CN104890005A - Spherical space based under-actuated robot wrist mechanism - Google Patents
Spherical space based under-actuated robot wrist mechanism Download PDFInfo
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- CN104890005A CN104890005A CN201510352469.6A CN201510352469A CN104890005A CN 104890005 A CN104890005 A CN 104890005A CN 201510352469 A CN201510352469 A CN 201510352469A CN 104890005 A CN104890005 A CN 104890005A
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Abstract
The invention relates to a spherical space based under-actuated robot wrist mechanism. The spherical space based under-actuated robot wrist mechanism comprises an executing connector and an arm frame, wherein the executing connector is provided with a spherical cavity, and an upper adjustable round plate and a lower adjustable round plate are arranged at the central position of the spherical cavity and are fixedly connected with the arm frame through bolts. Three power frames can be fixed to different bolt holes of the adjustable round plate as required, a power source is installed at the ends of two power frames of the three power frames respectively, the power source is connected with one rolling wheel shaft through a haw clutch, and a rolling wheel is installed on each rolling wheel shaft and is in rolling contact with the inner wall of the spherical space of the executing connector. The end of another power frame is directly provided with a rolling wheel and is in rolling contact with the inner wall of the spherical space of the executing connector. Due to the fact that the rolling wheels of the spherical space based under-actuated robot wrist mechanism is purely in rolling contact with the executing connector, and no gap exists between the rolling wheels and the executing connector, so that errors are smaller, no return error exists, and accuracy is high.
Description
Technical field
The present invention relates to a kind of under-actuated robot wrist mechanism based on diameter of Spherical Volume.
Background technology
Similar to the mankind, the function of robot generally needs to be realized by robotic arm manipulation, and wrist is then the important device of contact arm and paw, and its design is one of key technology of robot.For the robot wrist of routine, because one degree of freedom needs a power source (as motor etc.), and the quality of power source often accounts for the major part of joint gross mass, so the significant weak point of robot wrist's class device of routine is: device adopts the mode driven completely, cause mechanical mechanism more complicated, volume is comparatively large, and quality is comparatively large, and cost is higher.
Underactuatuated drive then refers to that power source is less than the mechanism of degree of freedom in system, lack of driven robot is a kind of robot containing underactuatuated drive, because it has, volume is little, lightweight, cost is low, energy consumption is low, flexibility high, therefore cause the extensive concern of scholars, become the new focus of robot field's research.Just under this background, the present invention proposes a kind of under-actuated robot wrist based on diameter of Spherical Volume, its mechanism is simple, lightweight, has a good application prospect.
Summary of the invention
The present invention directly adds underactuatuated drive in execution connector inside, eliminates the power source of external complex, has saved cost and quality, improve precision simultaneously.For achieving the above object, the present invention adopts following technical scheme: a kind of under-actuated robot wrist mechanism based on diameter of Spherical Volume comprises, one performs connector and a jib, it is characterized in that: described execution connector has a spherical hollow space having the adjustable plectane of upper and lower two panels to be fixedly connected with jib by bolt in this spherical hollow space center; Three power racks can be fixed in bolts hole different in adjustable plectane as required, a power source is respectively equipped with in two power rack ends in these three power racks, power source connects a roller shaft through a jaw clutch, roller shaft respectively fills a roller, this roller and the inwall Structure deformation performing connector spherical hollow space; A roller is directly equipped with in another power rack end, this roller and the inwall Structure deformation performing connector spherical hollow space.As shown in fig. 1, A, B two place's structures are completely the same, C place structure relative to A, B two place without motor, the axis of three rollers and the centre of sphere of execution connector must determine a plane D, and three rollers can by regulating the angle between the fixed position adjustment roller of power rack on adjustable plectane in plane D.
As shown in Figure 1, roller 1,2 is rollers that dynamic source drives, and its angular displacement is respectively
, then the angular speed of roller 1,2 is the first derivative of angular displacement respectively
,
, roller 3 is rollers that passive delivery drives, and its angular displacement is
,
the angular displacement performing connector, then
be the angular speed performing connector, r is roller radius, and R is execution connector radius,
mechanism's angle,
be perform connector pivot center and perform the angle of the connector centre of sphere with roller barycenter line, in mechanism, be 120 °, A, B two place's roller and execution connector contact point place perform the speed of connector can by formula:
Obtain, in above formula (1), (2) because
angle is constantly change, so be non-integrable,
Namely to the constraint of speed, drive lacking travel mechanism is constituted.(1) formula ratio (2) Shi Ke get:
So can obtain β angle, the rotating shaft namely performing connector just can be determined, and changes along with the change of driving rolls input angular velocity.
The present invention compared with prior art, there is following apparent outstanding substantive distinguishing features and marked improvement: because this roller based on the under-actuated robot wrist mechanism of diameter of Spherical Volume is that pure rolling contacts with execution connector, gapless between roller and execution connector, so error is less, also there is not hysterisis error, precision is high.
This under-actuated robot wrist mechanism based on diameter of Spherical Volume can by regulating the angle between the fixed position adjustment roller of power rack on adjustable plectane, and during adjustment, with the execution connector centre of sphere, the axis of roller must determine that a plane is to form underactuatuated drive.When this under-actuated robot wrist mechanism based on diameter of Spherical Volume is applied in robot wrist mechanism, A, B two angular speed of place's roller can be regulated by power source, by A, B two roller and the different driving performing connector contact point place speed perform connector to do Three Degree Of Freedom movement in space, i.e. the motion of robot wrist.For the under-actuated robot wrist mechanism based on diameter of Spherical Volume, the axis of three rollers in this programme is unique with performing connector centre of sphere structure at grade, because when adopting a roller or two rollers, mechanism cannot realize.
Accompanying drawing explanation
Fig. 1 is based on the under-actuated robot wrist mechanism principle figure of diameter of Spherical Volume;
Fig. 2 is based on the under-actuated robot wrist mechanism half sectional view of diameter of Spherical Volume;
The F of Fig. 3 Fig. 2 is to partial view;
The N direction view of Fig. 4 Fig. 2;
Fig. 5 roller shaft and power source bindiny mechanism schematic diagram, in figure, (a) is longitudinal sectional view,
B () is E-E place sectional view in figure (a);
The structural representation of Fig. 6 is adjustable plectane, in figure, (a) is front view, and (b) is in figure (a)
G-G place sectional view.
Detailed description of the invention
Details are as follows by reference to the accompanying drawings for preferred case study on implementation of the present invention:
Case study on implementation one:
See Fig. 1-Fig. 6, this under-actuated robot wrist mechanism based on diameter of Spherical Volume comprises: one performs connector (1) and a jib (8).It is characterized in that: described execution connector (1) has a spherical hollow space, have the adjustable plectane of upper and lower two panels (2) to be fixedly connected with jib (8) by bolt in this spherical hollow space center; Three power racks (3) can be fixed in bolts hole different in adjustable plectane (2) as required, a power source (4) is respectively equipped with in two power rack (3) ends in these three power racks (3), power source (4) connects a roller shaft (7) through a jaw clutch (5), roller shaft (7) is above each fills a roller (6), this roller (6) and the inwall Structure deformation performing connector (1) spherical hollow space; A roller (6) is directly equipped with in another power rack (3) end, and roller (6) and the inwall Structure deformation performing connector (1) spherical hollow space.A, B Liang Chu mechanism is completely the same, mechanism of C place is relative to A, B two place's passive delivery (4), the axis of three rollers (6) and the centre of sphere of execution connector (1) must determine a plane D, and three rollers (6) can by regulating the angle between fixed position adjustment roller (6) of power rack (3) on adjustable plectane (2) in plane D.
Power source (4) be used for driving rolls (6) rotate, the axis of three rollers (6) and the centre of sphere of execution connector (1) must determine a plane D, and three rollers (6) can by regulating the angle between fixed position adjustment roller (6) of power rack (3) on adjustable plectane (2) in plane D.Because this is based on the mechanical feature of the under-actuated robot wrist mechanism of diameter of Spherical Volume, the speed performing connector (1) at A place roller (6) and execution connector (1) contact point place is equal with the speed of roller (6), the same speed performing connector (1) at B place roller (6) and execution connector (1) contact point place is equal with the speed of roller (6), can obtain at A, B two place roller (6) performs the speed of connector (1) with performing connector (1) contact point place, because the axis that execution connector (1) is rotated is constantly change, namely performing axis that connector (1) rotates with the angle performing connector (1) centre of sphere and roller (6) barycenter line is constantly change, so, constitute drive lacking travel mechanism.
Because this roller (6) based on the under-actuated robot wrist mechanism of diameter of Spherical Volume is that pure rolling contacts with execution connector (1), gapless between roller (6) and execution connector (1), so error is less, also there is not hysterisis error, precision is high.
This under-actuated robot wrist mechanism based on diameter of Spherical Volume can by regulating the angle between fixed position adjustment roller (6) of power rack (3) on adjustable plectane (2), the axis of the roller (6) that three power racks (3) are corresponding to be ensured during adjustment and perform the centre of sphere of connector (1) on same plane D, to form drive lacking travel mechanism.When this under-actuated robot wrist mechanism based on diameter of Spherical Volume is applied in robot mechanism, power source (4) can be passed through and regulate A, B two angular speed of place's roller (6), by A, B two roller (6) and the different driving performing connector (1) contact point place speed perform connector (1) to do Three Degree Of Freedom movement in space, i.e. the motion of robot wrist.Simultaneously, for the under-actuated robot wrist mechanism based on diameter of Spherical Volume, the axis of three rollers (6) in this programme and execution connector (1) centre of sphere at grade mechanism are unique, because when adopting one or two roller (6), mechanism cannot realize.
Claims (2)
1. the under-actuated robot wrist mechanism based on diameter of Spherical Volume, comprise, one performs connector (1) and a jib (8), it is characterized in that: described execution connector (1) has a spherical hollow space, have the adjustable plectane of upper and lower two panels (2) to be fixedly connected with jib (8) by bolt in this spherical hollow space center; Three power racks (3) can be fixed in bolts hole different in adjustable plectane (2) as required, a power source (4) is respectively equipped with in two power rack (3) ends in these three power racks (3), power source (4) connects a roller shaft (7) through a jaw clutch (5), roller shaft (7) is above each fills a roller (6), this roller (6) and the inwall Structure deformation performing connector (1) spherical hollow space; A roller (6) is directly equipped with and this roller (6) and the inwall Structure deformation performing connector (1) spherical hollow space in another power rack (3) end.
2. according to claim 1, this under-actuated robot wrist mechanism based on diameter of Spherical Volume can by regulating the angle between fixed position adjustment roller (6) of power rack (3) on adjustable plectane (2), the axis of the roller (3) that three power racks (3) three place is corresponding to be ensured during adjustment and perform the centre of sphere of connector (1) at grade, to form drive lacking travel mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510352469.6A CN104890005B (en) | 2015-06-24 | 2015-06-24 | Spherical space based under-actuated robot wrist mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510352469.6A CN104890005B (en) | 2015-06-24 | 2015-06-24 | Spherical space based under-actuated robot wrist mechanism |
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| CN104890005A true CN104890005A (en) | 2015-09-09 |
| CN104890005B CN104890005B (en) | 2017-01-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058417A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist sliding guide ring device of three-degree-of-freedom underactuated robot |
| CN105058415A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist spherical hinge mechanism of three-degree-of-freedom underactuated robot |
| CN106741262A (en) * | 2016-12-22 | 2017-05-31 | 深圳市智能机器人研究院 | A kind of ball shape robot |
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2015
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058417A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist sliding guide ring device of three-degree-of-freedom underactuated robot |
| CN105058415A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist spherical hinge mechanism of three-degree-of-freedom underactuated robot |
| CN106741262A (en) * | 2016-12-22 | 2017-05-31 | 深圳市智能机器人研究院 | A kind of ball shape robot |
| CN106741262B (en) * | 2016-12-22 | 2018-10-12 | 深圳市智能机器人研究院 | A kind of ball shape robot |
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| CN104890005B (en) | 2017-01-25 |
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