CN103273479A - Cable traction parallel robot device driven by circulation cables - Google Patents
Cable traction parallel robot device driven by circulation cables Download PDFInfo
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- CN103273479A CN103273479A CN2013101803826A CN201310180382A CN103273479A CN 103273479 A CN103273479 A CN 103273479A CN 2013101803826 A CN2013101803826 A CN 2013101803826A CN 201310180382 A CN201310180382 A CN 201310180382A CN 103273479 A CN103273479 A CN 103273479A
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Abstract
The invention discloses a cable traction parallel robot device driven by circulation cables. The cable traction parallel robot device driven by the circulation cables mainly solves the problems that an existing cable traction parallel robot is large in number of driving devices, small in damping, limited in working space and hard to control. The cable traction parallel robot device driven by the circulation cables comprises an end effector (4), n driving devices (1) and n flexible cables (2), wherein m sets of transmission mechanisms are arranged between the driving devices (1) and the end effector (4), each set of the transmission mechanisms comprises a movable pulley (31) and a fixed pulley (32), the m sets of movable pulleys (31) are evenly arranged on the end effector (4), the m sets of fixed pulleys (32) are evenly fixed on the foundation, the flexible cables (2) protrude out of the driving devices (1) and then penetrate through the movable pulleys (31) and the fixed pulleys (32) in sequence to be connected with the end effector (4), and then the circulation cables are formed. According to the cable traction parallel robot device driven by the circulation cables, the rigidity and the damping of the cable traction parallel robot can be greatly improved on the premise that the number of the driving devices is not increased, and the working space of the cable traction parallel robot is enlarged.
Description
Technical field
The invention belongs to mechanical control technology field, particularly a kind of employing rope circuit machine driven people device can be used for operations such as shooting, lifting, detection, industrial processes, shipbuilding, seabed salvaging, oil well fire extinguishing.
Background technology
Traditional aerial shooting devices such as system of taking photo by plane by rocking arm video camera, helicopter are realized, but these image pickup methods all are subjected to the restriction of certain condition on shooting angle and zone.As: the rocking arm camera system is because the hoisting depth of Rigid Robot Manipulator is very limited, and institute's moment of bearing is less simultaneously, therefore can only be fixed in the very little scope of radius and take.When helicopter is taken photo by plane, because the influence of noise and vibration can only be taken at a distance, can't embody the details of reference object, and the cost of taking photo by plane is higher.The camera system that the gentle rope traction parallel robot device that occurred in recent years carries is owing to adopt gentle rope drive unit, the working range of camera system is greatly improved, operability also improves a lot simultaneously, can remedy the aerial deficiency of taking of above-mentioned tradition effectively.Not only can carry out high speed between 2 of the overlength distances as the gentle rope traction of two dimension camera system, level and vertical motion are taken, also can in horizontal movement, realize the motion of vertical direction, the track up main body can reach km even farther, has broken through height and the radius limit of rocking arm video camera.
Existing rope traction parallel robot device all adopts gentle rope to replace rigid hinge to drive end effector, and it is big to have a working space, is easy to modularization, easy to assembly, from heavy and light, is convenient to advantage such as transportation and obtains extensive concern.But because gentle rope can only tension and can not pressurized, and the lateral stiffness of gentle rope is very little, therefore in operation, for guaranteeing that gentle rope is in tensioning state, simultaneously also be effectively to increase system stiffness, rope traction parallel robot device drives side chain, i.e. gentle rope that has drive unit, it can carry out the number of folding and unfolding on request will be more than the free degree number of robot, for example, in order to obtain enough rigidity and bigger working space, adopt 4 side chains to drive the implementation space translation usually, drive sometimes even with 6 side chains.Owing to introduced more driving side chain, caused the hardware cost of system significantly to increase; Simultaneously, the number that too much increases driver also can cause the increase that drives redundancy, and the difficulty of this meeting increase system greatly control is to realize the hight coordinates motion of many interchains.Therefore, how under the prerequisite that does not increase the driver number, to improve the performance of rope traction parallel robot device, a key issue when namely obtaining better rigidity, damping and working space and being the design of rope traction parallel robot device.
Summary of the invention
The objective of the invention is to the deficiency at above-mentioned prior art, the rope traction parallel robot device that a kind of rope circuit drives is proposed, with under the prerequisite that does not increase the drive unit number, improve rigidity, damping and the working space of rope traction parallel robot effectively.
For achieving the above object, the present invention includes: an end effector (4), n drive unit (1) and n root rope (2) n 〉=1 that softens, each drive unit (1) is connected with end effector (4) by a gentle rope (2), it is characterized in that:
Be provided with m group transmission mechanism (3) between drive unit (1) and the end effector (4), m 〉=1, every group of transmission mechanism comprises movable pulley (31) and fixed pulley (32): movable pulley (31) is evenly arranged on the end effector (4), fixed pulley (32) is evenly arranged and is fixed on the ground, after every gentle rope (2) stretches out from drive unit (1), pass movable pulley (31) and fixed pulley (32) successively, be connected with end effector (4) again, form the equally distributed rope circuit of m root, to enlarge working space, strengthen rigidity and damping.
The rope traction parallel robot device that above-mentioned rope circuit drives it is characterized in that movable pulley (31) is fixed on the end effector (4) by movable pulley base (6), and movable pulley base (6) can freely rotate around its axis.
The rope traction parallel robot device that above-mentioned rope circuit drives is characterized in that the setting of the position of tie point (5) should make follow-up pulley (31) to two sections gentle rope keeping parallelisms between the fixed pulley (32).
The rope traction parallel robot device that above-mentioned rope circuit drives is characterized in that the angle β that the fixed position of fixed pulley (32) will make every rope circuit form is between 0～120 ° between drive unit (1) and fixed pulley (32).
The rope traction parallel robot device that above-mentioned rope circuit drives is characterized in that the rope circuit that is positioned at end effector (4) above and below is even layout.
The rope traction parallel robot device that above-mentioned rope circuit drives is characterized in that, is provided with a rope circuit structure at least between rope traction parallel robot drive unit (1) and the end effector (4).
Advantage of the present invention and effect:
1, the present invention forms the version that circulation connects owing to increased being connected of fixed pulley on actuating unit and end effector and the ground, has increased substantially the rigidity that rope draws parallel robot.
2, the present invention is because after every gentle rope (2) stretches out from drive unit (1), pass movable pulley (31) and fixed pulley (32) successively, be connected with end effector (4) again, form equally distributed rope circuit, not only increased the damping of system, and can suppress vibration in the end effector motion process well, make motion more steady.
3, the present invention since the rope circuit that is positioned at end effector (4) above and below be even distribution and endways the movable pulley (31) on the actuator (4) can increase the working space of rope traction parallel robot like this for evenly arranging.
Description of drawings
Fig. 1 is structured flowchart of the present invention;
Fig. 2 is the structural representation of example 1 of the present invention;
Fig. 3 is the structural representation of example 2 of the present invention;
Fig. 4 is the structural representation of example 3 of the present invention;
Fig. 5 is the structural relation schematic diagram of end effector upper bed-plate and movable pulley among the present invention;
Fig. 6 is the geometrical analysis schematic diagram when movable pulley breviary point P produces unit displacement on the force analysis of rope circuit among the present invention and the end effector;
Fig. 7 is the schematic diagram that concerns of the ratio of rigidity of rope circuit and single gentle rope among the present invention and rope circuit angle β;
Fig. 8 is that rope circuit compares schematic diagram with the vibratory response emulation of existing gentle rope among the present invention;
Fig. 9 is the workspace simulation schematic diagram of existing plane rope traction parallel robot device;
Figure 10 is the workspace simulation schematic diagram that adopts the plane rope traction parallel robot device of rope circuit among the present invention.
The specific embodiment
Referring to Fig. 1, the present invention includes: n organizes drive unit 1, gentle 2, one end effectors 4 of rope of n group and be arranged on drive unit and end effector between m transmission mechanism 3, wherein, each drive unit is connected with end effector 4 by a gentle rope, each transmission mechanism is made of movable pulley 31 and fixed pulley 32, m 〉=1, n 〉=1, n 〉=m below provides three embodiment according to the value of m and n:
This example 1 is got m=n=4.
With reference to Fig. 2,4 groups of drive units of present embodiment are evenly arranged in upper-lower position in the work-yard by rectangular layout, 4 groups of movable pulleys evenly be fixed on by base 6 end effector 44 sides on, base 6 can freely rotate on the actuator 4 endways around its axis.4 groups of fixed pulleys evenly are fixed on the ground up and down by the layout of rectangle, and remain on the same vertical line with 4 groups of drive units that connected.
After stretching out from drive unit, described four groups of gentle ropes pass movable pulley and fixed pulley successively, be connected with end effector again, after namely first gentle rope stretches out from first drive unit 11, pass first movable pulley 311 and first fixed pulley 321 successively, be fixed on the right flank tie point 51 of end effector 4, form first rope circuit 21, this first rope circuit 21 forms 100 ° of angle β between first drive unit 11 and first fixed pulley 321; After second gentle rope stretches out from second drive unit 12, pass second movable pulley 312 and second fixed pulley 322 successively, be fixed on the trailing flank tie point 52 of end effector 4, form second rope circuit 22, this second rope circuit 22 forms 100 ° of angle β between second drive unit 12 and second fixed pulley 322; After the 3rd gentle rope stretches out from the 3rd drive unit 13, pass the 3rd movable pulley 313 and the 3rd fixed pulley 323 successively, be fixed on the tie point 53 of the left surface of end effector 4, form the 3rd rope circuit 23, the three rope circuits 23 and between the 3rd drive unit 13 and second fixed pulley 323, form 100 ° of angle β; After the 4th gentle rope stretches out from four-drive device 14, pass the 4th movable pulley 314 and the 4th fixed pulley 324 successively, be fixed on the tie point 54 of the leading flank of end effector 4, form the 4th rope circuit 24, the four rope circuits 24 and between four-drive device 14 and the 4th fixed pulley 324, form 100 ° of angle β.
Described four groups of rope circuits are even layout in actuator 4 above and belows endways, and first rope circuit 21 endways on the actuator right flank position of first tie point 51 determine, should make from two sections gentle rope keeping parallelisms first movable pulley, 311 to first fixed pulleys 321; Second rope circuit 22 endways on the actuator trailing flank position of second tie point 52 determine, should make from two sections gentle rope keeping parallelisms second movable pulley, 312 to second fixed pulleys 322; The 3rd rope circuit 23 endways on the actuator left surface position of the 3rd tie point 53 determine, should make from two sections gentle rope keeping parallelisms the 3rd movable pulley 313 to the 3rd fixed pulleys 323, the 4th rope circuit 24 endways on the actuator leading flank position of the 4th tie point 54 determine, should make from two sections gentle rope keeping parallelisms the 4th movable pulley 314 to the 4th fixed pulleys 324.
With reference to Fig. 3,3 groups of drive units of present embodiment are evenly arranged in the work-yard with contour form by the layout of equilateral triangle, 3 groups of movable pulleys evenly are fixed on the end effector 4 by base 8, base 6 enough freely rotates on the actuator 4 endways around its axis, 3 groups of fixed pulleys evenly are fixed on the ground with contour form by the layout of equilateral triangle, and the setting height(from bottom) of fixed pulley is identical with the setting height(from bottom) of drive unit.
After stretching out from drive unit, described three groups of gentle ropes pass movable pulley and fixed pulley successively, be connected with end effector again, after namely first gentle rope stretches out from first drive unit 11, pass first movable pulley 311 and first fixed pulley 321 successively, be fixed on the right flank tie point 51 of end effector 4, form first rope circuit 21, this first rope circuit 21 forms 60 ° of angle β between first drive unit 11 and first fixed pulley 321; After second gentle rope stretches out from drive unit 12, pass second movable pulley 312 and second fixed pulley 322 successively, be fixed on the left surface tie point 52 of end effector 4, form second rope circuit 22, this second rope circuit 22 forms 60 ° of angle β between second drive unit 12 and second fixed pulley 322; After the 3rd gentle rope stretches out from the 3rd drive unit 13, pass the 3rd movable pulley 313 and the 3rd fixed pulley 323 successively, be fixed on the trailing flank tie point 53 of end effector 4, form the 3rd rope circuit 23, the three rope circuits 23 and between the 3rd drive unit 13 and the 3rd fixed pulley 323, form 60 ° of angle β.
Described three groups of rope circuits are evenly to arrange in the work-yard, plane, first rope circuit endways on the actuator right flank position of tie point 51 determine, should make from two sections gentle rope keeping parallelisms first movable pulley, 311 to first fixed pulleys 321, second rope circuit endways on the actuator left surface position of tie point 52 determine, should make from two sections gentle rope keeping parallelisms second movable pulley, 312 to second fixed pulleys 322, the 3rd rope circuit endways on the actuator trailing flank position of tie point 53 determine, should make from two sections gentle rope keeping parallelisms the 3rd movable pulley 313 to the 3rd fixed pulleys 323.
With reference to Fig. 4,4 groups of present embodiment drive the layout of adorning by rectangle and are evenly arranged in the work-yard with contour form, 1 group of movable pulley is fixed on the plane, right side of end effector 4 by base 6, base 6 can freely rotate on the actuator 4 endways around its axis, one group of fixed pulley is fixed on the ground, and fixed pulley and actuator are on the same vertical line.
After stretching out from drive unit, described one group of gentle rope passes movable pulley and fixed pulley successively, be connected with end effector again, after namely first gentle rope stretches out from first drive unit 11, pass movable pulley 31 and fixed pulley 32 successively, be fixed on the right flank tie point 51 of end effector 4, form rope circuit 21, this rope circuit 21 forms 100 ° of angle β between first drive unit 11 and fixed pulley 32; After second gentle rope 22 stretches out from second drive unit 12, directly be fixed on the leading flank tie point 52 of end effector 4; After the 3rd gentle rope 23 stretches out from the 3rd drive unit 13, directly be fixed on the left surface tie point 53 of end effector 4; After the 4th gentle rope 24 stretches out from four-drive device 14, directly be fixed on the trailing flank tie point 54 of end effector 4.
Described rope circuit 21 endways on the actuator 4 position of tie point 51 determine, should make follow-up pulley 31 to two sections gentle rope keeping parallelisms between the fixed pulley 32, and one group of rope circuit and the gentle rope of its excess-three group are in all evenly distributions on each side of actuator endways of the setting of all tie points on the actuator.
Referring to Fig. 5, movable pulley 31 is connected with base 6 by rotating shaft, base 6 is fixed on the actuator 4 by rolling bearing, and can freely rotate in 360 ° of directions around the axis of rolling bearing, driving movable pulley 3 rotates, in the motion process of avoiding actuator 4 endways, rope circuit 2 interferes with movable pulley 31, thereby guarantees that rope circuit 2 can not skid off in the follow-up pulley 31.
Effect of the present invention can further specify by following theory analysis and emulation experiment:
One. theory analysis
As shown in Figure 6, the P point among the force analysis figure of single rope circuit is the breviary point of movable pulley 31 on the end effector 4, P
1Be drive unit 1 breviary point, P
2Be fixed pulley 32 breviaries point, P
3Be the suffered gentle rope resultant direction point of P point, to simplify the analysis hypothesis || P
2P||=||P
1P||=L.The place sets up rectangular coordinate system at the P point, and the x axle is along P
1The P direction, the y axle is perpendicular to P
1P.The point P place that is located on the end effector applies displacement U=[Δ u
xΔ u
y]
TThe time, Δ u
xFor a P at the axial small unit displacement of x, Δ u
yFor a P in the axial small unit displacement of y, needing the external force of effect is Δ F=[Δ f
xΔ f
y]
T, Δ f
xBe the external force that a P need act at the x direction of principal axis, Δ f
yExternal force for a P need act at the y direction of principal axis because two place's pulleys are free to rotate, so the tension increment of each rope section is all identical, is made as Δ f, and the increment of this external force and Suo Li balances each other, and the Suo Li increment is along end effector 4 directions, i.e. PP
1Direction is Δ f to the pulling force increment of end effector; Suo Li is along ground fixed pulley 32 directions, i.e. PP
2Direction is 2 Δ f to the pulling force increment of end effector.Therefore, the pass between Δ F and the Δ f is:
Δf
x＝Δf+2Δfcosβ＝Δf(1+2cosβ) （1）
Δf
y＝2Δfsinβ （2）
If the stiffness matrix of rope circuit is
k
XxBe power Δ f
xAt the rigidity that the x direction obtains, k
YxBe power Δ f
yAt the rigidity that the x direction obtains, k
XyBe power Δ f
xAt the rigidity that the y direction obtains, k
YyBe power Δ f
yThe rigidity that obtains in the y direction.
In order to obtain the expression formula of each rigidity component, at first make a P produce small unit displacement Δ u along the x direction
xArrive M
1Point, and Δ u
y=0; At this moment, rope section P
1The elastic elongation amount of P is Δ l
1=PM
1=Δ u
xConnect P
2M
1And get 1 N thereon, and make || P
2N||=||P
2P||; Because Δ u
xBe the displacement a small amount of of x direction, so ∠ PNM
190 ° of ≈, ∠ NM
1P ≈ β; Easily known by geometrical relationship, at this moment rope section P
2The elastic elongation amount of P is:
Δl
2＝NM
1＝Δu
xcosβ （3）
Therefore, the elastic elongation amount of whole piece rope circuit is:
Δl＝Δl
1+2Δl
2＝(1+2cosβ)Δu
x （4）
Corresponding rope tension increment is:
In the formula, κ=EA/L is the axial rigidity of single gentle rope, and E and A are respectively elastic modelling quantity and the cross-sectional area of gentle rope.
The Δ f that is tried to achieve by following formula can release along the rigidity of x direction:
In like manner, make a P produce small unit displacement Δ u along the y direction
yArrive the M point, and Δ u
x=0.Connect P
2M also gets 1 O thereon, makes || P
2O||=||P
2P||.Because Δ u
yBe the displacement of y direction in a small amount, so 90 ° of ∠ POM ≈, ∠ OPM ≈ β.Easily known by geometrical relationship, at this moment rope section P
2The elastic elongation amount of P is:
Δl
2＝OM＝Δu
ysinβ （8）
At this moment, rope section P
1The elastic elongation amount of P is the second order a small amount of, so Δ l
1=0.Therefore, the elastic elongation amount of whole piece rope circuit is: Δ l=Δ l
1+ 2 Δ l
2=2 Δ u
ySin β (9)
Corresponding rope tension increment is:
The Δ f that is tried to achieve by following formula can release the rigidity of y direction:
With the rigidity that the eigenvalue of maximum of stiffness matrix is measured gentle rope, establish that joint length is the rigidity κ=EA/L of the gentle rope of L when not adopting rope circuit, the rigidity of rope circuit is κ
c=eig (A
k), eig represents to get the eigenvalue of maximum of matrix.When angle β changes to 180 ° from 0 °, the ratio κ of rope circuit and the rigidity of single rope
c/ κ as shown in Figure 7.
As seen from Figure 7, when 0 °≤β≤120 °, κ
cWhen using ,/κ 〉=1, historical facts or anecdotes border guarantees 0 °≤β≤120 °,
Because κ
c/ κ 〉=1 is so the rigidity of rope circuit traction parallel robot is better than single rope traction parallel robot.According to the different values of angle β, the maximum rigidity that the rope traction parallel robot device that adopts rope circuit to drive can reach is 3 times that the rope that do not adopt rope circuit to drive draws parallel robot device rigidity.
Two. emulation experiment
As can be seen from Figure 8, the present invention adopts the damping of the system that can significantly improve behind the rope circuit, this is because the friction at pulley place is the important source of rope traction parallel robot damping, comprise between pulley and the pulley spindle and the friction between gentle rope and the pulley, the pulley number that therefore gentle rope passes is more many, and damping is just more big.
Can find from the contrast of Fig. 9 and Figure 10, adopt the working space behind the rope circuit of the present invention to increase by 15.1%, improve the shape of working space simultaneously, the inscribed circle radius in workpiece space has increased by 18.9%.For three-dimensional working space identical conclusion is arranged also.
Claims (6)
1. the rope of a rope circuit driving draws parallel robot device, comprise an end effector (4), n drive unit (1) and the n root rope (2) that softens, n 〉=1, each drive unit (1) is connected with end effector (4) by a gentle rope (2), it is characterized in that:
Be provided with m group transmission mechanism (3) between drive unit (1) and the end effector (6), m 〉=1, n 〉=m, every group of transmission mechanism comprises that movable pulley (31) and fixed pulley (32): m group movable pulley (31) are evenly arranged on the end effector (4), and m group fixed pulley (32) evenly is fixed on the ground; After every gentle rope stretches out from drive unit (1), pass movable pulley (31) and fixed pulley (32) successively, be connected with end effector (4) again, form equally distributed rope circuit, to enlarge working space, strengthen rigidity and damping.
2. the rope traction parallel robot device of rope circuit driving according to claim 1 it is characterized in that movable pulley (31) is fixed on the end effector (4) by movable pulley base (6), and movable pulley bearing (6) can freely rotate around its axis.
3. the rope traction parallel robot device of rope circuit driving according to claim 2 is characterized in that the setting of the position of tie point (5) should make follow-up pulley (31) to two sections gentle rope keeping parallelisms between the fixed pulley (32).
4. the rope of rope circuit driving according to claim 1 draws parallel robot device, it is characterized in that the angle β that the fixed position of fixed pulley (32) will make every rope circuit form is between 0～120 ° between drive unit (1) and fixed pulley (32).
5. the rope traction parallel robot device of rope circuit driving according to claim 1 is characterized in that the rope circuit that is positioned at end effector (4) above and below is even layout.
6. the rope traction parallel robot device of rope circuit driving according to claim 1 is characterized in that, is provided with a rope circuit structure at least between rope traction parallel robot drive unit (1) and the end effector (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101803826A CN103273479A (en) | 2013-05-15 | 2013-05-15 | Cable traction parallel robot device driven by circulation cables |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101803826A CN103273479A (en) | 2013-05-15 | 2013-05-15 | Cable traction parallel robot device driven by circulation cables |
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ID=49056155
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103963047A (en) * | 2014-05-05 | 2014-08-06 | 西安电子科技大学 | Cable-towed parallel robot device with anti-rotating mechanisms |
| CN104440877A (en) * | 2014-11-06 | 2015-03-25 | 清华大学 | Rope parallel robot for overhauling large vertical storage tank |
| CN105252528A (en) * | 2015-11-02 | 2016-01-20 | 西安电子科技大学 | Rope-driven parallel translational micro movement platform |
| WO2016009301A3 (en) * | 2014-07-15 | 2016-03-10 | Koninklijke Philips N.V. | Reconfigurable robot architecture for minimally invasive procedures |
| CN106826770A (en) * | 2017-03-17 | 2017-06-13 | 中国民航大学 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103963047A (en) * | 2014-05-05 | 2014-08-06 | 西安电子科技大学 | Cable-towed parallel robot device with anti-rotating mechanisms |
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| WO2016009301A3 (en) * | 2014-07-15 | 2016-03-10 | Koninklijke Philips N.V. | Reconfigurable robot architecture for minimally invasive procedures |
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| CN105252528A (en) * | 2015-11-02 | 2016-01-20 | 西安电子科技大学 | Rope-driven parallel translational micro movement platform |
| CN105252528B (en) * | 2015-11-02 | 2017-03-01 | 西安电子科技大学 | A kind of wire saws parallel translational jogging motion platform |
| CN106826770A (en) * | 2017-03-17 | 2017-06-13 | 中国民航大学 | Aircraft of the one kind based on grand-micro- parallel institution takes off spray painting motion platform |
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Application publication date: 20130904 |