CN103192363A - Device and method for controlling planar three-freedom-degree flexible hinge parallel robot - Google Patents
Device and method for controlling planar three-freedom-degree flexible hinge parallel robot Download PDFInfo
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Abstract
A device and method for controlling a planar three-freedom-degree flexible hinge parallel robot belongs to the technical field of robots and control of the robots and comprises a programmable multi-spindle motion controller, a flexible hinge parallel robot, a main control industrial personal computer, driving modules, a limiting module and a measuring module. The main control industrial personal computer is connected with the programmable multi-spindle motion controller, the programmable multi-spindle motion controller is respectively connected with the driving modules and the limiting module, the output ends of the driving modules are connected with a driving rod of the flexible hinge parallel robot through a driving pair, and the flexible hinge parallel robot is connected with the main control industrial personal computer through the measuring module. By means of the device and method, the three groups of driving modules can be controlled effectively to achieve coordinate motion of three motion branches, planar three-freedom-degree high-precision motion of the flexible hinge parallel robot is finished, and the device and method has the advantage of being fast in system response, good in information processing capacity, high in reliability and the like.
Description
Technical field
The invention discloses a kind of robot controller and method, particularly a kind of planar three freedom flexible hinge parallel robot control device and method belong to the Robotics field.
Background technology
The development of Robotics has greatly changed Human's production and life style with application.Utilize robot not only can finish uninteresting repetitive operation rapidly and exactly, and can under danger, adverse circumstances, finish many complex operations safely and reliably, can alleviate people's labour intensity greatly, raise labour productivity, improve product quality.
As a kind of sophisticated machine people with closed linkage, parallel robot has advantages such as movement inertia is low, load capacity is strong, rigidity is big in theory of mechanisms, remedy the deficiency of traditional industry robot, made parallel robot become a kind of potential high speed, high accuracy fortune end effector.
Compliant mechanism is the novel mechanism that transmission and the conversion of motion, power and energy are finished in a kind of plastic deformation that utilizes member self in the mechanism, and structurally it has reduced even has not had a kinematic pair.Compare with traditional rigid mechanism, its superiority mainly shows two aspects: reduce cost and (reduce number of parts, reduce installation time, simplify manufacture process) and improve performance and (improve precision, increase reliability, reduce wear, weight reduction reduces and safeguards).
Parallel robot is the nonlinear system of a complex structure, multivariable, multiple degrees of freedom, multi-parameter coupling, and the research of its control method is very complicated.During the initial design control system, usually fully independently system is used as by each branch of parallel robot, uses some conventional control methods to control, be difficult to realize or can not get gratifying control effect in practice.Recent years, Chinese scholars has just had certain progress to the research of parallel robot control.
Compliant mechanism and parallel robot have close contact, " micro-/ nano parallel micro-manipulator robot " is that comprehensive parallel robot, flexible hinge and micro-/ nano technology develop rapidly and a recent studies on direction forming, be widely used in microoperation fields such as cell in the biomedical sector and genetic manipulation, accurate operation, microelectronics assembling, microfabrication, fiber alignment, cause the attention of domestic and international many scientific research institutions.
The parallel robot that has submissive joint be the close coupling that has distributed constant, non-linear, the time become, many inputs, multiple output system, and have the uncertainty of inverse dynamics, for the research in this field seldom both at home and abroad.
The flexible hinge parallel robot is that flexible hinge is combined with parallel robot, is built into a kind of novel high-performance parallel robot, for the flexible parallel connection robot has opened up new direction.The flexible hinge parallel robot is applied to the parallel manipulator philtrum with the flexible hinge in the compliant mechanism, replaces the conventional motion pair, has eliminated because problems such as the gap that kinematic pair brings, friction, impact can realize high performance motion output.Although the flexible hinge parallel robot have provide than traditional parallel robot more high movement property can potential, but because the flexible hinge parallel robot system has characteristics such as close coupling and strong nonlinearity, and the use of flexible hinge, make the rigidity of robot system reduce, be more vulnerable to the interference of external environment, the stability of system and accuracy are perfect not enough.
Summary of the invention
At the many closed loops of flexible hinge parallel robot, many inputs, many output, non-linear, be subject to problem such as external environmental interference, the invention provides a kind of planar three freedom flexible hinge parallel robot control device and the method that can improve robot stabilized property and accuracy.
Planar three freedom flexible hinge parallel robot control device of the present invention comprises three-degree of freedom flexible hinge planar parallel robot, master control industrial computer, driver module, spacing module and measurement module.The master control industrial computer is connected with the programmable multi-axle motion controller, the programmable multi-axle controller of doing exercises is connected with spacing module with driver module, the output of driver module is connected with the flexible hinge parallel robot, and the flexible hinge parallel robot is connected with the master control industrial computer by measurement module.
The frame for movement of described planar three freedom flexible hinge parallel robot comprises: movement branched chain and three groups of drive parts that structure is identical that end effector 1, pedestal 2 are identical with three structures that are connected with pedestal 2 with end effector 1; In the described movement branched chain, driving lever 4 one ends are connected with driving secondary 3, and the other end is connected with follower lever 6 by flexible hinge 5, and follower lever 6 is connected by revolute pair 7 with end effector 1; In the described drive part, servomotor 9 one ends are fixed on the pedestal 2, and the other end links to each other with decelerator 8, and the other end of decelerator 8 is connected with driving secondary 3; Driving lever 4 output bilateral symmetry are installed one group of spacing proximity transducer 10, and driving lever 4 outputs below is installed one and returned zero proximity transducer 11.
Described driver module has three groups, controls three movement branched chain of robot respectively, and every group of driver module structure is identical, comprises servo-driver, servomotor, rotary encoder and decelerator.
Described spacing module is formed by returning zero proximity transducer and spacing proximity transducer.
Described measurement module is made up of infrared sensor, vision measurer and vision measurement industrial computer.
The control method of described device comprises the steps:
1. the task finished as required of master control industrial computer is finished human-computer interaction function, the dynamics calculation of robot, and control system is resolved, and forms control instruction and sends the programmable multi-axle motion controller to;
2. the programmable multi-axle motion controller is analyzed the control instruction that receives, and calculates control signal and exports to driver module;
3. the programmable multi-axle motion controller receives zero instruction of returning of master control industrial computer, and control signal is exported to spacing module, carries out back Z-operation; When the robot driving lever moved to extreme position, spacing module was sent signal to the programmable multi-axle motion controller, and the spacing port on the programmable multi-axle motion controller is triggered, and carries out spacing operation;
4. driver module driven machine people's driving lever, three movement branched chain coordinated movements of various economic factors make robot carry out given task;
5. robot is in service, and measurement module sends to the master control industrial computer with the positional information of end effector of robot;
6. the master control industrial computer carries out analyzing and processing to the received signal, form the departure signal and send the programmable multi-axle motion controller to, 2 orders to step 6 repeat to finish control task set by step, arrive given position or finish given psychomotor task up to robot, realize the high-precision motion of planar three freedom flexible hinge parallel robot.
Good effect of the present invention:
(1) control device can effectively be controlled the coordinated movement of various economic factors that three groups of driver modules are realized three movement branched chain of robot, finishes the planar three freedom high-precision motion of flexible hinge parallel robot;
(2) each functional module is rationally distributed, the separate type control model that employing is made up of master control industrial computer, programmable multi-axle motion controller, control module, spacing module and measurement module has characteristics such as faster system response, information processing capability are strong, reliability height;
(3) driver module adopts position and the velocity information of rotary encoder feedback motor, spacing module adopts proximity transducer to guarantee time zero position, the extreme position of driving lever, measurement module adopts the positional information of infrared sensor feedback end effector, and the acting in conjunction of each module has improved kinetic stability, security and the accuracy of flexible hinge parallel robot;
(4) the master control industrial computer has human-computer interaction function, and experimentation is simple, easy operating;
(5) control device adopts modularized design and installation, and maintenance cost is low.
Description of drawings
Fig. 1 is planar three freedom flexible hinge parallel robot machinery structure vertical view of the present invention.
Fig. 2 is planar three freedom flexible hinge parallel robot machinery structural front view of the present invention.
Fig. 3 is planar three freedom flexible hinge parallel robot control device schematic block diagram of the present invention.
Among the figure: 1, end effector, 2, pedestal, 3, drive secondary, 4, driving lever, 5, flexible hinge, 6, follower lever, 7, revolute pair, 8, decelerator, 9, servomotor.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is elaborated.
Among Fig. 1,2, the frame for movement of planar three freedom flexible hinge parallel robot comprises: movement branched chain and three groups of drive parts that structure is identical that end effector 1, pedestal 2 are identical with three structures that are connected with pedestal 2 with end effector 1; In the described movement branched chain, driving lever 4 one ends are connected with driving secondary 3, and the other end is connected with follower lever 6 by flexible hinge 5, and follower lever 6 is connected by revolute pair 7 with end effector 1; In the described drive part, servomotor 9 one ends are fixed on the pedestal 2, and the other end links to each other with decelerator 8, and the other end of decelerator 8 is connected with driving secondary 3; Driving lever 4 output bilateral symmetry are installed one group of spacing proximity transducer 10, and driving lever 4 outputs below is installed one and returned zero proximity transducer 11.
Among Fig. 3, robot controller comprises: planar three freedom flexible hinge parallel robot, master control industrial computer, driver module, spacing module and measurement module.Driver module is made up of servo controller, servomotor, rotary encoder, decelerator; Spacing module returns zero proximity transducer by three groups and three groups of spacing proximity transducers are formed; Measurement module is made up of infrared sensor, vision measurer and vision measurement industrial computer.The master control industrial computer is connected with the programmable multi-axle motion controller, the programmable multi-axle controller of doing exercises is connected with spacing module with driver module, the output of driver module is connected with the driving lever of flexible hinge parallel robot by driving pair, and the flexible hinge parallel robot is connected with the master control industrial computer by measurement module.
Described driver module has three groups, controls three side chains of robot respectively, and every group of structure is identical, comprises servo-driver, servomotor, rotary encoder and decelerator; The output of programmable multi-axle motion controller is connected with the input of servo-driver, the output of servo-driver is connected with the input of servomotor, the output of servomotor is connected with the input of rotary encoder and the input of decelerator respectively, the output of rotary encoder is connected with the programmable multi-axle motion controller with servo-driver respectively, and the output of decelerator is connected with the driving lever of robot by driving pair.
Described spacing module is formed by returning zero proximity transducer and spacing proximity transducer; The nearly sensor of three windings is installed at the zero position place of returning at three driving levers of robot, and in the limit of sports record position of three driving levers of robot the nearly sensor of three windings is installed; Spacing module is connected with the programmable multi-axle motion controller.
Described measurement module adopts non-contacting measuring method, is made up of infrared sensor, vision measurer and vision measurement industrial computer; Infrared sensor is fixed in the geometric center of end effector of robot; The infrared light that infrared sensor sends is received by vision measurer, and vision measurer sends the positional information of end effector of robot to the vision measurement industrial computer, and the vision measurement industrial computer sends the master control industrial computer to after with information processing.
Described master control industrial computer provides the interaction platform of user and system, and be responsible for the robot dynamics and calculate, movement locus planning, system maintenance, functions such as the preservation of data, processing, demonstration communicate by pci bus and programmable multi-axle motion controller; Described programmable multi-axle motion controller has characteristics such as real-time, high accuracy and high reliability, is connected with spacing module with each driver module, is responsible for the coordination control of each movement branched chain; Described vision measurement industrial computer is responsible for measurement data is carried out analyzing and processing, and sends the master control industrial computer to.
ROBOT CONTROL method, characteristics are that described method is carried out according to following steps:
1. the task finished as required of master control industrial computer is finished human-computer interaction function, the dynamics calculation of robot, and movement locus planning, control system is resolved, and forms control instruction and sends the programmable multi-axle motion controller to;
2. the programmable multi-axle motion controller is analyzed the control instruction that receives, and calculates control signal and exports to servo-driver;
3. the programmable multi-axle motion controller receives zero instruction of returning of master control industrial computer, and robot carries out back Z-operation with reference to the position of returning zero proximity transducer; When the robot driving lever moved to extreme position, spacing proximity transducer sent signal to the programmable multi-axle motion controller, and the spacing port on the programmable multi-axle motion controller is triggered, and servomotor quits work;
4. rotary encoder feeds back to the programmable multi-axle motion controller with the servomotor angular signal that records, and constitutes position feedback control; Rotary encoder feeds back to servo-driver with the servomotor velocity information that records simultaneously, constitutes speed feedback control;
5. servo-driver sends to servomotor with control signal, and servomotor is by decelerator driven machine people's driving lever, and three movement branched chain coordinated movements of various economic factors make robot carry out given task;
6. robot is in service, and the infrared light that the infrared sensor on the end effector sends is received by vision measurer, and vision measurer sends to the vision measurement industrial computer with the positional information of robot;
7. the vision measurement industrial computer is handled measurement data and is sent to the master control industrial computer;
8. the master control industrial computer carries out analyzing and processing to the data that receive, form the departure signal and send the programmable multi-axle motion controller to, 2 orders to step 8 repeat to finish control task set by step, arrive given position or finish given task up to robot, realize the high-precision motion of planar three freedom flexible hinge parallel robot.
Planar three freedom flexible hinge parallel robot control device disclosed by the invention and method, acting in conjunction by planar three freedom flexible hinge parallel robot platform, master control industrial computer, driver module, spacing module and measurement module, effectively reduce the flexibility of flexible hinge to the influence of system's running precision, improved the robot adaptive capacity of environment to external world at work, stability, security and accuracy have been guaranteed, simultaneously simple to operate, maintenance cost is low, for the performance of flexible hinge parallel robot improves and practical application provides guarantee.
Claims (6)
1. a planar three freedom flexible hinge parallel robot control device is characterized in that: comprise programmable multi-axle motion controller, flexible hinge parallel robot, master control industrial computer, driver module, spacing module and measurement module; The master control industrial computer is connected with the programmable multi-axle motion controller, the programmable multi-axle motion controller is connected with spacing module with driver module respectively, the output of driver module is connected with the driving lever of flexible hinge parallel robot by driving pair, and the flexible hinge parallel robot is connected with the master control industrial computer by measurement module.
2. a kind of planar three freedom flexible hinge parallel robot control device according to claim 1, it is characterized in that: the frame for movement of planar three freedom flexible hinge parallel robot comprises: movement branched chain and three groups of drive parts that structure is identical that end effector (1), pedestal (2) are identical with three structures that are connected with pedestal (2) with end effector (1); In the described movement branched chain, driving lever (4) one ends are connected with driving secondary (3), and the other end is connected with follower lever (6) by flexible hinge (5), and follower lever (6) is connected by revolute pair (7) with end effector (1); In the described drive part, servomotor (9) one ends are fixed on the pedestal (2), and the other end links to each other with decelerator (8), and the other end of decelerator (8) is connected with driving secondary (3); Driving lever (4) output bilateral symmetry is installed one group of spacing proximity transducer (10), and driving lever (4) output below is installed one and returned zero proximity transducer (11); Described pedestal (2) is arranged in the circumferential of end effector (1) uniformly, and the circumferentially even revolute pair (7) of arranging of end effector (1).
3. a kind of planar three freedom flexible hinge parallel robot control device according to claim 1, it is characterized in that: driver module has three groups, control three movement branched chain of robot respectively, every group of structure is identical, comprises servo-driver, servomotor, rotary encoder and decelerator; The output of programmable multi-axle motion controller is connected with the input of servo-driver, the output of servo-driver is connected with the input of servomotor, the output of servomotor is connected with the input of rotary encoder and the input of decelerator respectively, the output of rotary encoder is connected with the programmable multi-axle motion controller with servo-driver respectively, and the output of decelerator is connected with the driving lever of robot by driving pair.
4. a kind of planar three freedom flexible hinge parallel robot control device according to claim 1 is characterized in that: spacing module is formed by returning zero proximity transducer and spacing proximity transducer; The nearly sensor of three windings is installed at the zero position place of returning at the robot driving lever, and in the limit of sports record position of three driving levers of robot the nearly sensor of three windings is installed; Spacing module is connected with the programmable multi-axle motion controller.
5. a kind of planar three freedom flexible hinge parallel robot control device according to claim 1, it is characterized in that: measurement module is made up of infrared sensor, vision measurer and vision measurement industrial computer; Infrared sensor is fixed in the geometric center of end effector of robot; The infrared light that infrared sensor sends is received by vision measurer, and vision measurer sends the positional information of end effector of robot to the vision measurement industrial computer, and the vision measurement industrial computer sends the master control industrial computer to after with information processing.
6. the control method of the described a kind of planar three freedom flexible hinge parallel robot control device of the arbitrary claim of claim 1 to 6, it is characterized in that: described control method comprises the steps:
(1) the master control industrial computer is finished the dynamics calculation of robot, movement locus planning, and control system is resolved, and forms control instruction and sends the programmable multi-axle motion controller to;
(2) the programmable multi-axle motion controller is analyzed the control instruction that receives, and calculates control signal and exports to driver module;
(3) the programmable multi-axle motion controller receives zero instruction of returning of master control industrial computer, and control signal is exported to spacing module, carries out back Z-operation; When the robot driving lever moved to extreme position, spacing module was sent signal to the programmable multi-axle motion controller, and the spacing port on the programmable multi-axle motion controller is triggered, and carries out spacing operation;
(4) driver module driven machine people's driving lever, three movement branched chain coordinated movements of various economic factors make robot carry out given task;
(5) robot is in service, and measurement module sends to the master control industrial computer with the positional information of end effector;
(6) the master control industrial computer carries out analyzing and processing to the received signal, form the departure signal and send the programmable multi-axle motion controller to, (2) repeat to finish control task to the order of step (6) set by step, arrive given position or finish given task up to robot, realize the high-precision motion of planar three freedom flexible hinge parallel robot.
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| CN103495967A (en) * | 2013-09-28 | 2014-01-08 | 北京工业大学 | Planar five-bar parallel robot experimental device with gentle and agreeable joints |
| CN103495969A (en) * | 2013-09-28 | 2014-01-08 | 北京工业大学 | Flexible-hinge parallel-connection robot control device based on contact-type sensor |
| CN103507064A (en) * | 2013-09-28 | 2014-01-15 | 北京工业大学 | Flexible parallel robot experimental device of changeable plane three-degree-of-freedom structure |
| CN105108741A (en) * | 2015-10-13 | 2015-12-02 | 安徽工程大学 | Four-DOF (degree of freedom) hybrid robot having large work space |
| CN105843166A (en) * | 2016-05-23 | 2016-08-10 | 北京理工大学 | Special-type multi-degree-of-freedom automatic docking device and working method thereof |
| CN106020024A (en) * | 2016-05-23 | 2016-10-12 | 广东工业大学 | Mechanical arm tail end motion compensation device and compensation method thereof |
| CN107482957A (en) * | 2017-08-30 | 2017-12-15 | 深圳市圆梦精密技术研究院 | Linear motor control system and method |
| CN108398085A (en) * | 2018-03-03 | 2018-08-14 | 北京工业大学 | Electrical control system for laser tracking measurement |
| CN108436898A (en) * | 2018-03-22 | 2018-08-24 | 燕山大学 | A kind of controllable Grazing condition transformable robot of rigidity |
| CN111203858A (en) * | 2020-01-17 | 2020-05-29 | 上海交通大学 | Flexible parallel mechanism for spherical motion |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103495967A (en) * | 2013-09-28 | 2014-01-08 | 北京工业大学 | Planar five-bar parallel robot experimental device with gentle and agreeable joints |
| CN103495969A (en) * | 2013-09-28 | 2014-01-08 | 北京工业大学 | Flexible-hinge parallel-connection robot control device based on contact-type sensor |
| CN103507064A (en) * | 2013-09-28 | 2014-01-15 | 北京工业大学 | Flexible parallel robot experimental device of changeable plane three-degree-of-freedom structure |
| CN103495967B (en) * | 2013-09-28 | 2015-12-09 | 北京工业大学 | The submissive joint parallel robot experiment device of a kind of plane five bar |
| CN105108741A (en) * | 2015-10-13 | 2015-12-02 | 安徽工程大学 | Four-DOF (degree of freedom) hybrid robot having large work space |
| CN106020024A (en) * | 2016-05-23 | 2016-10-12 | 广东工业大学 | Mechanical arm tail end motion compensation device and compensation method thereof |
| CN105843166A (en) * | 2016-05-23 | 2016-08-10 | 北京理工大学 | Special-type multi-degree-of-freedom automatic docking device and working method thereof |
| CN105843166B (en) * | 2016-05-23 | 2019-02-12 | 北京理工大学 | A kind of special type multiple degrees of freedom automatic butt jointing device and its working method |
| CN106020024B (en) * | 2016-05-23 | 2019-02-15 | 广东工业大学 | A kind of mechanical arm tail end motion compensation unit and its compensation method |
| CN107482957A (en) * | 2017-08-30 | 2017-12-15 | 深圳市圆梦精密技术研究院 | Linear motor control system and method |
| CN108398085A (en) * | 2018-03-03 | 2018-08-14 | 北京工业大学 | Electrical control system for laser tracking measurement |
| CN108398085B (en) * | 2018-03-03 | 2019-10-29 | 北京工业大学 | Electrical control system for laser tracking measurement |
| CN108436898A (en) * | 2018-03-22 | 2018-08-24 | 燕山大学 | A kind of controllable Grazing condition transformable robot of rigidity |
| CN111203858A (en) * | 2020-01-17 | 2020-05-29 | 上海交通大学 | Flexible parallel mechanism for spherical motion |
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Application publication date: 20130710 |