CN104882061A - Land experiment system applied in two-degree-of-freedom mobile robot module - Google Patents
Land experiment system applied in two-degree-of-freedom mobile robot module Download PDFInfo
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- CN104882061A CN104882061A CN201510336001.8A CN201510336001A CN104882061A CN 104882061 A CN104882061 A CN 104882061A CN 201510336001 A CN201510336001 A CN 201510336001A CN 104882061 A CN104882061 A CN 104882061A
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- robot module
- fixed
- guide rails
- magnetic suspension
- robot
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
Abstract
The invention relates to a land experiment system applied in a two-degree-of-freedom mobile robot module. The system comprises a rack, two magnetic suspension guide rails, two vertical guide rails, two magnetic suspension sliding blocks, a servo motor, a motor installing plate, screws, nuts, a seven-line resistive touch screen, and a robot module. The two magnetic suspension guide rails are fixed on the top of the rack in parallel. The two magnetic suspension sliding blocks are respectively suspended on the two magnetic suspension guide rails. The middle parts of the two magnetic suspension sliding blocks are fixed through a cross rod. The two vertical guide rails are fixed on the cross rod and pass through the robot module. The servo motor is installed on the middle part of the cross rod through the motor installing plate. The output shaft of the servo motor is connected with the screws. The screws and the nuts form a ball screw mechanism. The nuts are fixed on the robot module. The tail end of the robot module makes contact with the seven-line resistive touch screen. The system breaks bulk movement of the robot module to movements in a horizontal direction and a vertical direction in an equivalent and isochronal manner, and on the horizontal direction, no force does negative work, providing convenience for calculating efficiency.
Description
Technical field
The present invention relates to a kind of experimental system, be specifically related to a kind of land experimental system being applied to two-freedom mobile robot module.
Background technology
Along with the development of computer system, Robotics is progress constantly, and robot kind constantly increases.Except being generally used for manufacturing industrial robot, have also appeared the locomotive being such as applied to space flight, the operating robot being applied to medical treatment, be applied to family service robot, be applied to each field specialized robots such as military removal of mines robot.
The initial stage of robot development must be investigated the performance parameter of robot various aspects by experiment, and building of experiment porch is most important.For the robot of different purposes, different performance, need build different experiment porchs, experiment could be successful, and it is closely bound up with the rationality of experiment porch whether experimental result is credible.In existing robot test platform, the motion of many use spherical guides to robot is decomposed, but still has larger frictional resistance to exist, and not easily measures and affects experimental result; Robot puts on the pressure on ground can not fine adjustment automatically, at foot end sensor installation thus the method measuring pressure is also limited to the shape size of robot foot end, too increases the complexity of robot itself in addition on the one hand; For the kinetic characteristic of robot module, such as gait feature, movement velocity etc., existing platform can not realize automatic measurement completely, loaded down with trivial details and degree of accuracy is not high.Therefore, in order to shorten robot development's cycle, improve experimental reliability, a kind of land experimental system being applied to two-freedom mobile robot module is arisen at the historic moment.
Summary of the invention
The object of the invention is to, for existing two-freedom mobile robot module, provide a kind of land experimental system being applied to two-freedom mobile robot module, with verifier people exercise performance on land.This experimental system needs to meet following requirement: the motion of, effectively decomposing two degree of freedom; Two, vertical direction can regulate arbitrarily robot module to the pressure on ground; Three, system can accurate recording robot gait feature, and can obtain horizontal motion displacement and speed; Four, horizontal direction does not have power to do negative work to robot, so that the calculating of later stage robot motion efficiency.
According to above requirement, technical scheme of the present invention is:
Be applied to a land experimental system for two-freedom mobile robot module, comprise frame, two magnetic suspended guides, two upright guide rails, two magnetic levitation slide blocks, servomotor, motor mounting plate, screw rod, nut, seven wire resistive touch screens and robot module; Two magnetic suspended guides are parallel is fixed on frame top, and two magnetic levitation slide blocks are suspended on two magnetic suspended guides respectively, and the middle part of two magnetic levitation slide blocks is fixed by cross bar; Two upright guide rails are fixed on described cross bar, and through robot module, described servomotor is arranged in the middle part of described cross bar by motor mounting plate, the output shaft connecting screw rod of servomotor, screw rod and nut form ball screw framework, and described nut is fixed on robot module; The end of described robot module contacts with seven wire resistive touch screens.
The built-in laser sensor of described magnetic levitation slide block, can read machine people module movement velocity in the horizontal direction and displacement in real time.
Described seven wire resistive touch screens can respond to actual touch screen terminal voltage, accurately calculate robot module's end to ground applied pressure.This force value and desired pressure are inputted servo control unit, control motor driven ball screws mechanism, thus output device people module is in the displacement of vertical direction, namely to the pressure on ground.Described seven wire resistive touch screens can accurate set feeler coordinate, thus the movement locus of robot end in record motion process, help verifier people motion gait.
Compared with prior art, the invention has the beneficial effects as follows:
Present system decompose when the mass motion of robot module equivalence is waited horizontally with the motion of vertical direction, and horizontal direction does not have power to do negative work, facilitates the problems such as counting yield.Vertical direction can regulate arbitrarily robot module to the pressure on ground, is convenient to compare experiment.System energy accurate recording robot gait feature, robot module's movement velocity and displacement, provide sufficient certificate parameter.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is control pressurer system block diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, specific embodiments of the invention are further described in detail.
See Fig. 1, a kind of land experimental system being applied to two-freedom mobile robot module, comprise frame 1, two magnetic suspended guides 2a, 2b, two upright guide rails 3a, 3b, two magnetic levitation slide blocks 4a, 4b, servomotor 5, motor mounting plate 6, screw rod 7, nut 8, seven wire resistive touch screens 9 and robot module 10; Two magnetic suspended guides 2a, 2b are parallel is fixed on frame 1 top, and two magnetic levitation slide blocks 4a, 4b are suspended on two magnetic suspended guides 2a, 2b respectively, and the middle part of two magnetic levitation slide blocks 4a, 4b is fixed by cross bar; Two upright guide rails 3a, 3b are fixed on described cross bar, and through robot module 10, described servomotor 5 is arranged in the middle part of described cross bar by motor mounting plate 6, the output shaft connecting screw rod 7 of servomotor 5, screw rod 7 and nut 8 form ball screw framework, and described nut 8 is fixed on robot module 10; The end 12 of described robot module 10 contacts with seven wire resistive touch screens 9.
The built-in laser sensor 11 of described magnetic levitation slide block 4a, records robot module 10 in real time along the displacement of direction of motion and speed.
Principle of work of the present invention is as follows:
Seven wire resistive touch screens 9 calculate end 12 pairs of ground applied pressures that can obtain robot module 10 by data acquisition.The control of this place's pressure survey and servomotor 5 forms a feedback unit, servomotor 5 drive screw 7 rotates, thus export nut 8 linearly displacement, nut 8 is fixed with robot module 10, the displacement of robot module 10 at vertical direction is so export, the pressure on control module 10 pairs of ground whereby, described control pressurer system is see Fig. 2.
Seven wire resistive touch screens 9 also accurately can provide the coordinate of the end 12 pressure application point of robot module 10, by robot module 10 end movement track in record motion process, are able to the motion gait of verifier people module 10.
Structure of the present invention is not limited to the embodiment described in embodiment, other the embodiment that those skilled in the art's technical scheme according to the present invention draws, belongs to technological innovation scope of the present invention equally.
Claims (2)
1. one kind is applied to the land experimental system of two-freedom mobile robot module, it is characterized in that: comprise frame (1), two magnetic suspended guides (2a, 2b), two upright guide rails (3a, 3b), two magnetic levitation slide blocks (4a, 4b), servomotor (5), motor mounting plate (6), screw rod (7), nut (8), seven wire resistive touch screens (9) and robot module (10); Two magnetic suspended guides (2a, 2b) are parallel is fixed on frame (1) top, and two magnetic levitation slide blocks (4a, 4b) are suspended on two magnetic suspended guides (2a, 2b) respectively, and the middle part of two magnetic levitation slide blocks (4a, 4b) is fixed by cross bar; Two upright guide rails (3a, 3b) are fixed on described cross bar, and through robot module (10), described servomotor (5) is arranged in the middle part of described cross bar by motor mounting plate (6), the output shaft connecting screw rod (7) of servomotor (5), screw rod (7) and nut (8) form ball screw framework, and described nut (8) is fixed on robot module (10); The end (12) of described robot module (10) contacts with seven wire resistive touch screens (9).
2. the land experimental system being applied to two-freedom mobile robot module according to claim 1, is characterized in that: the built-in laser sensor of described magnetic levitation slide block (4a) (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510336001.8A CN104882061B (en) | 2015-06-17 | 2015-06-17 | Land experimental system applied to two-freedom mobile robot module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510336001.8A CN104882061B (en) | 2015-06-17 | 2015-06-17 | Land experimental system applied to two-freedom mobile robot module |
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| Publication Number | Publication Date |
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| CN104882061A true CN104882061A (en) | 2015-09-02 |
| CN104882061B CN104882061B (en) | 2017-07-25 |
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| CN201510336001.8A Active CN104882061B (en) | 2015-06-17 | 2015-06-17 | Land experimental system applied to two-freedom mobile robot module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625779A (en) * | 2017-01-19 | 2017-05-10 | 长安大学 | Performance test platform and test method of dynamic response for footling bionic robots |
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| US5501114A (en) * | 1993-09-28 | 1996-03-26 | National Aerospace Laboratory Of Science & Technology | Three-dimensional free motion apparatus |
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| CN106625779B (en) * | 2017-01-19 | 2024-04-02 | 长安大学 | Dynamic response performance test platform and test method for foot-type bionic robot |
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| Publication number | Publication date |
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| CN104882061B (en) | 2017-07-25 |
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