CN103495969A - Flexible-hinge parallel-connection robot control device based on contact-type sensor - Google Patents
Flexible-hinge parallel-connection robot control device based on contact-type sensor Download PDFInfo
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Abstract
The invention relates to a flexible-hinge parallel-connection robot control device based on a contact-type sensor. The device comprises a plane three-degree-of-freedom flexible-hinge parallel-connection robot, a programmable multi-shaft motion controller, a main control industrial personal computer, a drive module, a limit module and a measurement module. The device is in a modular control mode and has the advantages of being high in response speed, strong in information processing capacity, high in reliability and the like. A displacement sensor collects posture information of a tail end actuator, closed loop control of the robot is achieved, influences of elastic deformation of flexible hinges on system operation precision are reduced, practicability of the robot is improved, the measurement module measures the posture of the tail end actuator through the contact-type sensor, and the device is simple in use method and low in equipment cost.
Description
Technical field
The invention discloses a kind of control device based on touch sensor, relate to parallel robot control technology field, relate in particular to a kind of flexible hinge parallel robot control device based on touch sensor.
Background technology
Parallel robot is a kind of sophisticated machine people with closed linkage, has the advantages such as movement inertia is low, load capacity is strong, rigidity is large on theory of mechanisms, has made up the deficiency of traditional industry robot.Compliant mechanism is the novel mechanism that a kind of plastic deformation that utilizes member self in mechanism completes transmission and the conversion of motion, power and energy, owing to there is no kinematic pair, and the friction of having avoided kinematic pair to bring, wearing and tearing and the problem such as lubricated.With traditional rigid mechanism, compare, its superiority main manifestations is for reducing costs and improving performance two aspects.Compliant mechanism and parallel robot have close contact.The micro-/ nano parallel micro-manipulator formed by the development of parallel robot technology, flexible hinge technology and micro-/ nano technology is widely used.When design parallel robot control system, often each movement branched chain is used as to fully independently system and is analyzed, because it has ignored the coupling effect of each side chain, can't set up kinetic model accurately simultaneously, control accuracy is difficult to guarantee.
The flexible hinge parallel robot be close coupling with distributed constant, non-linear, the time become, many inputs, multiple output system, and the uncertainty with inverse dynamics, it utilizes flexible hinge to carry out transmission in motion process, with use conventional motion parafacies ratio, system stiffness changes, and can cause the vibration elastic of kinematic error and the entire system of end effector of robot.In the research to flexible serial machine people, in order to lower the impact on the system running precision of flexibility of joint and rod member flexibility, use Closed-loop Control Strategy to realize the error compensation of joint space and operating space, and obtained good effect.The Research on Closed Loop Control of carrying out the flexible parallel connection robot becomes the key that improves the robot system running precision, and realizes that at first closed-loop control needs to realize the Real-time Collection of end effector of robot exercise data.Usual way is to adopt displacement of the lines or angular displacement sensor to measure the attained pose of end effector.This class sensor roughly can be divided into contact and contactless two kinds, wherein noncontacting proximity sensor has the measurement devices such as laser interferometer, theodolite, three-dimensional vision measurer, although precision is high, cost is high and data handling procedure is complicated, and in actual measurement, practicality is restricted.Although the touch sensor precision is low than non-contact sensor, the not high occasion in required precision, its relatively simple measuring principle and lower cost are more suitable for the exploitation in data collecting system.
For the many closed loops of flexible hinge parallel robot, many inputs, many output, non-linear, be subject to the problem such as external environmental interference, consider impact and the contents such as complicated operation degree and cost of flexible hinge on the system running precision simultaneously, the present invention proposes a kind of flexible hinge parallel robot control device based on touch sensor, this device adopts modularity control pattern, has that fast response time, information processing capability are strong, the reliability high.
Summary of the invention
The purpose of invention has been to propose a kind of flexible hinge parallel robot control device based on touch sensor, and this device is comprised of planar three freedom flexible hinge parallel robot, programmable multi-axle motion controller, master control industrial computer, driver module, spacing module and measurement module.This device has been realized the closed-loop control to robot, has reduced the impact of the strain of flexible hinge on the system running precision, has improved the practicality of robot.
For achieving the above object, the technical solution used in the present invention is a kind of flexible hinge parallel robot control device based on touch sensor, and the master control industrial computer of this device is connected with the programmable multi-axle motion controller; The programmable multi-axle motion controller is connected with spacing module with driver module; The output of driver module is connected with the driving of flexible hinge parallel robot is secondary; The flexible hinge parallel robot is connected with the master control industrial computer by measurement module; Wherein, the frame for movement of planar three freedom flexible hinge parallel robot comprises end effector, pedestal, identical movement branched chain, three groups of drive part and three the line chi sensors that structure is identical of three structures that are connected with pedestal with end effector; In movement branched chain, driving lever one end is connected with driving pair, and the other end is connected with follower lever by flexible hinge; Follower lever is connected by revolute pair with end effector; Driving lever with drive secondaryly, flexible hinge and driving lever and follower lever, be connected for bolt between follower lever and revolute pair; In drive part, servomotor one end is bolted and is fixed on pedestal, and the other end is connected with decelerator; The other end of decelerator is connected with driving pair; Driving lever output bilateral symmetry is installed one group of spacing proximity transducer, and a back to zero proximity transducer is installed in driving lever output below; It is circumferential that line chi sensor is evenly arranged in pedestal, and each line chi sensor has a bracing wire, and three bracing wires are articulated in respectively an end points of different and the end effector of end effector center at 2; Driver module has three groups, three movement branched chain of difference control, and every group of driver module structure is identical, comprises servo-driver, servomotor, rotary encoder and decelerator; Spacing module is comprised of back to zero proximity transducer and spacing proximity transducer; Measurement module is comprised of line chi sensor and line chi sensor data acquisition plate; Between each functional module and master control industrial computer and programmable multi-axle motion controller, the usage data cable carries out communication.
The machine man-hour, master control industrial computer finishing man-machine interaction, the functions such as dynamics calculation, send control instruction to the programmable multi-axle motion controller; The programmable multi-axle motion controller sends instruction to spacing module, completes the back to zero operation; The programmable multi-axle motion controller sends instruction to driver module, and control moment is passed to and drives pair; Drive the moving driving lever of subband, driving lever drives follower lever by flexible hinge, makes end effector can carry out given task; When the driving lever of robot moves to extreme position, spacing module is sent signal to the programmable multi-axle motion controller, and the programmable multi-axle motion controller sends halt instruction, the protection robot; Measurement module sends to the master control industrial computer by the posture information of end effector, and the formation control error signal sends the programmable multi-axle motion controller to, completes closed-loop control; Under the acting in conjunction of each functional module, end effector can complete given task.
Compared with prior art, the present invention has the following advantages:
1, control device adopts the modularity control pattern is comprised of master control industrial computer, programmable multi-axle motion controller, control module, spacing module and measurement module, have fast response time, information processing capability by force, the reliability high.
2, use displacement transducer to gather the posture information of end effector, realized the closed-loop control of robot, reduced the impact of the strain of flexible hinge on the system running precision, improved the practicality of robot.
3, measurement module adopts touch sensor to measure the pose of end effector, and using method is simple, equipment cost is low.
The accompanying drawing explanation
Fig. 1 is planar three freedom flexible hinge parallel robot control device schematic diagram.
Fig. 2 is planar three freedom flexible hinge parallel robot machinery structure top view.
Fig. 3 is planar three freedom flexible hinge parallel robot machinery structural front view.
In figure: 1, end effector 2, pedestal 3, driving pair 4, driving lever 5, flexible hinge 6, follower lever 7, revolute pair 8, decelerator 9, servomotor 10, spacing proximity transducer 11, back to zero proximity transducer 12, line chi sensor 13, bracing wire.
The specific embodiment
Below with reference to accompanying drawing and embodiment, the present invention will be further described.
Be illustrated in figure 1 planar three freedom flexible hinge parallel robot control device schematic diagram, whole device comprises planar three freedom flexible hinge parallel robot, master control industrial computer, driver module, spacing module and measurement module; Wherein driver module is comprised of servo controller, servomotor, rotary encoder, decelerator; Spacing module is comprised of three groups of back to zero proximity transducers and three groups of spacing proximity transducers; Measurement module is comprised of line chi sensor and line chi sensor data acquisition plate; 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, the output of driver module is by driving pair to be connected with the driving lever of flexible hinge parallel robot, and the flexible hinge parallel robot is connected with the master control industrial computer by measurement module; Three side chains and every group of structure that driver module has three groups of difference controls are identical, comprise 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 by driving pair to be connected with the driving lever of robot; Spacing module is comprised of back to zero proximity transducer and spacing proximity transducer; Three groups of proximity transducers are installed at mechanism's dead-center position place at three driving levers of robot, in the limit of sports record position of three driving levers of robot, three groups of proximity transducers are installed; Spacing module is connected with the programmable multi-axle motion controller; Measurement module adopts contact measurement method, line chi sensor and line chi sensor data acquisition plate, consists of; It is circumferential that three line chi sensors are evenly arranged in pedestal, and three bracing wire ends are articulated in respectively an end points of different and the end effector of end effector center at 2; The bracing wire of central spot is for measuring the physical location of end effector, and the bracing wire at end effector end points place is for measuring the actual attitude of end effector; When end effector moves, with the bracing wire that end effector is hinged, stretch, can obtain the attained pose of end effector through converting; Line chi sensor data acquisition plate is inserted on the slot of master control industrial computer, carry out communication by isa bus and master control industrial computer, between line chi sensor data acquisition plate and line chi sensor, by terminal plate, be connected, the end effector posture information that line chi sensor data acquisition plate records line chi sensor sends the master control industrial computer to by isa bus after treatment; The master control industrial computer provides the interaction platform of user and system, the functions such as the preservation of responsible robot dynamics's calculating, movement locus planning, system maintenance, data, processing, demonstration, the programmable multi-axle motion controller is inserted on the PCI slot of master control industrial computer, by pci bus and master control industrial computer, carries out communication; The programmable multi-axle motion controller has the characteristics such as real-time, high accuracy and high reliability, by data cable and keyset and each driver module and spacing module, carries out communication, is responsible for the coordination of each movement branched chain and controls.
Be illustrated in figure 2 planar three freedom flexible hinge parallel robot machinery structure top view, Fig. 3 is planar three freedom flexible hinge parallel robot machinery structural front view, and the frame for movement of this device comprises: end effector 1, pedestal 2, driving pair 3, driving lever 4, flexible hinge 5, follower lever 6, revolute pair 7, decelerator 8, servomotor 9, spacing proximity transducer 10, back to zero proximity transducer 11, line chi sensor 12, bracing wire 13; Wherein, driving lever 4 one ends with drive secondary 3 to be connected the other end and to connect and compose movement branched chain by flexible hinge 5 and follower lever 6; Follower lever 6 is connected by revolute pair 7 with end effector 1; Driving lever 4 is connected for bolt with driving between secondary 3, flexible hinge 5 and driving lever 4 and follower lever 6, follower lever 6 and revolute pair 7; It is circumferential that drive part is evenly distributed on pedestal 2, and servomotor 9 one ends are bolted and are fixed on pedestal 2, and the other end is connected with decelerator 8, and the other end of decelerator 8 is connected with driving pair 3; Driving lever 4 output bilateral symmetry are installed one group of spacing proximity transducer 10, and a back to zero proximity transducer 11 is installed in driving lever 4 output belows; It is circumferential that line chi sensor 12 is evenly arranged in pedestal 2, and each line chi sensor 12 has 13, three bracing wires 13 of a bracing wire to be articulated in respectively an end points of different and the end effector 1 of end effector 1 center at 2.
Should realize control procedure by following steps by the flexible hinge parallel robot control device based on touch sensor:
The task that a, master control industrial computer complete as required, the finishing man-machine interaction function, the dynamics calculation of robot, movement locus planning, control system is resolved, and the formation control instruction sends the programmable multi-axle motion controller to;
B, programmable multi-axle motion controller are analyzed the control instruction received, and calculate control signal and export to servo-driver;
C, programmable multi-axle motion controller receive the back to zero instruction of master control industrial computer, and robot carries out the back to zero operation with reference to the position of back to zero proximity transducer; When the robot driving lever moves to extreme position, spacing proximity transducer sends 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;
D, rotary encoder feed back to the programmable multi-axle motion controller by the servomotor angular signal recorded, and form position feedback control; Rotary encoder feeds back to servo-driver by the servomotor velocity information recorded simultaneously, forms speed feedback control;
E, servo-driver send to servomotor by control signal, servomotor passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by flexible hinge, makes end effector can carry out given task;
F, robot are in service, the posture information of line chi sensor measurement end effector, and line chi sensor data acquisition plate is processed posture information, and sends to the master control industrial computer;
G, master control industrial computer are processed the data analysis received, the formation control error signal sends the programmable multi-axle motion controller to, repeated control task by step b to the order of step g, until robot arrives given position or completes given task.
Planar three freedom flexible hinge parallel robot control device based on touch sensor disclosed by the invention, acting in conjunction by planar three freedom flexible hinge parallel robot platform, master control industrial computer, programmable multi-axle motion controller, driver module, spacing module and measurement module, realized the closed-loop control of robot, adopt line chi sensor to gather the posture information of end effector simultaneously, simplify method of operating, reduced equipment cost and maintenance cost.The present invention has reduced the impact of the elasticity of flexible hinge on the system running precision, improved the robot adaptive capacity of environment to external world, stability, security and the accuracy of robot have been guaranteed, for the performance of flexible hinge parallel robot improves and practical application provides guarantee.
Claims (3)
1. the planar three freedom flexible hinge parallel robot control device based on touch sensor, it is characterized in that: whole device comprises planar three freedom flexible hinge parallel robot, programmable multi-axle motion controller, master control industrial computer, driver module, spacing module and measurement module; Wherein driver module is comprised of servo controller, servomotor, rotary encoder, decelerator; Spacing module is comprised of three groups of back to zero proximity transducers and three groups of spacing proximity transducers; Measurement module is comprised of line chi sensor and line chi sensor data acquisition plate; 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, the output of driver module is by driving pair to be connected with the driving lever of flexible hinge parallel robot, and the flexible hinge parallel robot is connected with the master control industrial computer by measurement module; Three side chains and every group of structure that driver module has three groups of difference controls are identical, comprise 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 by driving pair to be connected with the driving lever of robot; Spacing module is comprised of back to zero proximity transducer and spacing proximity transducer; Three groups of proximity transducers are installed at mechanism's dead-center position place at three driving levers of robot, in the limit of sports record position of three driving levers of robot, three groups of proximity transducers are installed; Spacing module is connected with the programmable multi-axle motion controller; Measurement module adopts contact measurement method, line chi sensor and line chi sensor data acquisition plate, consists of; It is circumferential that three line chi sensors are evenly arranged in pedestal, and three bracing wire ends are articulated in respectively an end points of different and the end effector of end effector center at 2; The bracing wire of central spot is for measuring the physical location of end effector, and the bracing wire at end effector end points place is for measuring the actual attitude of end effector; When end effector moves, with the bracing wire that end effector is hinged, stretch, can obtain the attained pose of end effector through converting; Line chi sensor data acquisition plate is inserted on the slot of master control industrial computer, carry out communication by isa bus and master control industrial computer, between line chi sensor data acquisition plate and line chi sensor, by terminal plate, be connected, the end effector posture information that line chi sensor data acquisition plate records line chi sensor sends the master control industrial computer to by isa bus after treatment; The master control industrial computer provides the interaction platform of user and system, be responsible for robot dynamics's calculating, movement locus planning, system maintenance, the preservation of data, processing, Presentation Function, the programmable multi-axle motion controller is inserted on the PCI slot of master control industrial computer, by pci bus and master control industrial computer, carries out communication; The programmable multi-axle motion controller has real-time, high accuracy and high reliability characteristics, by data cable and keyset and each driver module and spacing module, carries out communication, is responsible for the coordination of each movement branched chain and controls.
2. a kind of planar three freedom flexible hinge parallel robot control device based on touch sensor according to claim 1, it is characterized in that: the frame for movement of this device comprises: end effector (1), pedestal (2), drive secondary (3), driving lever (4), flexible hinge (5), follower lever (6), revolute pair (7), decelerator (8), servomotor (9), spacing proximity transducer (10), back to zero proximity transducer (11), line chi sensor (12), bracing wire (13); Wherein, driving lever (4) one ends with drive secondary (3) to be connected the other end to connect and compose movement branched chain by flexible hinge (5) and follower lever (6); Follower lever (6) is connected by revolute pair (7) with end effector (1); Driving lever (4) is connected for bolt with driving between secondary (3), flexible hinge (5) and driving lever (4) and follower lever (6), follower lever (6) and revolute pair (7); It is circumferential that drive part is evenly distributed on pedestal (2), and servomotor (9) one ends are bolted and are fixed on pedestal (2) above, and the other end is connected 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 a back to zero proximity transducer (11) is installed in driving lever (4) output below; It is circumferential that line chi sensor (12) is evenly arranged in pedestal (2), each line chi sensor (12) has a bracing wire (13), and three bracing wires (13) are articulated in respectively an end points of different and the end effector (1) of end effector (1) center at 2.
3. a kind of planar three freedom flexible hinge parallel robot control device based on touch sensor according to claim 1 and 2, it is characterized in that: this device is realized control procedure by following steps:
The task that a, master control industrial computer complete as required, the finishing man-machine interaction function, the dynamics calculation of robot, movement locus planning, control system is resolved, and the formation control instruction sends the programmable multi-axle motion controller to;
B, programmable multi-axle motion controller are analyzed the control instruction received, and calculate control signal and export to servo-driver;
C, programmable multi-axle motion controller receive the back to zero instruction of master control industrial computer, and robot carries out the back to zero operation with reference to the position of back to zero proximity transducer; When the robot driving lever moves to extreme position, spacing proximity transducer sends 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;
D, rotary encoder feed back to the programmable multi-axle motion controller by the servomotor angular signal recorded, and form position feedback control; Rotary encoder feeds back to servo-driver by the servomotor velocity information recorded simultaneously, forms speed feedback control;
E, servo-driver send to servomotor by control signal, servomotor passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by flexible hinge, makes end effector can carry out given task;
F, robot are in service, the posture information of line chi sensor measurement end effector, and line chi sensor data acquisition plate is processed posture information, and sends to the master control industrial computer;
G, master control industrial computer are processed the data analysis received, the formation control error signal sends the programmable multi-axle motion controller to, repeated control task by step b to the order of step g, until robot arrives given position or completes given task.
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