CN105690366A - Design method of nanoscale precision flexible robot - Google Patents
Design method of nanoscale precision flexible robot Download PDFInfo
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- CN105690366A CN105690366A CN201610276205.1A CN201610276205A CN105690366A CN 105690366 A CN105690366 A CN 105690366A CN 201610276205 A CN201610276205 A CN 201610276205A CN 105690366 A CN105690366 A CN 105690366A
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- flexible robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
The invention discloses a design method of a nanoscale precision flexible robot, which comprises the following steps: (1) designing indexes; (2) integrating rigid body mechanisms; (3) replacing a flexible hinge, and obtaining an initial model; (4) obtaining a pseudo-rigid-body model; (5) carrying out mechanism kinematic analysis which includes two types, namely static stiffness index analysis and mechanism dynamics index analysis; (6) determining whether a stiffness index is met or not and whether a mechanism dynamics index is met or not. According to the invention, via the design method and design on the aspects of a material, the flexible hinge, a driver, motion, a load, machining and the like, the mechanical structure of the robot can be guaranteed to be high in precision and resolution, positioning precision of the driver can reach the nanoscale, a relationship between an output displacement and an input voltage is approximate to a linear relationship, superiority of design of a flexible mechanism adopting a parallel structure is achieved, and feasibility of a large space and high precision of the tail end of the robot is achieved.
Description
Technical field
The present invention relates to Robot Design technical field, be specifically related to the method for designing of a kind of nano-precision flexible robot。
Background technology
Flexible robot belongs to the category of compliant mechanism, and flexible hinge robot is the appellation that it is conventional。It relies primarily on the deformation of flexible hinge and produces motion, exempts from assembling, gapless and friction free design by employing and realizes the even nano level high accuracy of micron。Microsurgery etc. therefore this kind of mechanism is used to subtle operation field more, in micro-location in bionic cell manipulation, MEMS technology, micro assemby and engineering in medicine。Although flexible robot applies more, but at present that the understanding of this kind of mechanism is also not enough, not yet forming Systems Theory, great majority design is dependent on the intuition of designer and completes with experience。Although Berglund and Pernette etc. have done a few thing in the design and method of flexible robot, but the former is mainly plane mechanism by targeted object, and the latter's not system, still lack system and effective method particularly with the design of flexible space manipulators。
Summary of the invention
For problem above, the invention provides the method for designing of a kind of nano-precision flexible robot, by this method for designing and at material, flexible hinge, driver, the design of motion and several aspect such as load and processing, frame for movement can ensureing, this robot has significantly high precision and resolution, driver positioning precision is up to nanoscale, output displacement and input voltage relation are approximately linear, adopt the superiority of the compliant mechanism design of parallel-connection structure and realize robot end's large space and high-precision feasibility, can effectively solve the problem in background technology。
To achieve these goals, the technical solution used in the present invention is as follows: the method for designing of a kind of nano-precision flexible robot, comprises the steps:
(1) design objective；
(2) comprehensive regid mechanism；
(3) flexible hinge is replaced, and obtains initial model；
(4) oblique mining is obtained；
(5) kinematic analysis of mechanism, it is divided into quiet stiffness index analysis and mechanism dynamic index analysis two class；
(6) judge whether meet stiffness index and whether meet mechanism dynamic index, if meeting stiffness index and meeting mechanism dynamic index, then obtain final compliant mechanism；If being unsatisfactory for stiffness index, optimize flexible hinge, if being unsatisfactory for mechanism dynamic index, then judge to be modified oblique mining to improve mechanism performance, if oblique mining can be modified to improve mechanism performance, then revise oblique mining, and return step (5), if oblique mining can not be modified to improve mechanism performance, then judge to be modified rigid model to improve mechanism performance, if rigid model can be modified to improve mechanism performance, then revise rigid model, and repeat step (3), if rigid model can not be modified to improve mechanism performance, then return step (2)。
As a kind of preferred technical scheme of the present invention, the deformation component material selection of this nano-precision flexible robot beryllium-bronze QBe2, non-deformed component materials is tin bronze QSn6.5 1, and the parameter of mechanism is optimized with maximal work space for object function。
As a kind of preferred technical scheme of the present invention, the driving element of this flexible robot adopts 3 road lamination type high-voltage piezoelectric driver P-178.37。
As a kind of preferred technical scheme of the present invention, the Piezoelectric Driving part of this flexible robot adopts PZT driver control system, it is made up of main control computer, amplifier, PZT, deformeter and A/D, main control computer is made up of control rate part and D/A, and control rate part is sequentially connected with amplifier, PZT, deformeter and A/D by D/A。
As a kind of preferred technical scheme of the present invention, this flexible robot adopts the compliant mechanism of parallel-connection structure。
Beneficial effects of the present invention:
The present invention passes through this method for designing and the design in material, flexible hinge, driver, motion and load and processing etc. are several, frame for movement can ensureing, this robot has significantly high precision and resolution, driver positioning precision is up to nanoscale, output displacement and input voltage relation are approximately linear, adopt the superiority of the compliant mechanism design of parallel-connection structure and realize robot end's large space and high-precision feasibility。
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated。Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention。
Embodiment
The method for designing of a kind of nano-precision flexible robot, comprises the steps:
(1) design objective；
(2) comprehensive regid mechanism；
(3) flexible hinge is replaced, and obtains initial model；
(4) oblique mining is obtained；
(5) kinematic analysis of mechanism, it is divided into quiet stiffness index analysis and mechanism dynamic index analysis two class；
(6) judge whether meet stiffness index and whether meet mechanism dynamic index, if meeting stiffness index and meeting mechanism dynamic index, then obtain final compliant mechanism；If being unsatisfactory for stiffness index, optimize flexible hinge, if being unsatisfactory for mechanism dynamic index, then judge to be modified oblique mining to improve mechanism performance, if oblique mining can be modified to improve mechanism performance, then revise oblique mining, and return step (5), if oblique mining can not be modified to improve mechanism performance, then judge to be modified rigid model to improve mechanism performance, if rigid model can be modified to improve mechanism performance, then revise rigid model, and repeat step (3), if rigid model can not be modified to improve mechanism performance, then return step (2)。
The deformation component material selection of this nano-precision flexible robot beryllium-bronze QBe2, non-deformed component materials is tin bronze QSn6.5 1, and the parameter of mechanism is optimized with maximal work space for object function。
The driving element of this flexible robot adopts 3 road lamination type high-voltage piezoelectric driver P-178.37。
The Piezoelectric Driving part of this flexible robot adopts PZT driver control system, it is made up of main control computer, amplifier, PZT, deformeter and A/D, main control computer is made up of control rate part and D/A, and control rate part is sequentially connected with amplifier, PZT, deformeter and A/D by D/A。
This flexible robot adopts the compliant mechanism of parallel-connection structure。
The present invention passes through this method for designing and the design in material, flexible hinge, driver, motion and load and processing etc. are several, frame for movement can ensureing, this robot has significantly high precision and resolution, driver positioning precision is up to nanoscale, output displacement and input voltage relation are approximately linear, adopt the superiority of the compliant mechanism design of parallel-connection structure and realize robot end's large space and high-precision feasibility。
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention。
Claims (5)
1. the method for designing of a nano-precision flexible robot, it is characterised in that comprise the steps:
(1) design objective；
(2) comprehensive regid mechanism；
(3) flexible hinge is replaced, and obtains initial model；
(4) oblique mining is obtained；
(5) kinematic analysis of mechanism, it is divided into quiet stiffness index analysis and mechanism dynamic index analysis two class；
(6) judge whether meet stiffness index and whether meet mechanism dynamic index, if meeting stiffness index and meeting mechanism dynamic index, then obtain final compliant mechanism；If being unsatisfactory for stiffness index, optimize flexible hinge, if being unsatisfactory for mechanism dynamic index, then judge to be modified oblique mining to improve mechanism performance, if oblique mining can be modified to improve mechanism performance, then revise oblique mining, and return step (5), if oblique mining can not be modified to improve mechanism performance, then judge to be modified rigid model to improve mechanism performance, if rigid model can be modified to improve mechanism performance, then revise rigid model, and repeat step (3), if rigid model can not be modified to improve mechanism performance, then return step (2)。
2. the method for designing of a kind of nano-precision flexible robot according to claim 1, it is characterized in that, the deformation component material selection of this nano-precision flexible robot beryllium-bronze QBe2, non-deformed component materials is tin bronze QSn6.5 1, and the parameter of mechanism is optimized with maximal work space for object function。
3. the method for designing of a kind of nano-precision flexible robot according to claim 1, it is characterised in that the driving element of this flexible robot adopts 3 road lamination type high-voltage piezoelectric driver P-178.37。
4. the method for designing of a kind of nano-precision flexible robot according to claim 1, it is characterized in that, the Piezoelectric Driving part of this flexible robot adopts PZT driver control system, it is made up of main control computer, amplifier, PZT, deformeter and A/D, main control computer is made up of control rate part and D/A, and control rate part is sequentially connected with amplifier, PZT, deformeter and A/D by D/A。
5. the method for designing of a kind of nano-precision flexible robot according to claim 1, it is characterised in that this flexible robot adopts the compliant mechanism of parallel-connection structure。
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| CN201610276205.1A CN105690366A (en) | 2016-04-29 | 2016-04-29 | Design method of nanoscale precision flexible robot |
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| CN201610276205.1A CN105690366A (en) | 2016-04-29 | 2016-04-29 | Design method of nanoscale precision flexible robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5129279A (en) * | 1991-02-28 | 1992-07-14 | Rennex Brian G | Flexible robotic limb |
| US8257991B1 (en) * | 2008-04-10 | 2012-09-04 | Intelligent Fiber Optic Systems, Inc. | Process for manufacturing shell membrane force and deflection sensor |
| CN203146730U (en) * | 2013-03-11 | 2013-08-21 | 成都海翰机械设备有限公司 | Pseudo-rigid-body model of flexible slider crank mechanism |
| CN203245879U (en) * | 2012-09-28 | 2013-10-23 | 北京工业大学 | A planar parallel mechanism experimental apparatus with three flexible hinges |
| CN105364940A (en) * | 2014-08-28 | 2016-03-02 | 东北师范大学附属中学 | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device |
-
2016
- 2016-04-29 CN CN201610276205.1A patent/CN105690366A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5129279A (en) * | 1991-02-28 | 1992-07-14 | Rennex Brian G | Flexible robotic limb |
| US8257991B1 (en) * | 2008-04-10 | 2012-09-04 | Intelligent Fiber Optic Systems, Inc. | Process for manufacturing shell membrane force and deflection sensor |
| CN203245879U (en) * | 2012-09-28 | 2013-10-23 | 北京工业大学 | A planar parallel mechanism experimental apparatus with three flexible hinges |
| CN203146730U (en) * | 2013-03-11 | 2013-08-21 | 成都海翰机械设备有限公司 | Pseudo-rigid-body model of flexible slider crank mechanism |
| CN105364940A (en) * | 2014-08-28 | 2016-03-02 | 东北师范大学附属中学 | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device |
Non-Patent Citations (1)
| Title |
|---|
| 于靖军等: "纳米级精度柔性机器人的设计方法及实现研究", 《中国机械工程》 * |
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Application publication date: 20160622 |