CN103707951A - Two-leg robot leg mechanism based on driving of artificial muscles - Google Patents
Two-leg robot leg mechanism based on driving of artificial muscles Download PDFInfo
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Abstract
The invention discloses a two-leg robot leg mechanism based on driving of artificial muscles. The two-leg robot leg mechanism comprises a single-shaft hip joint, thigh rods, a pneumatic artificial muscle driving mechanism, bionic knee joints, crus rods, ankle joint transmission mechanisms and artificial flexible feet, wherein the single-shaft hip joint is connected with the thigh rods, the thigh rods are connected with the bionic knee joints, the bionic knee joints, the crus rods, the ankle joint transmission mechanisms and the artificial flexible feet are sequentially connected, the pneumatic artificial muscle driving mechanism comprises a transverse rod, the transverse rod is perpendicularly fixed in the thigh rods, two pneumatic artificial muscles are arranged in parallel, one ends of the two pneumatic artificial muscles are fixedly connected with the transverse rod, the other ends of the two pneumatic artificial muscles are connected to each other through a chain, the chain is connected with a driving shaft of the bionic knee joints through a chain wheel, and driving is achieved through opposite pulling of the pair of pneumatic muscles. The two-leg robot leg mechanism has the advantages of being natural in walking gait, high in adaptability to road conditions, small in motion impact, high in walking speed, small in energy consumption, capable of achieving flexible motion of joints, simple in structure and delicate in design.
Description
Technical field
The present invention relates to bio-robot field, particularly a kind of both legs leg mechanism of robot driving based on artificial-muscle.
Background technology
The lower limb of both legs robot connect by revolute pair with rigid member, imitate the motion of mankind's both legs and hip joint, knee joint and ankle-joint, can replace the mankind to carry out the work of some repeatability, or walk under dangerous environment, replace the mankind to carry out operation, extend and expand the mankind's action radius.
Kneed design is that both legs robot is realized anthropomorphic key.Use for reference bionics Study, simulation people's leg knee joint structure and muscle drive pattern, develop a kind of both legs leg mechanism of robot driving based on artificial-muscle, can effectively solve the problems referred to above that both legs walking robot exists.Conventionally in the research of common double robot leg, the DC servo motor that adopt provide propulsive effort as drive source more, and some adopts hydraulic pressure or air pressure to drive.Although hydraulic-driven is steady, it is very high that positional precision can reach, and its rigidity is often very large, and hydraulic actuating cylinder weight is larger, high to sealing requirements, has the situation of revealing and polluting.Pneumatic actuation is mainly used at present the joint position of the point-to-point of 1/2 degree of freedom and controls, and it is high to the sealing requirements of cylinder body simultaneously.In addition, some novel actuators, as marmem, magnetic telescopic driver etc. is still in development, still have certain distance apart from practical application.At present, in the research of common double robot leg, the DC servo motor that adopt provide driving more, relative angle coding disk is installed after electric machine main shaft and is measured corner, motor drives can realize various gaits, be easy to realize accurate control, but when simulation human body shank is walked or runs, pin can produce larger impulsive force in the moment of landing, easily cause motor to drive rigidity excessive, be difficult to realize human joint's submissive motion.
Human leg bone's bone is through natural selection and long-term evolution, and the most applicable both legs walk upright, and the structural change of each joint in selection and evolutionary process is conducive to this walking manner more.Both legs running machine human knee joint adopts single shaft articulated manner more at present, is essentially different, thereby causes simulating well people's gait with structure, movement mechanism and the type of drive etc. of people's leg joint.
1) articulation mechanism type difference
Human body knee joint is in the process of bending and stretching, and joint is driven by inside and outside both sides muscle fore and aft motion, and existing rotation has again slip, thereby can change the length of thigh and calf, has good obstacle crossing function.Biomedical research shows, knee joint horizontal rotating shaft position in the process of bending and stretching changes, and when rotating, is attended by movement, and its instantaneous center of rotation (Instant Center of Rotation, ICR) motion track is by the curvilinear motion of " J " type.Meanwhile, the variation of knee joint work CR and the length variations of thigh and calf adjustably face counter-force act on the moment size on joint and reduce the required hip joint stretching, extension muscular strength of stabilized knee, thereby can improve stability and the high efficiency of both legs walking.
The knee joint structure that walking robot adopts is at present compared with human synovial, distinct in essence.In the design of most of active both legs walking robots, knee joint adopts the physical construction of 2 rod hinge connections more, and its ICR immobilizes, and walking step state is nature not, has bigger difference with human normal walking step state.For keeping supporting the stability of phase, robot both legs that keep when standing crooked more, and the speed of travel is slow, causes the personification of robot ambulation gait poor.
2) joint drive difference
During the walking of normal human's both legs, the muscle of both sides, joint is accepted the signal of neural transmission, the fore and aft motion driving joint of muscle of being connected with ligament by both sides, joint rotates, and whole driving process is steady, and the good muscle of compliance and ligament can cushion the collision impact on ground.
In the research of most both legs walking robot, its basic structure is many to be formed by connecting by rigid bar, and knee joint adopts motor to drive, rigidity is excessive, and compliance is poor, while especially walking in uneven road conditions, cause walking unstable, have larger difference with human body knee joint muscle type of drive.
Normal human joint is to be driven by skeletal muscle, and propulsive effort not only can be provided, and realizes accurate position control, and can absorbing, buffering, compliance be good, this specific character is mainly that the antagonism muscle type of drive being adopted by joint determines.Pneumatic artificial muscle is as a kind of novel elastomeric actuator, has that quality is light, simple in structure, High power output, compliance are good, power-length characteristic and the feature such as human muscle is very similar.These are all that other traditional type of drive not exclusively have, and therefore, for driving bionical mobile robot, Pneumatic artificial muscle is very suitable selection.Many experts and scholars both domestic and external, the apery leg joint motion control that the good grade of Ru Tao state drives Pneumatic artificial muscle is studied, and has obtained some achievements.
Although various countries have all carried out more deep research to both legs walking robot at present, realized the mankind's such as stabilized walking, stair activity and turning of both legs basic exercise.But known by analyzing its evolution, both legs walking robot still exists more problem:
(1) walking step state is unnatural, differs larger with normal human's gait, not strong to ground road conditions adaptive capacity;
(2) be limited to self physical construction, in motion process, produce and impact, the speed of travel is slow;
(3) each joint mostly adopts motor active drive mode, and energy consumption is large, and type of drive rigidity is large, is unfavorable for realizing the compliant motion in joint.
Summary of the invention
The problem existing for solving above-mentioned prior art, the present invention proposes a kind of both legs leg mechanism of robot driving based on artificial-muscle, has walking step state nature, strong to road conditions adaptive faculty, elliptical gear is little, and the speed of travel is fast, energy consumption is little, can realize the feature of flexibility of joint motion.Also have simple in structure, the advantage of deft design.
For achieving the above object, technical scheme of the present invention is:
The both legs leg mechanism of robot driving based on artificial-muscle, comprises single shaft hip joint, thigh bar, Pneumatic artificial muscle driver train, bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin; Described single shaft hip joint and thigh bar axle connect, thigh bar connects bionic knee joint, bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin connect successively, Pneumatic artificial muscle driver train comprises cross bar, and cross bar is vertically fixed in thigh bar, and two Pneumatic artificial muscles be arranged in parallel, one end and cross bar are connected, the other end interconnects by chain, and described chain is connected with the axle drive shaft of bionic knee joint by sprocket wheel, by a pair of pneumatic muscles to drawing to realize driving.
Described bionic knee joint is bilateral four-bar mechanism, four-bar mechanism comprises the first axle, the second axle, the 3rd axle, the 4th axle being flexibly connected successively by connecting rod, described the first axle, the second axle, the 3rd axle, the 4th axle, and connect they first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, form the trapezoid of a variable-angle, the first connecting rod of two four-bar mechanisms forms a monolithic linkage, and the third connecting rod of two four-bar mechanisms forms a monolithic linkage.Thigh bar is connected with the monolithic linkage consisting of two four-bar mechanism first connecting rods, and shank bar is connected with the monolithic linkage consisting of two four-bar mechanism third connecting rods, and in walking, shank bar can rotate with respect to thigh bar around bionic knee joint.
The detail parameters of described bionic knee joint is: the length ratio of described first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod is: 17.728: 62.749: 35.476: 49.75, and during normal stand, the angle of third connecting rod and horizontal surface is: 44.92 degree.
Described the 4th axle is axle drive shaft.
Snap ring for fixed chain wheels is installed on described axle drive shaft, and described sprocket wheel is connected with driving axle key.
With respect to prior art, beneficial effect of the present invention is: the present invention proposes a kind of both legs leg mechanism of robot driving based on artificial-muscle, has
1, walking step state nature: kneed ICR on-fixed, but follow the variation of knee joint angle and change, can effectively simulate the kneed motion of normal person.
2, strong to road conditions adaptive faculty: in swinging mutually, effectively to shorten the length of artificial leg thigh and calf bar, thereby improve, lift pin height, avoid colliding with ground obstacle.
3, elliptical gear is little: can effectively utilize face counter-force and keep support phase stability, and crooked while contributing to machine leg liftoff.
4, the speed of travel is fast, and energy consumption is little: adopt Pneumatic artificial muscle to drive.
5, can realize flexibility of joint motion: swinging mid-term or while sitting down, the instantaneous normal position that drops to of knee joint, can effectively improve sitting posture, the feature that while making to sit down, two knee postures are consistent.Also have simple in structure, the advantage of deft design.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
Wherein: 1-single shaft hip joint, 2-thigh bar, 3-Pneumatic artificial muscle driver train, 31-cross bar, 32-Pneumatic artificial muscle, 33-chain, 4-bionic knee joint, 41-the first axle, 42-the second axle, 43-the 3rd axle, 44-the 4th axle, 45-first connecting rod, 46-second connecting rod, 47-third connecting rod, 48-the 4th connecting rod, 49-snap ring, 410-sprocket wheel, 5-shank bar, 6-ankle-joint transmission device, the flexible false pin of 7-.
Fig. 2 is embodiment of the present invention bionic knee joint four-bar mechanism length and angular relationship schematic diagram.
Fig. 3 is embodiment of the present invention bionic knee joint structural representation.
The specific embodiment
Below in conjunction with the drawings and the specific embodiments, the present invention is described in further details.
As shown in Figure 1, the both legs leg mechanism of robot driving based on artificial-muscle, comprises single shaft hip joint, thigh bar, Pneumatic artificial muscle driver train, bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin; Described single shaft hip joint and thigh bar axle connect, thigh bar connects bionic knee joint, bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin connect successively, Pneumatic artificial muscle driver train comprises cross bar, and cross bar is vertically fixed in thigh bar, and two Pneumatic artificial muscles be arranged in parallel, one end and cross bar are connected, the other end interconnects by chain, and described chain is connected with the axle drive shaft of bionic knee joint by sprocket wheel, by a pair of pneumatic muscles to drawing to realize driving.
Described bionic knee joint is bilateral four-bar mechanism, four-bar mechanism comprises the first axle, the second axle, the 3rd axle, the 4th axle being flexibly connected successively by connecting rod, described the first axle, the second axle, the 3rd axle, the 4th axle, and connect they first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, form the trapezoid of a variable-angle, the first connecting rod of two four-bar mechanisms forms a monolithic linkage, and the third connecting rod of two four-bar mechanisms forms a monolithic linkage.Thigh bar is connected with the monolithic linkage consisting of two four-bar mechanism first connecting rods, and shank bar is connected with the monolithic linkage consisting of two four-bar mechanism third connecting rods, and in walking, shank bar can rotate with respect to thigh bar around bionic knee joint.
The detail parameters of described bionic knee joint is: the length ratio of described first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod is: 17.728: 62.749: 35.476: 49.75, and during normal stand, the angle of third connecting rod and horizontal surface is: 44.92 degree.
Described the 4th axle is axle drive shaft.
Snap ring for fixed chain wheels is installed on described axle drive shaft, and described sprocket wheel is connected with driving axle key.
According to medical research, human body knee joint consists of femur medial and lateral condyle and shin bone medial and lateral condyle and kneecap.Due to bone contact surface out-of-shape, in joint, bend and stretch in activity has rolling to have again slip between contact surface, knee joint horizontal rotating shaft center of curvature, be that instantaneous center of turn changes constantly, its motion track is " J " type curve, the present invention adopts the good four-bar mechanism of bio-imitability as robot knee joint structure, as shown in Figure 2.Four bar structure work CR change constantly, and can to the angle between the length of rod member and each rod member, be optimized design according to the work CR track of human body knee joint, walking step state that can simulate people leg, Ke Cong mechanism fundamentally improves aspect the poor shortcoming of traditional knee joint structure bio-imitability.Compare with single-axis knee joint, four-bar mechanism knee joint has many advantages: (1) kneed work CR on-fixed, but follow the variation of knee joint angle and change, can effectively simulate the kneed motion of normal person, (2) in swinging mutually, can effectively shorten the length of artificial leg thigh and calf bar, thereby improve, lift pin height, avoid and ground obstacle collision, consistent with the performance in Normal Knee walking process; (3) swinging mid-term or while sitting down, the instantaneous normal position that drops to of knee joint, can effectively improve sitting posture, and while making to sit down, two knee postures are consistent; (4) can effectively utilize face counter-force and keep support phase stability, and crooked while contributing to machine leg liftoff.For guaranteeing that machine leg can keep balance supporting phase time, in knee design, add positive stop and limit shank and excessively protract.Joint adopts bearings, utilizes propeller boss to connect between each rod member, adopts corresponding cooperation.Meanwhile, in order to guarantee the stability in walking process, adopt bilateral four-bar mechanism.
The centrode similarity degree of the centrode of knee-joint mechanism and human body knee joint is higher, and the harmony of mechanism and human body is just better.From this angle, with the desirable instantaneous point coordinate of the instantaneous point coordinate of mechanism and human body poor square set up objective function, and be optimized design based on genetic algorithm, four-bar mechanism knee joint parameter as shown in Figure 2.
Knee joint adopts four-bar mechanism, has four revolute pairs, and each revolute pair can be as axle drive shaft in theory, be that each adapter shaft in theory can be as axle drive shaft, and in actual applications, consider energy-conservation and concrete physical construction, choosing of its axle drive shaft is restricted.By known to the analysis of four-bar mechanism knee joint control torque, while completing shank normal rotation, the required moment of axle 1 is minimum, and axle 4 takes second place, thereby considers from Energy Angle, and axle drive shaft should be selected on axle 1 or axle 4.Consider the restriction of four-bar mechanism self structure, axle 1 space, place is less, and the driving systems such as sprocket wheel be difficult for to be installed, thereby considers axle drive shaft is placed on axle 4, not only meets the requirement of actual machine structure, and can reduce energy consumption.
The present invention selects Pneumatic artificial muscle to provide propulsive effort as drive source for knee joint.Single Pneumatic artificial muscle can only provide unidirectional convergent force, in order to obtain bidirectional force and to rotatablely move, adopts a pair of Pneumatic artificial muscle to realize drawing.Four-bar mechanism drives by a pair of artificial-muscle band movable sprocket, and sprocket wheel is arranged on axle drive shaft, and its transmission accuracy is higher, simple in structure, and load-carrying capacity is strong, is convenient to safeguard long service life.Sprocket wheel adopts key to be connected with the connection mode between axle drive shaft, in order to prevent that sprocket wheel from endwisely slipping, is fixed, as shown in Figure 3 with snap ring.
The present invention is based on the both legs leg mechanism of robot that artificial-muscle drives, its principle of work is: hip joint is driven by motor, and knee joint is driven by chain transmission by a pair of artificial-muscle, and ankle-joint is driven by gear transmission by motor.From Kennedy-Aronhold the-orem, the intersection point of second connecting rod and the 4th connecting rod extended line is knee joint instantaneous center of rotation, due in four bar motion of knee joint processes, the position of second connecting rod and the 4th connecting rod is dynamic change, so the intersection point of its extended line, instantaneous center of rotation is dynamically changeable, is approximately " J " type curve, thereby realize kneed flexion and extension, the coordinated movement of various economic factors of hip joint, knee joint, ankle-joint transmission device can realize the propulsion of robot.
Claims (5)
1. the both legs leg mechanism of robot driving based on artificial-muscle, comprises single shaft hip joint, thigh bar, Pneumatic artificial muscle driver train, bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin; It is characterized in that, described single shaft hip joint and thigh bar axle connect, thigh bar connects bionic knee joint, and bionic knee joint, shank bar, ankle-joint transmission device and flexible false pin connect successively, and Pneumatic artificial muscle driver train comprises cross bar, cross bar is vertically fixed in thigh bar, two Pneumatic artificial muscles be arranged in parallel, and one end and cross bar are connected, and the other end interconnects by chain, described chain is connected with the axle drive shaft of bionic knee joint by sprocket wheel, by a pair of pneumatic muscles to drawing to realize driving.
2. the both legs leg mechanism of robot driving based on artificial-muscle as claimed in claim 1, it is characterized in that, described bionic knee joint is bilateral four-bar mechanism, four-bar mechanism comprises the first axle being flexibly connected successively by connecting rod, the second axle, the 3rd axle, the 4th axle, described the first axle, the second axle, the 3rd axle, the 4th axle, and connect their first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, form the trapezoid of a variable-angle, the first connecting rod of two four-bar mechanisms forms a monolithic linkage, the third connecting rod of two four-bar mechanisms forms a monolithic linkage, thigh bar is connected with the monolithic linkage consisting of two four-bar mechanism first connecting rods, shank bar is connected with the monolithic linkage consisting of two four-bar mechanism third connecting rods, in walking, shank bar can rotate with respect to thigh bar around bionic knee joint.
3. the both legs leg mechanism of robot driving based on artificial-muscle as claimed in claim 2, it is characterized in that, the detail parameters of described bionic knee joint is: the length ratio of described first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod is: 17.728: 62.749: 35.476: 49.75, and during normal stand, the angle of third connecting rod and horizontal surface is: 44.92 degree.
4. the both legs leg mechanism of robot driving based on artificial-muscle as claimed in claim 2, is characterized in that, described the 4th axle is axle drive shaft.
5. the both legs leg mechanism of robot driving based on artificial-muscle as claimed in claim 4, is characterized in that, the snap ring for fixed chain wheels is installed on described axle drive shaft, and described sprocket wheel is connected with driving axle key.
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| CN103991489A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle |
| CN104097707A (en) * | 2014-07-31 | 2014-10-15 | 四川阿泰因机器人智能装备有限公司 | Ground self-adaption type omnidirectional wheel device |
| CN104398323A (en) * | 2014-11-12 | 2015-03-11 | 南京工程学院 | Knee external skeleton power-assisted mechanism based on pneumatic muscle |
| CN105291132A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Humanoid robot knee joint capable of realizing active and semi-passive driving |
| CN105291131A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Flexibility-adjustable humanoid knee joint |
| CN106493721A (en) * | 2016-11-30 | 2017-03-15 | 航天科工智能机器人有限责任公司 | Joint of robot Hydraulic servo drive mechanism |
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| CN108743211A (en) * | 2018-07-03 | 2018-11-06 | 南通百佳医疗器械研究有限公司 | A kind of person in middle and old age's fracture training aids |
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| CN111098951A (en) * | 2019-12-30 | 2020-05-05 | 深圳市优必选科技股份有限公司 | Humanoid robot and leg structure thereof |
| CN111494063A (en) * | 2020-02-10 | 2020-08-07 | 肯达路企业股份有限公司 | Knee joint structure |
| CN111631847A (en) * | 2020-07-03 | 2020-09-08 | 吉林大学 | Variable-rigidity flexible lower limb artificial limb turning device based on pneumatic artificial muscles |
| CN113558926A (en) * | 2021-05-13 | 2021-10-29 | 上海大学 | Exoskeleton knee joint rehabilitation robot |
| CN114193465A (en) * | 2021-09-14 | 2022-03-18 | 宁波大学 | Multi-foot cooperative bionic robot |
| CN114872014A (en) * | 2022-04-07 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Voice-controlled joint robot and voice-controlled joint robot system |
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| CN103991489A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | Three-freedom-degree leg mechanism driven by pneumatic artificial muscle |
| CN104097707A (en) * | 2014-07-31 | 2014-10-15 | 四川阿泰因机器人智能装备有限公司 | Ground self-adaption type omnidirectional wheel device |
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| CN104398323B (en) * | 2014-11-12 | 2016-06-01 | 南京工程学院 | A kind of knee joint exoskeleton power-assisted mechanism based on pneumatic muscles |
| CN105291132A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Humanoid robot knee joint capable of realizing active and semi-passive driving |
| CN105291131A (en) * | 2015-12-03 | 2016-02-03 | 哈尔滨工业大学 | Flexibility-adjustable humanoid knee joint |
| CN106493721A (en) * | 2016-11-30 | 2017-03-15 | 航天科工智能机器人有限责任公司 | Joint of robot Hydraulic servo drive mechanism |
| CN106726363A (en) * | 2017-03-13 | 2017-05-31 | 东北大学 | A kind of wearable bionical hydraulic pressure lower limb rehabilitation walk help mechanical device |
| CN106726363B (en) * | 2017-03-13 | 2023-11-17 | 东北大学 | Wearable bionic hydraulic lower limb rehabilitation walking-assisting mechanical device |
| CN108743211A (en) * | 2018-07-03 | 2018-11-06 | 南通百佳医疗器械研究有限公司 | A kind of person in middle and old age's fracture training aids |
| CN108995727B (en) * | 2018-07-17 | 2020-01-07 | 东北大学 | Delta robot driven by pneumatic muscles |
| CN108995727A (en) * | 2018-07-17 | 2018-12-14 | 东北大学 | A kind of Delta robot of pneumatic muscles driving |
| CN111098951A (en) * | 2019-12-30 | 2020-05-05 | 深圳市优必选科技股份有限公司 | Humanoid robot and leg structure thereof |
| CN111494063A (en) * | 2020-02-10 | 2020-08-07 | 肯达路企业股份有限公司 | Knee joint structure |
| CN111631847A (en) * | 2020-07-03 | 2020-09-08 | 吉林大学 | Variable-rigidity flexible lower limb artificial limb turning device based on pneumatic artificial muscles |
| CN111631847B (en) * | 2020-07-03 | 2024-04-26 | 吉林大学 | Variable-rigidity flexible lower limb artificial limb turning device based on pneumatic artificial muscle |
| CN113558926A (en) * | 2021-05-13 | 2021-10-29 | 上海大学 | Exoskeleton knee joint rehabilitation robot |
| CN114193465A (en) * | 2021-09-14 | 2022-03-18 | 宁波大学 | Multi-foot cooperative bionic robot |
| CN114193465B (en) * | 2021-09-14 | 2023-08-29 | 宁波大学 | Multi-foot cooperative bionic robot |
| CN114872014A (en) * | 2022-04-07 | 2022-08-09 | 中国科学院深圳先进技术研究院 | Voice-controlled joint robot and voice-controlled joint robot system |
| CN114872014B (en) * | 2022-04-07 | 2023-06-20 | 中国科学院深圳先进技术研究院 | Speech control's joint robot and speech control's joint robot system |
| CN115302489A (en) * | 2022-08-31 | 2022-11-08 | 安徽工程大学 | Instantaneous center adjustable variable-rigidity flexible knee joint exoskeleton |
| CN115302489B (en) * | 2022-08-31 | 2024-06-11 | 安徽工程大学 | Instantaneous-center-adjustable rigidity-variable flexible knee joint exoskeleton |
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