gate-type three-dimensional machinery arm assembly is arranged on X-direction line slideway, described robot leg connection bracket is arranged on the gate type support frame crossbeam of gate-type three-dimensional machinery arm assembly, described Stewart platform is inverted and is arranged on the base of robot leg support, described six-dimension force sensor is arranged between Stewart platform lower surface and robot list leg assembly, on ground centered by robot list leg assembly below, five dimension force plate/platforms are installed.
The inner integrated servo controller of described Stewart platform, displacement transducer; Described Stewart platform can provide space six-freedom motion, and described robot leg connection bracket is fixed on the Z-direction movable supporting frame assembly of gate-type three-dimensional machinery arm assembly by robot leg connection bracket.
Described gate-type three-dimensional machinery arm assembly comprises an X-direction movable supporting frame assembly, a Y direction movable supporting frame assembly, a Z-direction movable supporting frame assembly, the first servomotor, the second servomotor, the 3rd servomotor, the 4th servomotor, described first, second, third, fourth servomotor is all to carry mounting flange, inner integrated encoder; The first servomotor is fixed on gate type support frame the second journal stirrup being connected with gate type support frame the second base, the 4th servomotor is fixed on gate type support frame the first journal stirrup being connected with gate type support frame the first base, gate type support frame the first base is fixed on two X-direction moving sliders, and the second base is fixed on two other X-direction moving slider.Each base is connected by screw with two corresponding slide blocks.
Described X-direction movable supporting frame assembly comprises two X-direction movable supporting frame bases, two X-direction line slideways, four X-direction moving sliders, two straight-tooth gears, two spur racks; Two X-direction movable supporting frame bases of described X-direction movable supporting frame assembly are parallel, be separately fixed on ground, two X-direction line slideways are separately fixed on two X-direction movable supporting frame bases, on every X-direction line slideway, there are two X-direction moving sliders that coordinate with it, two spur racks are parallel with two X-direction line slideways respectively, also be fixed on X-direction movable supporting frame base, the straight-tooth gear engaging with tooth bar is connected with the 4th servomotor with the first servomotor respectively.
Described Y direction movable supporting frame assembly comprises gate type support frame the first base, on gate type support frame the first base, be provided for supporting gate type support frame first journal stirrup of the first servomotor, gate type support frame the second base, on gate type support frame the second base, be provided for supporting gate type support frame second journal stirrup of the 4th servomotor, two gate type support frame columns, two gate type support frame crossbeams, a Y direction moves shaft coupling, a Y direction moves leading screw, four Y direction moving sliders, two X-direction line slideways; Described two Y direction line slideways are separately fixed on two gate type support frame crossbeams, have two Y direction moving sliders that coordinate with it on every line slideway; The second servomotor is arranged on gate type support frame column by ring flange.Y direction moves leading screw and moves shaft coupling with the second servomotor by Y direction and be connected, through nut corresponding to Y direction leading screw being fixed on Z-direction movable supporting frame base.
Described Z-direction movable supporting frame assembly comprises, a Z-direction movable supporting frame base, two Z-direction line slideways, four Z-direction moving sliders, a the 3rd servomotor bracing frame, a Z-direction moves shaft coupling, a Z-direction leading screw, a nut that Y direction leading screw is corresponding; In described Z-direction movable supporting frame base and four Y directions, moving slider is connected by screw; Two Z-direction line slideways are fixed on Z-direction movable supporting frame base, have two Z-direction moving sliders on every Z-direction line slideway; The 3rd servomotor is fixed on the 3rd servomotor bracing frame by ring flange; Z-direction moves leading screw and moves shaft coupling with the 3rd servomotor by Z-direction and be connected, through nut corresponding to Z-direction leading screw that is fixed on robot leg support side back up pad.Robot leg connection bracket lateral bolster fagging is fixed on four Z-direction moving sliders.
Described robot leg connection bracket comprises, a robot leg connection bracket base, a robot leg connection bracket lateral bolster fagging, a nut that Z-direction leading screw is corresponding; Described robot leg connection bracket base is vertical with robot leg connection bracket lateral bolster fagging.
Described robot list leg assembly comprises, the buttocks of a robot leg link, a robot list leg, a robot thigh, a robot shank, a buttocks Hydraulic servo drive device, a thigh Hydraulic servo drive device, a shank Hydraulic servo drive device; Between the buttocks of described robot list leg link and robot list leg, be connected by buttocks Hydraulic servo drive device, between the buttocks of described robot list leg and robot thigh, be connected by thigh Hydraulic servo drive device, between described robot thigh and robot shank, connect by shank Hydraulic servo drive device.
Described Hydraulic servo drive device comprises, a piston rod, a power sensor, a linear movement pick-up, an electrohydraulic servo valve, a hydraulic cylinder; On described linear movement pick-up, hydraulic cylinder is set, electrohydraulic servo valve is set on hydraulic cylinder, between hydraulic cylinder and power sensor, connect by piston rod.
The method of testing that described robot list leg assembly control exploitation Testing Platform adopts is that the output shaft of gate-type three-dimensional machinery arm assembly the first servomotor and the 4th servomotor drives respectively coupled straight-tooth gear and is fixed on spur rack engaged transmission on X-direction movable supporting frame base, wherein, the first servomotor and the 4th servomotor are synchronous, encoder for servo motor metrical information passes to servo controller, form robot list leg assembly, X-direction motion closed-loop control.
In the time that the first servomotor is asynchronous with the 4th servomotor, gate type support frame crossbeam is subject to shearing force, and experiment porch is stressed unreasonable.The second servomotor output shaft drives Y direction to move shaft coupling, Y direction leading screw rotates, the nut corresponding with Y direction leading screw drives Z-direction movable supporting frame assembly, robot leg connection bracket, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Y direction.The second encoder for servo motor metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control.
The 3rd servomotor output shaft drives Z-direction to move shaft coupling, Z-direction leading screw rotates, and the nut corresponding with Z-direction leading screw drives robot leg link, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Z-direction.The 3rd encoder for servo motor metrical information passes to servo controller, forms robot leg assembly, Z-direction motion closed-loop control.
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly, the movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to robot leg assembly via Stewart platform, six-dimension force sensor.
Stewart platform simulation robot trunk is distributed to the posture information of robot list leg assembly, pass to robot leg assembly via six-dimension force sensor, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, Stewart platform displacement sensor information, robot leg each servo-driver displacement sensor information and five dimension force plate/platform metrical informations feed back to servo-control system, carry out location-based impedance Control, or the debugging of PD control strategy research.
Stewart platform simulation robot trunk is distributed to power and the attitude information of robot list leg assembly, pass to robot list leg assembly via six-dimension force sensor, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, six-dimension force sensor metrical information, robot leg each servo-driver force sensor measuring information and five dimension force plate/platform metrical informations feed back to servo-control system, carry out the power control based on model.Or in conjunction with Stewart platform displacement sensor information, servo-driver displacement sensor information, carries out power position and mixes the research of controlling.
Advantage of the present invention:
(1) the robot list leg assembly control exploitation Testing Platform that the present invention proposes utilizes the motion of four driven by servomotor gate-type three-dimensional machinery arms, the motion of dummy robot's trunk, and this movable information is passed to robot leg assembly.
(2) the robot list leg assembly control exploitation not direct construction ground of Testing Platform that the present invention proposes, but by the control of trunk pose, terrestrial information is dissolved in the control of robot list leg assembly.
(3) according to different test objective design control strategies, realize four-footed or multi-foot robot bionic gait generate in single leg motion and gait Control experiment fast, and the test such as robot load distribution, control distribution, single leg strength FEEDBACK CONTROL, " control of discrete gait+continuous force " pose stabilization control.For the research of robot bionic gait planning, dynamic control, hydraulic pressure leg legged type robot kinematics and Evaluation Method of Mechanical Property provides research technique.
Brief description of the drawings
Fig. 1 is robot list leg assembly control exploitation Testing Platform schematic diagram;
Fig. 2 is gate-type three-dimensional machinery arm assembly schematic diagram;
Fig. 3 is gate-type three-dimensional machinery arm X-direction movable supporting frame assembly schematic diagram;
Fig. 4 is gate-type three-dimensional machinery arm Y direction movable supporting frame assembly schematic diagram;
Fig. 5 is gate-type three-dimensional machinery arm Z-direction movable supporting frame assembly schematic diagram;
Fig. 6 is robot leg bracing frame schematic diagram;
Fig. 7 is robot list leg assembly schematic diagram;
Fig. 8 is robot of the present invention list leg assembly hydraulic servo oil cylinder schematic diagram.
In figure: 1. gate-type three-dimensional machinery arm assembly, 2. robot leg connection bracket, 3.Stewart platform, 4. six-dimension force sensor, 5. robot list leg assembly, 6. five dimension force plate/platforms, 7.X direction of principal axis movable supporting frame assembly, 8. the first servomotor, 9. the second servomotor, 10. the 3rd servomotor, 11.Z direction of principal axis movable supporting frame assembly, 12.Y direction of principal axis movable supporting frame assembly, 13. the 4th servomotors, 14.X direction of principal axis movable supporting frame base, 15.X direction of principal axis line slideway, 16.X direction of principal axis moving slider, 17. straight-tooth gears, 18. spur racks, 19. gate type support frame the first journal stirrups, 20. gate type support frame the first bases, 21. gate type support frame the second bases, 22. gate type support frame the second journal stirrups, 23. gate type support frame columns, 24.Y direction of principal axis moves shaft coupling, 25.Y is to mobile leading screw, 26.Y direction of principal axis moving slider, 27. gate type support frame crossbeams, 28.Y direction of principal axis line slideway, 29.Z direction of principal axis line slideway, 30.Z direction of principal axis moving slider, 31. the 3rd servomotor bracing frames, 32.Z direction of principal axis moves shaft coupling, 33.Z direction of principal axis moves leading screw, the nut that 34.Y direction of principal axis leading screw is corresponding, 35.Z direction of principal axis movable supporting frame base, 36. robot leg connection bracket bases, 37. robot leg connection bracket lateral bolster faggings, the nut 39. shank Hydraulic servo drive devices that 38.Z direction of principal axis leading screw is corresponding, 40. thigh Hydraulic servo drive devices, 41. buttocks Hydraulic servo drive devices, 42. robot list leg links, the buttocks of 43. robot list legs, 44. robot thighs, 45. robot shanks, 46. power sensors, 47. piston rods, 48. linear movement pick-ups, 49. electrohydraulic servo valves.50. hydraulic cylinders.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
A kind of robot list leg assembly control exploitation Testing Platform comprises, gate-type three-dimensional machinery arm assembly 1, robot leg connection bracket 2, an inner integrated servo-driver of Stewart platform 3(, displacement transducer), six-dimension force sensor 4, robot list leg assembly 5, five dimension force plate/platforms 6.
Described gate-type three-dimensional machinery arm assembly 1 comprises, an X-direction movable supporting frame assembly 7, a Y direction movable supporting frame assembly 12, a Z-direction movable supporting frame assembly 11, the first servomotor 8(carries mounting flange, inner integrated encoder), the second servomotor 9(carries mounting flange, inner integrated encoder), the 3rd servomotor 10(carries mounting flange, inner integrated encoder), the 4th servomotor 13(carries mounting flange, inner integrated encoder).
Described X-direction movable supporting frame assembly 7 comprises, 17, two spur racks 18 of 16, two straight-tooth gears of 15, four X-direction moving sliders of 14, two X-direction line slideways of two X-direction movable supporting frame bases.
Described Y direction movable supporting frame assembly 12 comprises, gate type support frame the first base 20, gate type support frame the first journal stirrup 19 is set on gate type support frame the first base 20, and gate type support frame the second base 21, arranges gate type support frame the second journal stirrup 22 on gate type support frame the second base 21, two columns 23 of gate type support frame, 27, one Y directions of two gate type support frame crossbeams move 24, one Y direction leading screws 25 of shaft coupling, 26, two Y direction line slideways 28 of four Y direction moving sliders.
Described Z-direction movable supporting frame assembly 11 comprises, a Z-direction movable supporting frame base 35, two Z-direction line slideways 29, four Z-direction moving sliders 30, a the 3rd servomotor bracing frame 31, a Z-direction moves 32, one Z-directions of shaft coupling and moves nut 34 corresponding to 33, one Y direction leading screws of leading screw.
Described robot leg connection bracket 2 comprises, 36, one nuts 38 corresponding to 37, one Z-direction leading screws of robot leg connection bracket lateral bolster fagging of a robot leg connection bracket base.
Described robot list leg assembly 5 comprises, the buttocks of robot leg list leg link 42, a robot list leg 43, robot thigh 44, robot shank 45, buttocks Hydraulic servo drive device 41, thigh Hydraulic servo drive device 40, a shank Hydraulic servo drive device 39.
Described Hydraulic servo drive device comprises, piston rod 47, power sensor 46,49, one hydraulic cylinders 50 of 48, one electrohydraulic servo valves of linear movement pick-up.
Two X-direction movable supporting frame bases 14 of gate-type three-dimensional machinery arm 1 are parallel, are separately fixed on ground, and two X-direction line slideways 15 are separately fixed on two X-direction movable supporting frame bases 14.On every X-direction line slideway 15, there are two X-direction moving sliders 16 that coordinate with it.Two spur racks 18 are parallel with two X-direction line slideways 15 respectively, are also fixed on X-direction movable supporting frame base 14.The straight-tooth gear 17 engaging with spur rack 18 is connected with the 4th servomotor 13 with the first servomotor 8 respectively, the first servomotor 8 is fixed on gate type support frame the second journal stirrup 22, the 4th servomotor 13 is fixed on gate type support frame the first journal stirrup 19, the X-direction movable supporting frame base 20 of gate-type three-dimensional machinery arm assembly 1 is fixed on two X-direction moving sliders 16, and gate type support frame the second base 21 is fixed on two other X-direction moving slider 16 that X-direction moves.Each gate type support frame base is connected by screw with two corresponding moving sliders.
Two line slideways 28 of Y direction are separately fixed on two gate type support frame crossbeams 27.On every Y direction line slideway 28, there are two Y direction moving sliders 26 that coordinate with it.The second servomotor 9 is arranged on gate type support frame column 23 by ring flange.Y direction moves leading screw 25 and moves shaft coupling 24 with the second servomotor 9 by Y direction and be connected, through nut 34 corresponding to Y direction leading screw being fixed on Z-direction movable supporting frame base 35.Z-direction movable supporting frame base 35 and four Z-direction moving sliders 30 are connected by screw.Two Z-direction line slideways 29 are fixed on Z-direction movable supporting frame base 35, have two Z-direction moving sliders 30 on every Z-direction line slideway 29.The 3rd servomotor 10 is fixed on the 3rd servomotor bracing frame 31 by ring flange.Z-direction moves leading screw 33 and moves shaft coupling 32 with the 3rd servomotor 10 by Z-direction and be connected, through nut 38 corresponding to Z-direction leading screw that is fixed on robot leg connection bracket lateral bolster fagging 37.Robot leg connection bracket lateral bolster fagging 37 is fixed on four Z-direction moving sliders 30.Can provide Stewart platform 3 inversions of space six-freedom motion to be arranged on robot leg bracket base 36.Six-dimension force sensor 4 is arranged between Stewart platform 3 upper surfaces and robot list leg link 42.On ground centered by robot list leg assembly 5 belows, five dimension force plate/platforms 6 are installed.
When robot list leg assembly control exploitation Testing Platform is worked, gate-type three-dimensional machinery arm assembly 1 first servomotor 8 and the 4th servomotor 13 drive output shaft and drive respectively coupled straight-tooth gear 17 and be fixed on spur rack 18 engaged transmission on X-direction movable supporting frame base 14, wherein, the first servomotor 8 and the 4th servomotor 13 are synchronous, encoder for servo motor metrical information passes to servo controller, forms the X-direction motion closed-loop control of robot list leg assembly 5.
In the time that the first servomotor 8 is asynchronous with the 4th servomotor 13, gate type support frame crossbeam 27 is subject to shearing force, and experiment porch is stressed unreasonable.The second servomotor 9 output shafts drive Y directions move shaft coupling 24, Y direction moves leading screw 25, the nut 34 corresponding with Y direction leading screw drives Z-direction movable supporting frame assembly 11, robot leg connection bracket 2, Stewart platform 3, six-dimension force sensor 4, the single leg assembly 5 of machine, moves along Y direction.The second encoder for servo motor metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control.
The 3rd servomotor 10 output shafts drive that Z-directions move shaft coupling 32, Z-direction moves leading screw 33 and rotates, and move the nut 38 that Z-direction leading screw that leading screw 33 coordinates is corresponding drive robot leg connection bracket 2, Stewart platform 3, six-dimension force sensor 4, the single leg assembly 5 of machine to move along Z-direction with Z-direction.The scrambler metrical information of the 3rd servomotor 10 passes to servo controller, forms the Z-direction motion closed-loop control of robot leg assembly 5.
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly 1, the movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to robot list leg assembly 5 via Stewart platform 3, six-dimension force sensor 4.
Stewart platform 3 dummy robot's trunks are distributed to the posture information of robot list leg assembly 5, pass to robot leg assembly 5 via six-dimension force sensor 4, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, linear movement pick-up 48 metrical informations of Stewart platform 3 displacement sensor information, the each servo-driver of robot leg and five dimension force plate/platform 6 metrical informations feed back to servo-control system, carry out location-based impedance Control, or the debugging of PD control strategy research.
Stewart platform 3 dummy robot's trunks are distributed to power and the attitude information of robot list leg assembly 5, pass to robot leg assembly 5 via six-dimension force sensor 4, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, six-dimension force sensor metrical information 4, the each servo-driver power of robot leg sensor 46 metrical informations and five dimension force plate/platform 6 metrical informations feed back to servo-control system, carry out the power control based on model.Or in conjunction with Stewart platform 3 displacement sensor information, servo-driver displacement transducer 48 metrical informations, carry out power position and mix the research of controlling.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendments that creative work can make or distortion still in protection scope of the present invention.
Claims (7)
1. a robot list leg assembly control exploitation Testing Platform, is characterized in that, comprises a gate-type three-dimensional machinery arm assembly, a robot leg connection bracket, a Stewart platform, a six-dimension force sensor, five dimension force plate/platforms, described robot leg connection bracket is slidably arranged on gate-type three-dimensional machinery arm assembly, described Stewart platform is inverted and is arranged in the base lower surface of robot leg connection bracket, described six-dimension force sensor is arranged on Stewart platform lower surface, five dimension force plate/platforms are installed, the inner integrated servo controller of described Stewart platform, displacement transducer on the ground corresponding with six-dimension force sensor, described Stewart platform can provide space six-freedom motion, described gate-type three-dimensional machinery arm assembly comprises two gate type support frame columns, two gate type support frame column tops are connected by gate type support frame crossbeam, two gate type support frame column lower ends are respectively arranged with gate type support frame first, the second base, first of gate type support frame, on the second base, be respectively arranged with gate type support frame first, the second journal stirrup, described gate-type three-dimensional machinery arm assembly also comprises two X-direction movable supporting frame assemblies, a Y direction movable supporting frame assembly, a Z-direction movable supporting frame assembly, described two gate type support framves first, the second base slides respectively and is arranged on two X-direction movable supporting frame assemblies, described Y direction movable supporting frame assembly is arranged on gate type support frame crossbeam, described Z-direction movable supporting frame assembly slides and is arranged on Y direction movable supporting frame assembly, described robot leg connection bracket is slided on the Z-direction movable supporting frame assembly being arranged at.
2. a kind of robot as claimed in claim 1 list leg assembly control exploitation Testing Platform, it is characterized in that, each described X-direction movable supporting frame assembly includes an X-direction movable supporting frame base, an X-direction line slideway, two X-direction moving sliders, a straight-tooth gear, a spur rack; Described two X-direction movable supporting frame bases be arranged in parallel, be separately fixed on ground, X-direction line slideway is fixed on X-direction movable supporting frame base, on every X-direction line slideway, have two X-direction moving sliders that coordinate with it, every two X-direction moving sliders respectively correspondence are fixedly installed on first, second base of gate type support frame; Spur rack is parallel with X-direction line slideway, is also fixed on X-direction movable supporting frame base, and the straight-tooth gear engaging with tooth bar is connected with the 4th servomotor with the first servomotor respectively; The first servomotor and the 4th servomotor are arranged at respectively on first, second journal stirrup of gate type support frame.
3. a kind of robot as claimed in claim 1 list leg assembly control exploitation Testing Platform, it is characterized in that, described Y direction movable supporting frame assembly comprises that the Y direction being arranged on a gate type support frame crossbeam moves leading screw and two Y direction line slideways, a Y direction moves shaft coupling, four Y direction moving sliders, two Y direction line slideways; Described gate type support frame crossbeam becomes hollow, and Y direction moves leading screw and be positioned at the center cavity of gate type support frame crossbeam, and two Y direction line slideways are set in parallel in respectively on the side up and down of gate type support frame crossbeam; On every line slideway, have two Y direction moving sliders that coordinate with it, Y direction moving slider is fixedly installed on Z-direction movable supporting frame; The second servomotor is arranged on gate type support frame column by ring flange; Y direction moves leading screw and moves shaft coupling with the second servomotor by Y direction and be connected, and Z-direction movable supporting frame is threaded onto Y direction by the nut of its bottom and moves on leading screw.
4. a kind of robot as claimed in claim 1 list leg assembly control exploitation Testing Platform, it is characterized in that, described Z-direction movable supporting frame assembly comprises a Z-direction movable supporting frame base, two Z-direction line slideways, four Z-direction moving sliders, a the 3rd servomotor bracing frame, a Z-direction moves shaft coupling, and a Z-direction moves leading screw; Described Z-direction movable supporting frame base and four Y direction moving sliders are connected by screw; Two Z-direction line slideways are fixed on Z-direction movable supporting frame base, have two Z-direction moving sliders on every Z-direction line slideway, and Z-direction moving slider is fixedly installed in robot leg connection bracket; The 3rd servomotor is fixed on the 3rd servomotor bracing frame by ring flange, and the 3rd servomotor bracing frame is fixed on Z-direction movable supporting frame base; Z-direction moves leading screw and moves shaft coupling with the 3rd servomotor by Z-direction and be connected, and the nut that robot leg connection bracket arranges by its bottom is threaded onto Z-direction and moves on leading screw.
5. a kind of robot as claimed in claim 4 list leg assembly control exploitation Testing Platform, is characterized in that, described robot leg connection bracket comprises a robot leg connection bracket base, a robot leg connection bracket lateral bolster fagging; Described robot leg connection bracket base and robot leg connection bracket lateral bolster vertical connection of fagging; Described robot leg connection bracket lateral support backboard face is provided with one and can be threaded onto Z-direction and moves the nut on leading screw, and the Z-direction moving slider that can move along Z-direction line slideway.
6. the method for testing that a kind of robot as claimed in claim 1 list leg assembly control exploitation Testing Platform adopts, it is characterized in that, when robot list leg assembly control exploitation Testing Platform is worked, the output shaft of gate-type three-dimensional machinery arm assembly the first servomotor and the 4th servomotor drives respectively coupled straight-tooth gear and is fixed on spur rack engaged transmission on X-direction movable supporting frame base, wherein, the first servomotor and the 4th servomotor are synchronous, first, second, the 3rd, the 4th servomotor is all to carry mounting flange, inner integrated encoder, the scrambler metrical information of described servomotor passes to servo controller, forms robot list leg assembly X-direction motion closed-loop control,
In the time that the first servomotor is asynchronous with the 4th servomotor, gate type support frame crossbeam is subject to shearing force, and experiment porch is stressed unreasonable; The second servomotor output shaft drives Y direction to move shaft coupling, Y direction moves leading screw and rotates, the nut corresponding with Y direction leading screw drives Z-direction movable supporting frame assembly, robot leg connection bracket, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Y direction; The second encoder for servo motor metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control;
The 3rd servomotor output shaft drives Z-direction to move shaft coupling, Z-direction moves leading screw and rotates, the nut corresponding with Z-direction leading screw drives robot leg link, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Z-direction; The 3rd encoder for servo motor metrical information passes to servo controller, forms robot leg assembly, Z-direction motion closed-loop control;
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly, the movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to robot leg assembly via Stewart platform, six-dimension force sensor.
7. method as claimed in claim 6, is characterized in that,
Stewart platform simulation robot trunk is distributed to the posture information of robot list leg assembly, pass to robot leg assembly via six-dimension force sensor, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, Stewart platform displacement sensor information, robot leg each servo-driver displacement sensor information and five dimension force plate/platform metrical informations feed back to servo-control system, carry out location-based impedance Control, or the debugging of PD control strategy research;
Stewart platform simulation robot trunk is distributed to power and the attitude information of robot list leg assembly, pass to robot list leg assembly via six-dimension force sensor, the each joint servo driver of robot leg is according to the control strategy motion setting in advance, six-dimension force sensor metrical information, robot leg each servo-driver force sensor measuring information and five dimension force plate/platform metrical informations feed back to servo-control system, carry out the power control based on model; Or in conjunction with Stewart platform displacement sensor information, servo-driver displacement sensor information, carries out power position and mixes the research of controlling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN112706190A (en) * | 2020-11-29 | 2021-04-27 | 华融普瑞(北京)科技有限公司 | Bionic foot type robot leg and foot load live simulation test method |
| CN113092155A (en) * | 2021-05-19 | 2021-07-09 | 中国北方车辆研究所 | Single-leg experiment bench for foot type robot |
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