CN104552233A - Multi-freedom degree trimming wheeled mobile manipulator - Google Patents
Multi-freedom degree trimming wheeled mobile manipulator Download PDFInfo
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- CN104552233A CN104552233A CN201410794520.4A CN201410794520A CN104552233A CN 104552233 A CN104552233 A CN 104552233A CN 201410794520 A CN201410794520 A CN 201410794520A CN 104552233 A CN104552233 A CN 104552233A
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Abstract
The invention discloses a multi-freedom degree trimming wheeled mobile manipulator. The multi-freedom degree trimming wheeled mobile manipulator comprises a plurality of controllable four-rod mechanism closed-loop actuating mechanism sub chains, a serial actuating mechanism main chain and a moveable platform, wherein the four-rod mechanism closed-loop sub chains can control a main chain connecting rod to move in the plane where the four-rod mechanism closed-loop sub chains are; the movement of a first connecting rod, a machine body and the moveable platform can realize the space movement of the moveable platform. The multi-freedom degree trimming wheeled mobile manipulator provided by the invention is controlled through the resultant movement of four closed-loop sub chains and the machine body; the space movement of a tail end executor is realized through the connection among a plurality of connecting rods, the machine body and the moveable platform; the mechanism simultaneously has the functions of movement and operation, so that the robot has an infinite working space and high movement redundancy; the tail end executor is low in movement inertia, good in dynamic performance and high in reliability; the mechanism has the advantages of compact structure and simple control and can be applied to more places.
Description
Technical field
The present invention relates to robot field, particularly a kind of multiple free degree micro regulation Wheeled Mobile Manipulator.
Background technology
Mobile robot, is one and integrates multi-functional integrated system such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc.It has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, and representing the most overachievement of electromechanical integration, is one of most active field of current scientific technological advance.Along with robot performance is constantly perfect, the range of application of mobile robot is greatly expanded, not only be widely used in the industries such as industry, agricultural, medical treatment, service, and harmfully in urban safety, national defence and space exploration field etc. well applied with dangerous situation.Therefore, mobile robot technology has obtained the common concern of countries in the world.
Parallel robot has without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing, and the general parallel institution of the Performance Ratio of parallel robot of closed-loop subchain containing symmetrical mechanism formula is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.The manipulator of circular cylindrical coordinate type and joint coordinates type is adopted effectively and efficiently to control tail house, and this mechanism structure good rigidity, machine driving precision are high, working space large, machine driving loss is little, can export larger power without accumulated error, have and have good controlling functions.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.
Summary of the invention
The object of the present invention is to provide a kind of multiple free degree micro regulation Wheeled Mobile Manipulator, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs:
A kind of multiple free degree micro regulation Wheeled Mobile Manipulator, comprises fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod, the 13 connecting rod, the tenth double leval jib, end effector and moveable platform and connects;
Described 5th connecting rod is " T " font, is respectively equipped with the first link, the 3rd link, the 4th link and the 5th link from left to right at crossbar sections, and the second link is positioned at below the 3rd link;
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the second link of the 5th connecting rod by the 5th revolute pair;
First connecting rod one end is connected on fuselage by the second revolute pair, and the first connecting rod other end is connected with third connecting rod one end by the 3rd revolute pair, and the third connecting rod other end is connected with the 5th connecting rod first link by the 4th revolute pair;
Second connecting rod one end is connected on fuselage by the second revolute pair, and the second connecting rod other end is connected with double leval jib one end by the 7th revolute pair, and the double leval jib other end is connected with the 5th connecting rod the 3rd link by the 6th revolute pair;
Six-bar linkage one end is connected with the 5th connecting rod the 4th link by the 8th revolute pair, the six-bar linkage other end is connected with the 8th connecting rod one end by the 9th revolute pair, the 8th connecting rod other end is connected with seven-link assembly one end by the tenth revolute pair, and the seven-link assembly other end is connected with the 5th connecting rod the 5th link by the 13 revolute pair;
The tenth double leval jib other end is connected with the 5th connecting rod the 4th link by the 8th revolute pair, tenth double leval jib one end is connected with the 9th connecting rod one end by the 11 revolute pair, the 9th connecting rod other end is connected with the 13 connecting rod one end by the 12 revolute pair, and the 13 connecting rod other end is connected with the 5th connecting rod the 5th link by the 13 revolute pair;
Tenth connecting rod one end is rigidly attached on the rotating shaft sidewall of the 13 revolute pair, the tenth connecting rod other end is connected with the 11 connecting rod one end by the 14 revolute pair, the 11 connecting rod other end is connected with the 12 connecting rod one end by the 15 revolute pair, and the 12 connecting rod other end is connected with end effector by the 16 revolute pair.
Described first revolute pair is perpendicular to moveable platform, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
Six-bar linkage and the tenth double leval jib are fixedly connected on the rotating shaft two ends of the 8th revolute pair respectively; Seven-link assembly and the 13 connecting rod are fixedly connected on the rotating shaft two ends of the 13 revolute pair respectively.
Outstanding advantages of the present invention is:
1, robot is installed on a mobile platform, and this structure makes robot have the motion redundancy of almost infinitely-great working space and height, and has mobile and operating function simultaneously, and this is that it is better than mobile robot and traditional robot;
2, mobile robot has locomotive function, in (as cosmic space, the etc.) environment work replacing people to be engaged under danger, severe (as radiation, poisonous etc.) environment less than operation and people, there are larger mobility, flexibility than general robot under water;
3, by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of closed-loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
4, compared with the industrial robot being mounted in each joint with traditional motor, the motor of the robot that mechanism is connected by two parallel closed loop subchains is mounted on four-bar mechanism joint, closed loop chain movement is driven by the kinematic pair on four-bar mechanism, thus indirectly drive tail end connecting rod, make the mobility of end effector and activity space larger, can active moment be reduced;
5, the micromatic setting in mechanism is compared with traditional manipulator with local closed chain, and center of gravity concentrates on micromatic setting, and balance of mechanism is good, and robot mechanism can be made to bear larger force and moment;
6, six-freedom degree makes mechanism can be applied to more occasions.
Accompanying drawing explanation
Fig. 1 is the structural representation of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 2 is the moveable platform structural representation of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 3 is the airframe structure schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 4 is the 5th connecting rod schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 5 is the six-bar linkage schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 6 is the seven-link assembly schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 7 is the 11 connecting rod schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 8 is the 12 connecting rod schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Fig. 9 is the part body connection diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Figure 10 is another visual angle schematic diagram of multiple free degree micro regulation Wheeled Mobile Manipulator of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
A kind of multiple free degree micro regulation Wheeled Mobile Manipulator, comprises fuselage 2, first connecting rod 3, second connecting rod 19, third connecting rod 5, double leval jib 17, the 5th connecting rod 10, six-bar linkage 8, seven-link assembly 13, the 8th connecting rod 11, the 9th connecting rod 15, the tenth connecting rod the 21, the 11 connecting rod the 22, the 12 connecting rod the 24, the 13 connecting rod 40, the tenth double leval jib 41, end effector 25 and moveable platform 1 and connects;
Described 5th connecting rod 10 is " T " font, is respectively equipped with the first link 101, the 3rd link 103, the 4th link 104 and the 5th link 105, second link 102 is from left to right positioned at below the 3rd link 103 at crossbar sections;
Fuselage 2 lower end is connected on moveable platform 1 by the first revolute pair 27, and fuselage 2 upper end is connected with the second link 102 of the 5th connecting rod 10 by the 5th revolute pair 20;
First connecting rod 3 one end is connected on fuselage 2 by the second revolute pair 28, and first connecting rod 3 other end is connected with third connecting rod 5 one end by the 3rd revolute pair 4, and third connecting rod 5 other end is connected with the 5th connecting rod 10 first link 101 by the 4th revolute pair 6;
Second connecting rod 19 one end is connected on fuselage 2 by the second revolute pair 28, second connecting rod 19 other end is connected with double leval jib 17 one end by the 7th revolute pair 18, and double leval jib 17 other end is connected with the 5th connecting rod 10 the 3rd link 103 by the 6th revolute pair 16;
Six-bar linkage 8 one end is connected with the 5th connecting rod 10 the 4th link 104 by the 8th revolute pair 29, six-bar linkage 8 other end is connected with the 8th connecting rod 11 one end by the 9th revolute pair 9,8th connecting rod 11 other end is connected with seven-link assembly 13 one end by the tenth revolute pair 12, and seven-link assembly 13 other end is connected with the 5th connecting rod 10 the 5th link 105 by the 13 revolute pair 30;
Tenth double leval jib 41 other end is connected with the 5th connecting rod 10 the 4th link 104 by the 8th revolute pair 29, tenth double leval jib 41 one end is connected with the 9th connecting rod 15 one end by the 11 revolute pair 7,9th connecting rod 15 other end is connected with the 13 connecting rod 40 one end by the 12 revolute pair 14, and the 13 connecting rod 40 other end is connected with the 5th connecting rod 10 the 5th link 105 by the 13 revolute pair 30;
Tenth connecting rod 21 one end is rigidly attached on the rotating shaft sidewall of the 13 revolute pair 30, tenth connecting rod 21 other end is connected with the 11 connecting rod 22 one end by the 14 revolute pair 32,11 connecting rod 22 other end is connected with the 12 connecting rod 24 one end by the 15 revolute pair 23, and the 12 connecting rod 24 other end is connected with end effector 25 by the 16 revolute pair 26.
Described first revolute pair 27 is perpendicular to moveable platform 1, and the second revolute pair 28, the 3rd revolute pair 4, the 4th revolute pair 6, the 5th revolute pair 20, the 6th revolute pair 16, the 7th revolute pair 18, the 8th revolute pair 29, the 9th revolute pair 9, the tenth revolute pair the 12, the 11 revolute pair the 7, the 12 revolute pair the 14 and the 13 revolute pair 30 rotation are parallel to each other.
Six-bar linkage 8 and the tenth double leval jib 41 are fixedly connected on the rotating shaft two ends of the 8th revolute pair 29 respectively; Seven-link assembly the 13 and the 13 connecting rod 40 is fixedly connected on the rotating shaft two ends of the 13 revolute pair 30 respectively.
Fuselage 2 and first connecting rod 3 motion planar can realize the spatial movement of end effector 25.
Operation principle and process:
Fuselage 2 is driven by the first revolute pair 27, first revolute pair 27 is driven by motor, first connecting rod 3 and second connecting rod 19 are driven by the second revolute pair 28,8th revolute pair 29 is driven by motor, 11 connecting rod 22 is driven by the 14 revolute pair 32,14 revolute pair 32 is driven by motor, 12 connecting rod 24 is driven by the 15 revolute pair 23,15 revolute pair 23 is driven by motor, end effector 25 is driven by the 16 revolute pair 26, and the 16 revolute pair 26 is driven by motor.
Claims (3)
1. a multiple free degree micro regulation Wheeled Mobile Manipulator, comprise fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod, six-bar linkage, seven-link assembly, 8th connecting rod, 9th connecting rod, tenth connecting rod, 11 connecting rod, 12 connecting rod, 13 connecting rod, tenth double leval jib, end effector and moveable platform connect, it is characterized in that, described 5th connecting rod is " T " font, the first link is respectively equipped with from left to right at crossbar sections, 3rd link, 4th link and the 5th link, second link is positioned at below the 3rd link,
Fuselage lower end is connected on moveable platform by the first revolute pair, and fuselage upper end is connected with the second link of the 5th connecting rod by the 5th revolute pair;
First connecting rod one end is connected on fuselage by the second revolute pair, and the first connecting rod other end is connected with third connecting rod one end by the 3rd revolute pair, and the third connecting rod other end is connected with the 5th connecting rod first link by the 4th revolute pair;
Second connecting rod one end is connected on fuselage by the second revolute pair, and the second connecting rod other end is connected with double leval jib one end by the 7th revolute pair, and the double leval jib other end is connected with the 5th connecting rod the 3rd link by the 6th revolute pair;
Six-bar linkage one end is connected with the 5th connecting rod the 4th link by the 8th revolute pair, the six-bar linkage other end is connected with the 8th connecting rod one end by the 9th revolute pair, the 8th connecting rod other end is connected with seven-link assembly one end by the tenth revolute pair, and the seven-link assembly other end is connected with the 5th connecting rod the 5th link by the 13 revolute pair;
The tenth double leval jib other end is connected with the 5th connecting rod the 4th link by the 8th revolute pair, tenth double leval jib one end is connected with the 9th connecting rod one end by the 11 revolute pair, the 9th connecting rod other end is connected with the 13 connecting rod one end by the 12 revolute pair, and the 13 connecting rod other end is connected with the 5th connecting rod the 5th link by the 13 revolute pair;
Tenth connecting rod one end is rigidly attached on the rotating shaft sidewall of the 13 revolute pair, the tenth connecting rod other end is connected with the 11 connecting rod one end by the 14 revolute pair, the 11 connecting rod other end is connected with the 12 connecting rod one end by the 15 revolute pair, and the 12 connecting rod other end is connected with end effector by the 16 revolute pair.
2. multiple free degree micro regulation Wheeled Mobile Manipulator as claimed in claim 1, it is characterized in that, described first revolute pair is perpendicular to moveable platform, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
3. multiple free degree micro regulation Wheeled Mobile Manipulator as claimed in claim 1, it is characterized in that, six-bar linkage and the tenth double leval jib are fixedly connected on the rotating shaft two ends of the 8th revolute pair respectively; Seven-link assembly and the 13 connecting rod are fixedly connected on the rotating shaft two ends of the 13 revolute pair respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410794520.4A CN104552233A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree trimming wheeled mobile manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410794520.4A CN104552233A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree trimming wheeled mobile manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN104552233A true CN104552233A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410794520.4A Pending CN104552233A (en) | 2014-12-18 | 2014-12-18 | Multi-freedom degree trimming wheeled mobile manipulator |
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| CN (1) | CN104552233A (en) |
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- 2014-12-18 CN CN201410794520.4A patent/CN104552233A/en active Pending
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Application publication date: 20150429 |