CN105690375A - Single degree-of-freedom four-bar mobile robot and control method thereof - Google Patents
Single degree-of-freedom four-bar mobile robot and control method thereof Download PDFInfo
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- CN105690375A CN105690375A CN201610202207.6A CN201610202207A CN105690375A CN 105690375 A CN105690375 A CN 105690375A CN 201610202207 A CN201610202207 A CN 201610202207A CN 105690375 A CN105690375 A CN 105690375A
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- rod
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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Abstract
The invention discloses a single degree-of-freedom four-bar mobile robot and a control method thereof. The single degree-of-freedom four-bar mobile robot comprises a first bar piece, a second bar piece, a third bar piece, a fourth bar piece and a motor. The weight of the first bar piece, the weight of the second bar piece and the weight of the third bar piece are the same, and the weight of the fourth bar piece is larger than the weight of the first bar piece, the weight of the second bar piece and the weight of the third bar piece; rotation connection of first bar piece and the second bar piece is achieved through a connecting shaft by means of the end A of the first bar piece and the end C of the second bar piece, rotation connection of the second bar piece and the fourth bar piece is achieved through a connecting shaft by means of the end D of the second bar piece and the end H of the fourth bar piece, and rotation connection of the first bar piece and the third bar piece is achieved through a connecting shaft by means of the end B of the first bar piece and the end F of the third bar piece; and the end E of the third bar piece is connected with the end G of the fourth bar piece through the motor. Jump ring grooves are formed in the two ends of each connecting shaft and used for conducting axial limiting on two connected rod pieces; the end E of the third jump ring is fixedly connected with the motor relatively; and a jackscrew hole is formed in a shaft hole in the end G of the fourth rod piece, and a motor shaft is fixedly connected with the fourth rod piece relatively. According to the single degree-of-freedom four-bar mobile robot and the control method, straight walking of the single degree-of-freedom robot on a plane is achieved, and deterministic steering motion of the single degree-of-freedom robot is achieved.
Description
Technical field
The present invention relates to robot and control field thereof, particularly relate to single-degree-of-freedom four rod mobile robot and control method thereof。
Background technology
Space connecting-rod mobile apparatus people's compact conformation, mobile various informative。Wherein space robot of single degree of freedom is due to simple in construction, controls difficulty low, has important scientific research and using value in robot sphere of learning。
China Patent Publication No. 101890714A discloses " connecting rod moving robot with one degree of freedom and control method thereof ", which gives a kind of brand-new connecting rod moving robot with one degree of freedom, is driven with a motor and controls, it is achieved that the motion of plane different directions。Its moving direction meets probability distribution in motor process。
China Patent Publication No. 103407507A discloses " a kind of single-power creep six-bar mechanism ", which gives the single-power that a kind of upset by parts based on spatial six-bar mechanism realizes moving integrally and creeps six-bar mechanism。It is by the upset driving driving link that rotates of motor, and generation frictional force forward realizes the translation of integrated model。
China Patent Publication No. 103303386A discloses " a kind of Single-degree-of-fredouble-mode double-mode rolls six-bar mechanism ", gives the rolling mechanism based on a kind of spatial six-bar mechanism to be different from China Patent Publication No. 103407507A。It is by controlling the jerk of motor, rotating, deformation, it is achieved two kinds of rolling modes of mechanism, and by the moving direction of the switching guiding mechanism of both of which。
Summary of the invention
The problem to be solved in the present invention is to provide a kind of single-degree-of-freedom four bar and moves four bar robot and control methods thereof, and this robot can utilize gravity center shift and drive the adjustment of joint parameter, it is achieved the displacement of robot；Provide a kind of control method suitable in robot simultaneously。
Technical scheme:
First, the invention discloses a kind of single-degree-of-freedom four bar and move four bar robot and control methods thereof, including: the first rod member, the second rod member, the 3rd rod member, the 4th rod member, motor；Wherein, the first rod member, the second rod member and the 3rd rod member weight are identical, the 4th rod member weight more than first to the 3rd rod member；Described first rod piece A end and the second rod member C end, the second rod member D end and the 4th rod member H end, the first rod member B end and the 3rd rod member F end realize two rod members respectively through connection axle and are mutually rotationally connected；It is connected by motor between described 3rd rod member E end and the 4th rod member G end。
Described a kind of single-degree-of-freedom four rod mobile robot and control method thereof, wherein: the axis angle of described first connecting rod is 70 °；The axis angle of second connecting rod is 110 °；The axis angle of third connecting rod is 70 °；The axis angle of fourth link is 110 °。
Described a kind of single-degree-of-freedom four bar moves four bar robot and control methods thereof, wherein: described connection axle two ends are provided with jump-ring slot, for carrying out axial limiting to being connected two rod members。
Described a kind of single-degree-of-freedom four bar moves four bar robot and control methods thereof, wherein: described third connecting rod E end is relatively fixed with motor and is connected；Fourth link G end axis hole is provided with top wire hole, and motor shaft is relatively fixed with fourth link and is connected。
Secondly, the invention discloses the control method of single-degree-of-freedom four rod mobile robot, for above-mentioned single-degree-of-freedom four rod mobile robot is controlled, comprise the steps: step S1, define error amount；Step S2, obtains current location, it is judged that the described error between this current location and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3；Step S3, it is judged that institute of robot, towards position relationship between direction and target location, calculates next step direction of motion, sets motor maximum drive angle betamax, set step-length；Step S4, it is judged that step S3 terminates the described error between rear single-degree-of-freedom four rod mobile robot and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3。
The present invention compares with prior art and has the advantages that
The present invention utilizes single-degree-of-freedom spatial four-bar mechanism, and single motor control realization plane is kept straight on and turns to two kinds of motions。Compared to existing robot, single motor controls to be conducive to saving cost, reduces power consumption；On this basis robot motion direction is achieved simultaneously and clearly control。The similar humanoid robot that is proposed for of control method has reference significance。
Accompanying drawing explanation
Fig. 1 single-degree-of-freedom four rod mobile robot entirety graphics；
Fig. 2 the first rod member and motor connection diagram；
The graphics of Fig. 3 first connecting rod；
The graphics of Fig. 4 second connecting rod；
The graphics of Fig. 5 third connecting rod；
The graphics of Fig. 6 fourth link；
Fig. 7 second connecting rod and fourth link connected mode schematic diagram；
Fig. 8 connects the graphics of axle；
Fig. 9 (a-k) single-degree-of-freedom four rod mobile robot motor process schematic diagram；
Figure 10 maximum drive angle betamaxRespectively 65 °, 70 °, 75 °, 80 °, 85 °Shi robot movement locus schematic diagrams；
Figure 11 single-degree-of-freedom four rod mobile robot control method schematic flow sheet。
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described。
A kind of single-degree-of-freedom four bar moves four bar robot and control methods thereof, and this robot is overall as it is shown in figure 1, include the first rod member 1, as shown in Figure 3；Second rod member 2, as shown in Figure 4；3rd rod member 3, as shown in Figure 5；4th rod member 4, as shown in Figure 6；Motor 5；Wherein, first rod member the 1, second rod member 2 is identical with the 3rd rod member 3 weight, the 4th rod member weight more than first to the 3rd rod member；Described second rod member D end and the 4th rod member H end realize two rod members by connection axle 6 and are mutually rotationally connected, and connected mode is as shown in Figure 7；First rod piece A end and the second rod member C end, the first rod member B end and the 3rd rod member F end connected mode are identical with the second rod member D end and the 4th rod member H end connected mode；It is connected by motor 5 between described 3rd rod member E end and the 4th rod member G end。
The axis angle of described first connecting rod 1 is 70 °；The axis angle of second connecting rod 2 is 110 °；The axis angle of third connecting rod 3 is 70 °；The axis angle of fourth link 4 is 110 °。
Described connection axle 6, as shown in Figure 8, two ends are provided with jump-ring slot, for carrying out axial limiting to being connected two rod members。
Described third connecting rod E end is relatively fixed with motor 5 and is connected, as shown in Figure 2；Fourth link G end axis hole is provided with top wire hole, is connected as it is shown on figure 3, motor shaft is relatively fixed with fourth link。
As it is shown in figure 9, before motion starts, robot is in initial position as shown in Fig. 9 (a)。Motor drives subtended angle β between the 3rd rod member and the 4th rod member to increase, and robot center of gravity drops on outside its supporting zone, and robot overturning to the right is to position as shown in Fig. 9 (b), and drive motor rotates backward, as shown in Fig. 9 (c)；Subtended angle β reduces until being 0, and now mechanism status is such as shown in Fig. 9 (d)。
Being 0 moment at β, with direction of visual lines shown in Fig. 9 (d) (I), the 4th rod member is positioned at cylinder upper left side, as shown in Fig. 9 (d) (II)。Owing to the 4th rod member weight is relatively big, cylinder will rotate with arrow indication rotation direction, until cylinder is in state as shown in Fig. 9 (e)。Now, motor drives subtended angle β to increase from 0, until robot is in stable holding state, as shown in Fig. 9 (f)。Motor drives subtended angle β to continue to increase, and robot center of gravity is again at outside supporting zone, and robot is toppled over, such as Fig. 9 (g) (h)。Motor rotates backward, and robot is contracted to as shown in Fig. 9 (i) cylindric again。It it was 0 moment at β, with direction of visual lines shown in Fig. 9 (i) (I), 4th rod member is positioned at cylinder upper left side, as shown in Fig. 9 (i) (II), owing to the 4th rod member weight is bigger, therefore cylinder will rotate with arrow indication rotation direction, until cylinder is in state as shown in Fig. 9 (j)。Now, motor drives subtended angle β to increase from 0, until robot is in stable holding state, as shown in Fig. 9 (k)。Robotary shown in Fig. 9 (a) and Fig. 9 (k) is identical。Now robot completes a motion cycle。
Robot constantly repeats this motion cycle to realize straight line or divertical motion。
Definition maximum drive angle betamax: as shown in Fig. 9 (a) (b) so that when robot produces to topple over motion as shown in Fig. 9 (b), the maximum of subtended angle β, it is defined as maximum drive angle betamax。Maximum drive angle beta is being reached by controlling motormaxSpeed in process and acceleration, robot can at different maximum drive angle betasmaxSituation topple over to realization。
Definition robot opening towards: as shown in Fig. 9 (a) (f), in robot also in stable holding state, do not topple over, now land two bar openings towards, right side in such as Fig. 9 (a) (f), be robot opening towards。
As shown in Figure 10, for maximum drive angle beta in motor processmaxRobot motion's track when respectively 65 °, 70 °, 75 °, 80 °, 85 °。Robot travel direction can be controlled accordingly。
As shown in figure 11, for the schematic flow sheet of single-degree-of-freedom four rod mobile robot control method。Comprise the steps:
Step S1, defines error amount。
Step S2, obtains current location, it is judged that the described error between this current location and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3。
Step S3, it is judged that institute of robot, towards position relationship between direction and target location, calculates next step direction of motion, sets motor maximum drive angle betamax, set step-length。
Step S4, it is judged that step S3 terminates the described error between rear single-degree-of-freedom four rod mobile robot and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3。
In the robot whole motor process from initial position to target location, the motion in two stages will be broadly divided into:
First stage, adjust the direction of motion stage。Namely motion start time control processing procedure sequence can according to robot present position, opening towards and target location judge, it is determined that suitable steering angle；And obtain robot by primary Calculation and want to reach desirable towards step-length used, and constantly adjust so that robot opening is ultimately towards sensing target location。
Second stage, the straight-line travelling stage。
After whole motor process, robot is up to target location。
Claims (5)
1. single-degree-of-freedom four rod mobile robot and control method thereof, it is characterised in that:
Including: the first rod member (1), the second rod member (2), the 3rd rod member (3), the 4th rod member (4), motor (5)；Wherein, the first rod member (1), the second rod member (2) are identical with the 3rd rod member (3) weight, the 4th rod member (4) weight more than first to the 3rd rod member (1,2,3)；Described first rod member (1) A end and the second rod member (2) C end, the second rod member (2) D end and the 4th rod member (4) H end, the first rod member (1) B end and the 3rd rod member (3) F end realize two rod members respectively through connection axle (6) and are mutually rotationally connected；It is connected by motor (5) between described 3rd rod member (3) E end and the 4th rod member (4) G end。
2. a kind of single-degree-of-freedom four rod mobile robot described in claim 1 and control method thereof, it is characterised in that: the axis angle of described first connecting rod (1) is 70 °；The axis angle of second connecting rod (2) is 110 °；The axis angle of third connecting rod (3) is 70 °；The axis angle of fourth link (4) is 110 °。
3. a kind of single-degree-of-freedom four rod mobile robot described in claim 1 and control method thereof, it is characterised in that: described connection axle (6) two ends are provided with jump-ring slot, for carrying out axial limiting to being connected two rod members。
4. a kind of single-degree-of-freedom four rod mobile robot described in claim 1 and control method thereof, it is characterised in that: described third connecting rod (3) E end is relatively fixed with motor (5) and is connected；Fourth link (4) G end axis hole is provided with top wire hole, and motor shaft is relatively fixed with fourth link (4) and is connected。
5. a kind of single-degree-of-freedom four rod mobile robot described in claim 1 and control method thereof, its control method, for described single-degree-of-freedom four rod mobile robot is controlled, comprises the steps:
Step S1, defines error amount；
Step S2, obtains current location, it is judged that the described error between this current location and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3；
Step S3, it is judged that institute of robot, towards position relationship between direction and target location, calculates next step direction of motion, sets motor maximum drive angle betamax, set step-length；
Step S4, it is judged that step S3 terminates the described error between rear single-degree-of-freedom four rod mobile robot and target location whether less than the threshold value set, if so, then finishing control program, otherwise, perform step S3。
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202207.6A CN105690375B (en) | 2016-04-01 | 2016-04-01 | A kind of rod mobile robot of single-degree-of-freedom four and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610202207.6A CN105690375B (en) | 2016-04-01 | 2016-04-01 | A kind of rod mobile robot of single-degree-of-freedom four and its control method |
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| CN105690375A true CN105690375A (en) | 2016-06-22 |
| CN105690375B CN105690375B (en) | 2017-11-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
| CN112896360A (en) * | 2021-02-24 | 2021-06-04 | 北京交通大学 | Single-power moving six-rod robot |
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| CN101927796A (en) * | 2010-09-28 | 2010-12-29 | 北京交通大学 | Single-power parallelogram two-foot moving mechanism |
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| CN101428421A (en) * | 2008-12-04 | 2009-05-13 | 北京交通大学 | Two-foot walk triangle robot |
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| CN101927796A (en) * | 2010-09-28 | 2010-12-29 | 北京交通大学 | Single-power parallelogram two-foot moving mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
| CN112896360A (en) * | 2021-02-24 | 2021-06-04 | 北京交通大学 | Single-power moving six-rod robot |
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| CN105690375B (en) | 2017-11-10 |
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