CN105598996A - Novel under-actuated robot wrist device based on nonholonomic constraint - Google Patents
Novel under-actuated robot wrist device based on nonholonomic constraint Download PDFInfo
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- CN105598996A CN105598996A CN201610093116.3A CN201610093116A CN105598996A CN 105598996 A CN105598996 A CN 105598996A CN 201610093116 A CN201610093116 A CN 201610093116A CN 105598996 A CN105598996 A CN 105598996A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The invention relates to a novel under-actuated robot wrist device based on nonholonomic constraint. The novel under-actuated robot wrist device based on nonholonomic constraint comprises a fixed platform, a movable platform, two branch mechanism chains, two drive power sources and a middle constraint device. The fixed platform is connected with the movable platform through the two branch mechanism chains. The two branch mechanism chains are driven by the two drive power sources for transmission through two branch mechanisms, the nonholonomic constraint is formed by the middle constraint device, and then three-freedom-degree motion of the movable platform is achieved. A three-freedom-degree parallel mechanism driven by the two power sources is adopted for three-freedom-degree motion, power sources are fewer, a wrist is small in size, low in weight and low in cost, and only a low control system is needed. The device is simple in structure and reliable in work, can serve as a joint of a robot, and is used for driving more arm joint freedom degrees through a few power sources.
Description
Technical field
The present invention relates to a kind of robot wrist device, particularly a kind of novel under-actuated robot wrist device based on nonholonomic constraint.
Background technology
Lack of driven structure refers to controls the mechanism that discrepancy is less than degree of freedom in system, lack of driven robot is a kind of robot that contains lack of driven structure, because it has, volume is little, lightweight, cost is low, energy consumption is low, flexibility high, therefore cause scholars' extensive concern, become the new focus of robot field's research. Lack of driven robot appears at all trades and professions with various ways such as robot for space, underwater robot, mobile robot, walking robot, parallel robot, servo robot and flexible robots respectively.
Parallel institution can be defined as moving platform and fixed platform by least two independently kinematic chain be connected, mechanism has two or more frees degree, and a kind of close loop mechanism driving with parallel way. Parallel institution has without accumulated error, and precision is higher; Drive unit can be placed on fixed platform or approach the position of fixed platform, and motion parts is lightweight like this, and speed is high, and dynamic response is good, compact conformation, and rigidity is high, and bearing capacity is large, and the parallel institution of full symmetric has good isotropism.
Similar to the mankind, the function of robot will realize by robotic arm manipulation, and wrist is the important device of contact arm and paw, its design be one of key technology of robot. Existing robot wrist is generally three degree of freedom, all uses three motors to realize three degree of freedom. Because one degree of freedom need to be supported by 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 this class device is: this device adopts the mode driving completely, cause frame for movement more complicated, volume is larger, quality is larger, and cost is higher.
Summary of the invention
The object of the invention is the defect that has technology to exist for above-mentioned, a kind of novel under-actuated robot wrist device based on nonholonomic constraint is provided. This device is with two power sources, and its moving platform has three degree of freedom, and simple in structure, reliable, volume is little, lightweight, and cost is low, is easy to processing, is easy to safeguard. This device can be used as robot wrist or multiple series connection forms robot arm.
For achieving the above object, design of the present invention is:
Novel under-actuated robot wrist device based on nonholonomic constraint of the present invention, contains silent flatform, moving platform, connects their branch's chain mechanism and middle restraint device. Silent flatform connects moving platform by Liang Ge branch chain, and Liang Ge branch chain all has drive source, and middle restraint device forms a nonholonomic constraint, thereby has realized the three-degree-of-freedom motion of moving platform.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of novel under-actuated robot wrist device based on nonholonomic constraint, comprise a silent flatform, moving platform, Liang Ge branch chain, two driving power sources and a middle restraint device, described silent flatform connects described moving platform by described Liang Ge branch chain, described Liang Ge branch chain is under two drivings that drive power sources, through the chain transmission of Liang Ge branch, middle restraint device forms a nonholonomic constraint, thereby has realized the three-degree-of-freedom motion of moving platform.
In the middle of above-mentioned, the structure of restraint device is: a connecting rod one end is fixed on the lower surface of plectane, and the other end is fixedly connected with the inner surface of spherical connector, the inner surface of described spherical connector is fixedly connected with the outer ring of ball bearing, and described ball bearing does not contact with described connecting rod, one end of thin bar is fixedly connected with the inner ring of described ball bearing, roller rolls and contacts with the outer surface of above-mentioned spherical connector, be that roller and described spherical connector can not sliding-contacts, can only be close to described spherical connector rolls, gapless between spherical connector and roller, cross the centre of sphere of spherical connector and the roller central shaft of roller and form a plane, in the process of described moving platform rotation, described spherical connector can be followed moving platform and be rotated together, roller is just vertical with above-mentioned plane with the velocity attitude at spherical connector contact point place, the formation of incomplete constraint of velocity, because the arbitrary line of the centre of sphere of the described spherical connector of process all can be used as the rotating shaft of described spherical connector, described spherical connector can rotate around this root rotating shaft, roller and support are rotationally connected, support is fixed on described pedestal upper surface.
The structure of above-mentioned silent flatform is: the first motor fixing frame is fixed on pedestal upper surface, and the other end connects branch's chain in described Liang Ge branch chain; The second motor fixing frame is also fixed on pedestal upper surface, and the other end connects another branch's chain in described Liang Ge branch chain, and the second motor fixing frame and described the first motor fixing frame are symmetrically distributed.
Above-mentioned two driving power sources are two motors, the first motor and the second motor are separately fixed at described the first motor fixing frame lower surface and the second motor fixing frame lower surface, the output of the first motor and the second motor is connected with described Liang Ge branch chain respectively, two motors drive described Liang Ge branch chain movement, thereby drive described moving platform motion simultaneously.
The structure of above-mentioned Liang Ge branch chain is: after on one first, connecting rod and first lower link form revolute pair, connect, form branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the first motor, the other end of this branch's chain is connected with moving platform, forms revolute pair; After on one second, connecting rod and second lower link form revolute pair, connect, form another branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the second motor, the other end of this branch's chain is connected with moving platform, forms revolute pair.
The structure of above-mentioned moving platform is: first moving platform connecting rod one end is fixed on described plectane lower surface, and on the first moving platform connecting rod other end and described first, connecting rod forms revolute pair; Second moving platform connecting rod one end is fixed on described plectane lower surface, and on the second moving platform connecting rod other end and described second, connecting rod forms revolute pair; The first moving platform connecting rod and the second moving platform connecting rod are symmetrically distributed.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
The 3-freedom parallel mechanism that the present invention adopts two power sources to drive is made three-degree-of-freedom motion, power source is few, volume with wrist is also little, lightweight, cost is low, only needs lower control system, the present invention is simple in structure, reliable operation, can be used as the joint of robot, drives the more arm joint free degree in order to realize less power source.
Brief description of the drawings
Fig. 1 is the front view of a kind of novel under-actuated robot wrist device embodiment based on nonholonomic constraint of the present invention.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the A-A cutaway view of Fig. 1.
Detailed description of the invention
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Referring to Fig. 1, Fig. 2, Fig. 3, a kind of novel under-actuated robot wrist device based on nonholonomic constraint, comprise a silent flatform, moving platform, Liang Ge branch chain, two driving power sources and a middle restraint device, described silent flatform connects described moving platform by described Liang Ge branch chain, described Liang Ge branch chain is respectively under two drivings that drive power sources, through the chain transmission of Liang Ge branch, middle restraint device forms a nonholonomic constraint, thereby has realized the three-degree-of-freedom motion of moving platform.
In the middle of described, the structure of restraint device is: connecting rod 10 one end are fixed on the lower surface of plectane 7, and the other end is fixedly connected with the inner surface of spherical connector 11, the inner surface of described spherical connector 11 is fixedly connected with the outer ring of ball bearing 17, and described ball bearing 17 does not contact with described connecting rod 10, one end of thin bar 12 is fixedly connected with the inner ring of described ball bearing 17, roller 18 rolls and contacts with the outer surface of above-mentioned spherical connector 11, being roller 18 can not sliding-contact with described spherical connector 11, can only be close to described spherical connector 11 rolls, gapless between spherical connector 11 and roller 18, cross the centre of sphere of spherical connector 11 and the roller central shaft of roller 18 and form a plane X, in the process of described moving platform rotation, described spherical connector 11 can be followed moving platform and be rotated together, roller 18 is just vertical with above-mentioned plane X with the velocity attitude at spherical connector 11 contact point places, the formation of incomplete constraint of velocity, because the arbitrary line of the centre of sphere of the described spherical connector 11 of process can both be served as the rotating shaft of described spherical connector 11, described spherical connector 11 rotates around this root rotating shaft, roller 18 is rotationally connected with support 13, support 13 is fixed on pedestal 1 upper surface.
The structure of described silent flatform is: the first motor fixing frame 2 is fixed on pedestal 1 upper surface, and the other end connects branch's chain in described Liang Ge branch chain; The second motor fixing frame 16 is also fixed on pedestal 1 upper surface, and the other end connects another branch's chain in described Liang Ge branch chain, and the second motor fixing frame 16 is symmetrically distributed with described the first motor fixing frame 2.
Described two driving power sources are two motors, the first motor 3 and the second motor 15 are separately fixed at described the first motor fixing frame 2 lower surfaces and the second motor fixing frame 16 lower surfaces, and the output of the first motor 3 and the second motor 15 is connected with described Liang Ge branch chain respectively.
The structure of described Liang Ge branch chain is: after on one first, connecting rod 5 and first lower link 4 form revolute pair, connect, form branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the first motor 3, the other end of this branch's chain is connected with moving platform, forms revolute pair; After on one second, connecting rod 9 and second lower link 14 form revolute pair, connect, form another branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the second motor 15, the other end of this branch's chain is connected with moving platform, forms revolute pair.
The structure of described moving platform is: first moving platform connecting rod 6 one end are fixed on described plectane 7 lower surfaces, and on first moving platform connecting rod 6 other ends and described first, connecting rod 5 forms revolute pair; Second moving platform connecting rod 8 one end are fixed on described plectane 7 lower surfaces, and on second moving platform connecting rod 8 other ends and described second, connecting rod 9 forms revolute pair; The first moving platform connecting rod 6 and the second moving platform connecting rod 8 are symmetrically distributed.
Claims (6)
1. the novel under-actuated robot wrist device based on nonholonomic constraint, comprise a silent flatform, moving platform, Liang Ge branch chain, two driving power sources and a middle restraint device, it is characterized in that: described silent flatform connects described moving platform by described Liang Ge branch chain, described Liang Ge branch chain is respectively under two drivings that drive power sources, through the chain transmission of Liang Ge branch, middle restraint device forms a nonholonomic constraint, thereby has realized the three-degree-of-freedom motion of moving platform.
2. the novel under-actuated robot wrist device based on nonholonomic constraint according to claim 1, it is characterized in that: in the middle of described, the structure of restraint device is: a connecting rod (10) one end is fixed on the lower surface of plectane (7), and the other end is fixedly connected with the inner surface of spherical connector (11), the inner surface of described spherical connector (11) is fixedly connected with the outer ring of ball bearing (17), and described ball bearing (17) does not contact with described connecting rod (10), one end of thin bar (12) is fixedly connected with the inner ring of described ball bearing (17), roller (18) rolls and contacts with the outer surface of above-mentioned spherical connector (11), being roller (18) can not sliding-contact with described spherical connector (11), can only be close to described spherical connector (11) rolls, gapless between spherical connector (11) and roller (18), cross the centre of sphere of spherical connector (11) and the roller central shaft of roller (18) and form a plane X, in the process of described moving platform rotation, described spherical connector (11) can be followed moving platform and be rotated together, roller (18) is just vertical with above-mentioned plane X with the velocity attitude at spherical connector (11) contact point place, the formation of incomplete constraint of velocity, because the arbitrary line of the centre of sphere of the described spherical connector of process (11) can both be served as the rotating shaft of described spherical connector (11), described spherical connector (11) rotates around this root rotating shaft, roller (18) is rotationally connected with support (13), support (13) is fixed on pedestal (1) upper surface.
3. the novel under-actuated robot wrist device based on nonholonomic constraint according to claim 1, it is characterized in that, the structure of described silent flatform is: the first motor fixing frame (2) is fixed on pedestal (1) upper surface, and the other end connects branch's chain in described Liang Ge branch chain; The second motor fixing frame (16) is also fixed on pedestal (1) upper surface, and the other end connects another branch's chain in described Liang Ge branch chain, and the second motor fixing frame (16) is symmetrically distributed with described the first motor fixing frame (2).
4. the novel under-actuated robot wrist device based on nonholonomic constraint according to claim 1, it is characterized in that, described two driving power sources are two motors, the first motor (3) and the second motor (15) are separately fixed at described the first motor fixing frame (2) lower surface and the second motor fixing frame (16) lower surface, and the output of the first motor (3) and the second motor (15) is connected with described Liang Ge branch chain respectively.
5. the novel under-actuated robot wrist device based on nonholonomic constraint according to claim 1, it is characterized in that, the structure of described Liang Ge branch chain is: connecting rod on one first (5) and first lower link (4) are connected after forming revolute pair, form branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the first motor (3), the other end of this branch's chain is connected with moving platform, forms revolute pair; Connecting rod on one second (9) and second lower link (14) are connected after forming revolute pair, form another branch's chain in Liang Ge branch chain, one end of this branch's chain is fixedly connected with the output of described the second motor (15), the other end of this branch's chain is connected with moving platform, forms revolute pair.
6. the novel under-actuated robot wrist device based on nonholonomic constraint according to claim 1, it is characterized in that, the structure of described moving platform is: first moving platform connecting rod (6) one end is fixed on described plectane (7) lower surface, and on first moving platform connecting rod (6) other end and described first, connecting rod (5) forms revolute pair; Second moving platform connecting rod (8) one end is fixed on described plectane (7) lower surface, and on second moving platform connecting rod (8) other end and described second, connecting rod (9) forms revolute pair; The first moving platform connecting rod (6) is symmetrically distributed with the second moving platform connecting rod (8).
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| CN201610093116.3A CN105598996B (en) | 2016-02-21 | 2016-02-21 | New under-actuated robot wrist device based on nonholonomic constraint |
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| CN201610093116.3A CN105598996B (en) | 2016-02-21 | 2016-02-21 | New under-actuated robot wrist device based on nonholonomic constraint |
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| CN105598996B CN105598996B (en) | 2017-12-19 |
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Cited By (4)
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| CN108406746A (en) * | 2018-03-19 | 2018-08-17 | 薛豪俊 | Drive lacking stroke adjustable crank device |
| CN108544479A (en) * | 2018-07-09 | 2018-09-18 | 燕山大学 | The three four-degree-of-freedom robots of branch with three-dimensional movement and one-dimensional rotation |
| CN113211460A (en) * | 2021-05-01 | 2021-08-06 | 吉林大学 | Device for improving machining rigidity of two single-arm industrial robots in non-contact mode |
| CN114770474A (en) * | 2022-05-10 | 2022-07-22 | 燕山大学 | Ball ring nested parallel stable platform of 3-RRR spherical mechanism and use method |
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| CN114770474A (en) * | 2022-05-10 | 2022-07-22 | 燕山大学 | Ball ring nested parallel stable platform of 3-RRR spherical mechanism and use method |
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| CN105598996B (en) | 2017-12-19 |
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