CN106112971B - Pedestal position of articulating point can automatically adjust six degree of freedom incidence flexible exoskeleton system - Google Patents
Pedestal position of articulating point can automatically adjust six degree of freedom incidence flexible exoskeleton system Download PDFInfo
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- CN106112971B CN106112971B CN201610555857.9A CN201610555857A CN106112971B CN 106112971 B CN106112971 B CN 106112971B CN 201610555857 A CN201610555857 A CN 201610555857A CN 106112971 B CN106112971 B CN 106112971B
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The present invention provides one kind and has assist function, the weight and inertia of load are undertaken instead of wearer, mitigate load to wearer's bring sense of heaviness, constraint sense and foreign body sensation, improve the flexibility connected between wearer and this system, the self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point for having the detection function of head position and posture, it includes pedestal bottom plate, and unit rack is arranged on pedestal bottom plate by pedestal position of articulating point adjustment mechanism；Servo motor is set on unit rack and cable wire winding, Universal pulley are rotatably arranged on unit rack；Three compound spherical hinges are on being circumferentially evenly arranged on load mounting platform；Inner ear, the external ear of compound spherical hinge respectively pass through a cable wire and are connected with cable wire winding；Joint space power detection unit is connected on cable wire；Revolving speed and rotary angle transmitter are arranged on servo motor；The output of joint space power detection unit and revolving speed and rotary angle transmitter is connected with control unit, and control unit output connects servo motor.
Description
Technical field
The invention belongs to an anthropoid exoskeleton systems, a kind of in particular to provide power-assisted for human body head load, improve
Load such as virtual reality and the augmented reality helmet in head wears comfort and feeling of immersion, and tracks wearer's head position and posture
Equipment.
Background technique
Virtual implementing helmet is a kind of common human body head load, is mainly used for the display of three-dimensional tridimensional virtual scene,
It is chiefly used in virtual reality and augmented reality system.Currently, resolution ratio and the virtual implementing helmet that contrast is high, field angle is big are general
It is all that weight and volume is big, movement is inconvenient when wearing, there are sense of heaviness, constraint sense and foreign body sensation, thus influence comfort and immerse
Sense；Position tracker is used cooperatively with virtual implementing helmet, for the measurement and output of helmet spatial position and posture, to realize
Human-computer interaction.However, the position trackers such as existing electromagnetism, ultrasound are big by environmental disturbances, in positioning accuracy, stability and signal
Shortcomings in terms of real-time cannot meet the requirement of virtual reality interaction very well.
Chinese patent ZL200520129164.0 discloses a kind of virtual implementing helmet, using two driving snakes and virtually
The real helmet is connected, and helmet front end is connect with image display, realizes three, picture rotations of display by two driving snakes
The control of freedom degree.But there is both sides limitation in this design.First is that virtual implementing helmet i.e. wearer's head can only be detected
The Three Degree Of Freedom rotation data in portion, and it is then helpless for the translation of the other three freedom degree；Second is that detection accuracy is vulnerable to soft
The flexible deformation of axis influences；Third is that the virtual implementing helmet is in use, sense of heaviness, constraint sense can be still caused to wearer
And foreign body sensation.
Chinese patent ZL201010103366.3 discloses a kind of six-degree-of-freedom parallel mechanism helmet servo system, using one
The Stewart platform of kind rigidity is as executing agency, to provide power-assisted and posture tracking for virtual implementing helmet.The design exists
Both sides is insufficient --- first is that the essence of executing agency's assist function is to mitigate virtual implementing helmet quality and inertia to wearing
The influence of person, however executing agency, as a kind of rigid parallel institution, the inertia of its own is larger with quality, holds to affect
The control efficiency and power-assisted effect of row mechanism；Second is that executing agency has general Stewart platform existing defects --- for peace
Dress and the lesser simulated environment of use space, such as cockpit, installation is still larger with use space, and working space phase
To smaller, there are singular positions, this undoubtedly increases the control difficulty and its unstability of the posture tracking of virtual implementing helmet.
Summary of the invention
The object of the present invention is to provide one kind to have assist function, and the weight and inertia of load are undertaken instead of wearer, is subtracted
Light load improves the comfort of wearing, improves wearer and this system to wearer's bring sense of heaviness, constraint sense and foreign body sensation
Between the flexibility that connects, pedestal position of articulating point is adjustable, and structural shape and geometric dimension have reconfigurability, has head position
It sets and the self-adjustable six degree of freedom incidence flexible exoskeleton system of the pedestal position of articulating point of the detection function of posture.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point of the present invention, including
Pedestal bottom plate, six unit racks 13 are arranged on pedestal bottom plate by six pedestal position of articulating point adjustment mechanisms respectively；Unit
The cable wire winding 24 that servo motor 23 is arranged on bracket and rotates under the drive of servo motor 23, Universal pulley 10 can be 360 ° turns
Dynamic setting is on unit rack；Three compound spherical hinges 11 are circumferentially being evenly arranged on the load mounting platform for installation load；
Inner ear 40, the external ear 41 of compound spherical hinge 11 are respectively connected around the cable wire of Universal pulley 10 with cable wire winding 24 by one；For
The joint space power detection unit 3 of detection cable wire stress size is connected on cable wire；For detecting 23 revolving speed of servo motor and turning
The revolving speed and rotary angle transmitter 25 at angle are arranged on servo motor 23；Joint space power detection unit 3 and revolving speed and rotation angular sensing
The output of device 25 is connected through data acquisition and procession unit 4 with control unit 5, and the output of control unit 5 connects servo motor 23.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of above-mentioned pedestal position of articulating point, Universal pulley 10
Including the fixed pulley 35 being rotatably arranged on fork ear 34；Setting of the ear 34 around 360 ° of trunnion line rotations of fork is pitched in unit rack 13
On；The pilot hole extended along fork trunnion line is provided on fork ear；Cable wire is around fixed pulley and passes through pilot hole.It is flat in load installation
When platform position is mobile, fork ear can rotate always around unit rack, while cable wire is due to passing through pilot hole, institute after bypassing fixed pulley
With this simple structure, it is therefore prevented that cable wire is mutually intertwined and knots.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of above-mentioned pedestal position of articulating point, pedestal hinge position
Setting adjustment mechanism 12 includes the radial position adjustment mechanism and circumferential direction for adjusting 13 radial position of unit rack and circumferential position
Position adjusting mechanism.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of above-mentioned pedestal position of articulating point, radial position tune
Complete machine structure includes the radiai adjustment guide rail 16 being rotatably arranged on pedestal bottom plate, by the mutually matched radiai adjustment spiral shell of screw thread pair
Mother 17 and radiai adjustment lead screw 19, radiai adjustment lead screw 19 are rotatably arranged on radiai adjustment guide rail 16, radiai adjustment nut 17
The axis direction of radially adjusted lead screw 19 is slidably matched with radiai adjustment guide rail 16, is arranged on radiai adjustment guide rail 16 and is used for
The radiai adjustment motor 22 for driving radiai adjustment lead screw 19 to rotate；The output of control unit connects radiai adjustment motor 22, with control
Adjust the movement of motor 22；Unit rack 13 is fixedly linked with radiai adjustment nut 17.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of above-mentioned pedestal position of articulating point, circumferential position tune
Complete machine structure includes the circular arc long hole being opened on pedestal bottom plate 14, passes through circular arc long hole and passes through screw thread phase with radiai adjustment guide rail 16
Even preload screw rod 32, be sleeved on pre-tighten screw rod 32 on across the preload tabletting 33 on circular arc long hole, be fixed on preload spiral shell
For to the push stopping part for pre-tightening tabletting pressure on bar 32；The center camber line of circular arc long hole with for connect radiai adjustment guide rail 16 and
The revolute pair axis on pedestal floor is concentric.
Beneficial effects of the present invention:
Incidence flexible exoskeleton system of the invention.On the one hand, has assist function.In use, pedestal bottom plate is fixed,
It is acted by servo motor and pulls cable wire, cable wire is in tensioning state always, and load and load mounting platform pass through steel cable suspended
On pedestal bottom plate, therefore, this system replaces wearer to undertake the weight and inertia of load such as virtual implementing helmet, mitigates by bearing
Carry to wearer's bring sense of heaviness, constraint sense and foreign body sensation, improve the load-carrying comfort of wearing, enhancing load using true to nature
Degree.On the other hand, this system has the detection function of head position and posture, fortune of the control unit based on ectoskeleton mechanical system
The dynamic feedback information learned with related sensors such as joint space power detection unit, revolving speed and rotary angle transmitters, completes virtual reality
The head detection of participant in system；The third aspect improves people-machine connection flexibility using flexible branch；Fourth aspect,
Pedestal position of articulating point is adjustable, and the executing agency of system is made to have the reconfigurability of structural shape and geometric dimension.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point proposed by the present invention, be with
The movement of track human body head provides the incidence flexible exoskeleton system of power-assisted effect for head load.The beneficial effect of the system
Have five: first is that having the function of evading singular position, the six degree of freedom flexible parallel mechanism as system actuator has
Pedestal position of articulating point regulatory function, it can be achieved that executing agency's structural shape and geometric dimension Real-time Reconstruction, thus make load pacify
Assembling platform can be effectively shielded from singular position during the motion, improve the controllability and sport efficiency of load mounting platform；Two
It is energy saving and light and handy, using flexible cable as connection pedestal and load mounting platform branch, on the one hand reduces system and transport
The quality and inertia of dynamic component reduce the output torque requirement to the i.e. servo motor of system driving device, improve execution machine
The flexibility connected between structure and people；On the other hand, while reducing branch installation with moving to space requirement, using steel
Rope winding realizes the folding and unfolding of cable wire, reduces the whole height of executing agency, so that whole system is particularly suited for space lesser
Simulated environment；Third is that pose detection is quasi- and steady, the length of flexible cable is calculated according to the feedback information of revolving speed and rotary angle transmitter
Degree, and based on the direct kinematics of parallel institution come the real-time pose information of computational load mounting platform and user head.With
Traditional six degree of freedom electromagnetism or ultrasound position tracker is compared, and the posture information precision calculated is high, stability is good, delay
The advantages such as small, strong antijamming capability；Fourth is that Inertia, nonlinear terms based on joint space power and executing agency's kinetics equation
And gravity item carrys out man-machine interaction's power in calculating task space, scheme only needs six tension sensors, executing agency's whole design
Succinctly, at low cost and practical.Fifth is that the calculation method of man-machine interaction's power desired value, with each performance indicator of servo motor be to
Optimal Parameters are calculated using the value range of performance parameter as constraint condition with the minimum optimization aim of man-machine interaction's power to optimize
The performance parameter of six servo motors when load mounting platform be in a certain pose and its corresponding minimum man-machine interaction's power.
Detailed description of the invention
Fig. 1 is the structural representation of the self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point
Figure.
Fig. 2 is the structural schematic diagram of six degree of freedom flexible parallel mechanism.
Fig. 3 is the structural schematic diagram of pedestal.
Fig. 4 is the structural schematic diagram of pedestal position of articulating point adjustment mechanism.
Fig. 5 is the structural schematic diagram of mechanism driving and joint space kinematic parameter detection unit, unit rack.
Fig. 6 is the structural schematic diagram of joint space power detection unit etc..
Fig. 7 is the structural schematic diagram that circumference adjusts locking member.
Fig. 8 is the structural schematic diagram of Universal pulley.
Fig. 9 is unit rack schematic diagram.
Figure 10 is the structural schematic diagram of compound spherical hinge.
Figure 11 is the structural schematic diagram for loading mounting platform and its load.
Figure 12 is the working principle diagram of this system.
Figure 13 is the schematic diagram of pedestal position of articulating point adjustment mechanism etc..
Label title in Fig. 1: 1. six degree of freedom flexible parallel mechanisms, the driving of 2. mechanisms and the inspection of joint space kinematic parameter
Survey unit, 3. joint space power detection units, 4. data acquisition and procession units, 5. control units, 6. load (virtual realities
The helmet).
Label title in Fig. 2: 7. pedestals, 8. flexible cables, 9. load mounting platforms, 10. Universal pulleys, 11. is multiple
Close flexural pivot.
Label title in Fig. 3: 12. pedestal position of articulating point adjustment mechanisms, 13. unit racks.
Label title in Fig. 4, Figure 13: 14. pedestal bottom plates, circular arc long hole 141；15. circumference adjusts locking member, 16. diameters
To guide rail, 17. radiai adjustment nuts is adjusted, 18. circumference adjust revolute pair, 19. radiai adjustment lead screws, the transmission of 20. radiai adjustments
Component, 21. radiai adjustment revolutes, 22. radiai adjustment motors.
Label title in Fig. 5: 23. servo motors, 24. cable wire windings, 25. revolving speeds and rotary angle transmitter, 26. top plates,
27. bottom plate, 28. webs, 29. outer panels, 30. interior plates.
Label title in Fig. 6: 31. load transducers.
Label title in Fig. 7: 32. pre-tighten screw rod, and 33. pre-tighten tabletting；Push stopping part 321.
Label title in Fig. 8: 35. fixed pulleys, wire casing 351,34. pitch ear.Pitch ear shaft 341, pilot hole 342.
Label title in Fig. 9: 36. counterbores, 37. fork ear mounting holes, 38. winding installation holes, 39. threaded holes.
Label title in Figure 10: 40. inner ears, 41. external ears, 42. top ears.
Label title in Figure 11: 43. transition members.
Specific embodiment
Here in conjunction with Fig. 1~12, the present invention is described in further detail, and wherein System Working Principle is referring to Figure 12.
The self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point as shown in Figure 1, mainly
It is single by six degree of freedom flexible parallel mechanism 1, mechanism driving and joint space kinematic parameter detection unit 2, the detection of joint space power
Member 3, data acquisition and procession unit 4, control unit 5 form.
As shown in Fig. 2, six degree of freedom flexible parallel mechanism 1 is mainly by 7, six flexible cables 8 of pedestal, load mounting platform
9 compositions.The pedestal 7 of six degree of freedom flexible parallel mechanism 1 is for fixing whole device.
Such as Fig. 3, pedestal 7 is made of pedestal bottom plate 14, pedestal position of articulating point adjustment mechanism 12 and six groups of unit racks 13.Six
The top plate 26 of group unit rack 13 is fixedly installed in 17 bottom surface of radiai adjustment nut of pedestal position of articulating point adjustment mechanism 12 respectively
On.
Such as Fig. 4, pedestal position of articulating point adjustment mechanism 12 adjusts 15, six radiai adjustment guide rails of locking member by six circumference
16, six radiai adjustment nuts, 17, six groups of circumference adjust revolute pair 18,19, six groups of radiai adjustments of six roots of sensation radiai adjustment lead screw pass
20,12 groups of radiai adjustment revolutes 21 of dynamic component and six radiai adjustment motors 22 form.Pedestal bottom plate 14 is as entire system
The basis of system is fixed, and threaded hole at regular intervals is opened in 16 upper surface of radiai adjustment guide rail, and inner end is adjusted by circumference
Revolute pair 18 is connect with pedestal bottom plate 14, and outer end adjusts locking member 15 by circumference and connect with pedestal bottom plate 14.
As shown in figure 5, mechanism driving and joint space kinematic parameter detection unit 2 by servo motor 23, cable wire winding 24,
Revolving speed and rotary angle transmitter 25 form；
As shown in fig. 6, joint space power detection unit 3 is made of the load transducer 31 being connected on flexible cable；Number
It is made of with processing unit 4 data acquisition card or other signals Acquisition Circuit according to acquisition.
Such as Fig. 7, circumference adjusts locking member 15 by preload screw rod 32, preload tabletting 33 and is fixed on preload 32 upper end of screw rod
For to pre-tighten tabletting pressure push stopping part 321 form.It pre-tightens tabletting 33 to be sleeved on preload screw rod 32, pass through between the two
Revolute connection.It pre-tightens tabletting 33 and pedestal bottom plate 14 is face contact, be across the corresponding circular arc long hole 141 of pedestal bottom plate 14
The both ends of (the center camber line of circular arc long hole and the rotary shaft that circumference adjusts revolute pair 18 are concentric), pre-tighten screw rod 32 and radiai adjustment
It is to be threadedly coupled between the threaded hole of 16 upper surface of guide rail.When preload screw rod 32 screws, 321 pairs of preload tablettings 33 of push stopping part are applied
Pressure is pre-tightened tabletting 33 and pedestal bottom plate 14 without opposite sliding, that is, is realized radiai adjustment guide rail 16 due to the presence of stiction
Being connected between pedestal bottom plate 14.When unclamping preload screw rod 32, radiai adjustment guide rail 16 can circumferentially adjust revolute pair 18
Center arc direction along circular arc long hole rotates.It is led by radiai adjustment revolute 21 with radiai adjustment at radiai adjustment lead screw both ends
Rail 16 connects, and is connect between radiai adjustment nut 17 using screw pair.Radiai adjustment motor 22 is fixedly installed in radiai adjustment
The outer end face of guide rail 16, drive axis is parallel with 19 axis of radiai adjustment lead screw, and passes through radiai adjustment transmission parts 20
It drives radiai adjustment lead screw 19 to rotate around 21 axis of radiai adjustment revolute, then drives radiai adjustment nut 17 along pedestal bottom plate
14 diametrical direction is mobile, to realize the adjustment of 10 spatial position of Universal pulley.
Unit rack 13 is made of top plate 26, bottom plate 27, web 28, outer panel 29 and interior plate 30, each component part it
Between be connected by screw bolts.There are six Universal pulleys for installation on six unit racks, for supporting the flexible of flexible cable and changing
The moving direction of cable wire.
Such as Fig. 8, Universal pulley 10 is made of fixed pulley 35 and fork ear 34, and the both ends of the shaft of fixed pulley passes through revolute pair respectively
It is connected with fork ear.The fork ear mounting hole 37 pitched in the shaft 341 of ear and the outer panel 29 of unit rack 13 is carried out by revolute
Connection.The pilot hole 342 extended along fork trunnion line is provided in the shaft of fork ear；Cable wire is around fixed pulley and passes through pilot hole.
Flexible cable 8 is snug against in the wire casing 351 of fixed pulley due to the gravity of load mounting platform 9 and load 6.Fixed pulley
35 play the role of changing 8 shrinkage direction of flexible cable.Fork ear pilot hole is through-hole, and flexible cable 8 is after fixed pulley is oriented to
Ear pilot hole is pitched to be wound on cable wire winding 24.
Such as Fig. 5 and Fig. 9, the rotor portion and 23 upper end shaft of servo motor of revolving speed and rotary angle transmitter 25 are by clamping dress
It sets and is attached.Servo motor 23 is positioned on web 28 by counterbore 36, and is fixed on web 28 by threaded hole 39.Steel
The upper part of rope winding 24 is provided with round end keyway, is realized and is rigidly connected by round end key with the lower end shaft of servo motor 23,
The lower end of cable wire winding 24 is attached between the winding installation holes 38 in shaft, with bottom plate 27 by revolute.
Such as Fig. 6, load transducer 31 is installed on the lower part of flexible cable 8, is connected between the two by screw rod and nut
It connects.The lower end of flexible cable 8 and compound spherical hinge 11(the compound spherical hinge patent authorized, and application No. is 200710021406.8)
It is attached between external ear 41 or inner ear 40 also through screw rod and nut.
Such as Fig. 2 and Figure 10, top ear 42 and the load mounting platform 9 of compound spherical hinge 11 are attached by revolute, and three groups
Compound spherical hinge 11 is uniformly distributed on load mounting platform 9.Load mounting platform can realize six-freedom motion, can pacify thereon
Fill the load such as virtual implementing helmet；Such as Figure 11, load 6 is fixed on load mounting platform 9 by transition member 43.
Such as Figure 12, control unit 5 is the computer of industrial control computer or other work station ranks, and control unit is by soft
Property cable wire acceleration, speed and length computation module, the direct kinematics module of six degree of freedom flexible parallel mechanism, six degree of freedom
The kinematics module of the task space of flexible parallel mechanism and joint space, head pose prediction module, six degree of freedom flexibility are simultaneously
Newton-Euller method module, man-machine interaction's power computing module, the man-machine interaction's power desired value of the moving component of online structure calculate
Module, power/Position Hybrid Control device and load mounting platform singular position check module composition.Six degree of freedom flexible parallel mechanism
When 1 load mounting platform 9 moves together with human body head (8 moment of flexible cable keeps tensioning state), mechanism driving and pass
Section spatial movement parameter detecting unit 2 in real time detects 23 output shaft angle of servo motor caused by 8 folding and unfolding of flexible cable.
Data acquisition and procession unit 4 exports the servo motor 23 that mechanism drives and joint space kinematic parameter detection unit 2 is fed back
The analog signal of Shaft angle is converted to corresponding digital signal, and submits to flexible cable acceleration, speed and length computation mould
Block, flexible cable acceleration, speed and length computation module are according to six flexible cables of gear ratio calculation between associated components
Then length, velocity and acceleration information are submitted to the direct kinematics module of six degree of freedom flexible parallel mechanism respectively and are appointed
The kinematics module in business space and joint space, calculates separately the load mounting platform 9 i.e. physical location of human body head and posture
With line (angle) speed, line (angle) acceleration.The Newton-Euller method module of the moving component of six degree of freedom flexible parallel mechanism with
Pose, the velocity and acceleration of mounting platform 9 are loaded as input, calculates Inertia, nonlinear terms and the gravity item of moving component.
Man-machine interaction's power computing module is compensation with above three, according to the value of feedback of joint space power detection unit 3 to human body head
Actual persons-machine reciprocal force between load mounting platform 9 is calculated.Head pose prediction module is with the reality of human body head
Pose is input, based on head movement model to future time point or under the head pose at several time points predict.People-machine is handed over
For mutual power desired value computing module with each performance indicator of servo motor for parameter to be optimized, the saturation state with performance parameter is about
Beam condition optimizes six servo motors calculated when head is in expected pose with the minimum optimization aim of man-machine interaction's power
Performance parameter and its corresponding man-machine interaction's power desired value.Power/Position Hybrid Control device is according to man-machine interaction's power actual value
The digital drive signals of servo motor 23 are calculated with desired value, the actual value of head pose and desired value, the signal is through data
Acquisition and processing unit 4 are converted to the concurrent sending mechanism of corresponding analog signal and drive and joint space kinematic parameter detection unit
2.After six servo motors 23 receive respective control signal, controls corresponding flexible cable 8 and carry out folding and unfolding, then control load
Mounting platform 9 and man-machine interaction's power are pressed to be changed by respective desired value (predicted value).It loads mounting platform singular position and checks mould
Block based on the predicted value of head pose come to subsequent time or under 9 singularity of load mounting platform at several moment calculate, and
Adjustment instruction is issued to pedestal position of articulating point adjustment mechanism 12 in real time according to calculated result, the latter radially adjusts according to order-driven
Section motor 22 changes the structural shape and geometric dimension of six degree of freedom flexible parallel mechanism 1 in real time, reaches and evades load installation
The purpose of 9 singular position of platform.
Six degree of freedom flexible parallel mechanism is also equipped with and turns to three axis translation displacements of space object and three axis in addition to features above
The detection function of dynamic angle (i.e. position and posture information, abbreviation pose) is examined according to mechanism driving and joint space kinematic parameter
The length of flexible cable can be calculated in real time by surveying the servo motor corner that unit is surveyed, and then be based on six degree of freedom flexible parallel connection machine
The direct kinematics of structure realize that mechanism moving platform be the calculating for loading mounting platform three-shaft displacement and three Shaft angles.In addition, with
Other parallel institutions are compared, and also there are three features for tool --- first is that using flexible cable as connection pedestal and load mounting platform
Branch, both reduced the quality and inertia of mechanism entirety, and ensure that the lightness of mechanism, and improved six degree of freedom flexibility simultaneously
Online structure and the load such as flexibility connected between helmet user head, can improve the comfort of the loads such as the helmet；Two
It is that pedestal position of articulating point adjustment mechanism can radially and circumferentially change pedestal hinge i.e. Universal pulley along pedestal bottom plate
Position meets to realize the change of six degree of freedom flexible parallel mechanism structural shape and size to parallel institution working space
Different demands；Third is that pedestal position of articulating point adjustment mechanism has driving device, when to be located at singular position attached for load mounting platform
When close, can by the Universal pulley that changes automatic in real time along the position of pedestal bottom plate radial direction, to change the singular position of parallel institution,
Singular position is avoided to make to load mounting platform, improves the controllability and sport efficiency of mechanism kinematic.
Servo electricity compared with contraction type rigidity branch, in said mechanism driving and joint space kinematic parameter detection unit
Machine drives the forward and reverse rotation of cable wire winding, to realize the folding and unfolding of cable wire.This design scheme reduces six degree of freedom flexible parallel connection
The center of gravity and height of mechanism itself can reduce in branch installation and motion process and occupy space, to reduce total system
Requirement to installation space and use space is suitble to the lesser use environment in space, such as flight simulation cockpit, car steering cockpit
Deng.
Joint space power detection unit 3 is installed on the lower end of flexible cable, as shown in fig. 6, in structure with composite balls
Hinge, joint space power detection unit and flexible cable installed in series in order.Its advantage is that: joint space power detection unit can be real-time
The pulling force of flexible cable is detected, value of feedback can be used for man-machine interaction's power (load such as the power between the helmet and user head)
Calculating.Man-machine interaction's power can be controlled in suitable range using suitable force controller, to mitigate because of helmet etc.
The gravity and inertia of load, which are given, uses this bring foreign body sensation and feeling of fatigue, improves comfort and feeling of immersion that the helmet uses.Tool
Body shows themselves in that control unit is counted in real time according to the pulling force of flexible cable and the kinetics equation of six degree of freedom flexible parallel mechanism
Man-machine interaction's power is calculated, force controller is to load man-machine interaction's power desired value when mounting platform is in different positions and pose as target
(i.e. in the range of servo motor exports nominal torque, when load mounting platform is in a certain specific pose, allowed people-machine
The minimum value that reciprocal force reaches), the servo motor of mechanism driving and joint space kinematic parameter detection unit is controlled, from
And keep the interaction force between the helmet and its user minimum.
Claims (2)
1. a kind of self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point, including pedestal bottom plate,
It is characterized in that: six unit racks (13) are arranged on pedestal bottom plate by six pedestal position of articulating point adjustment mechanisms respectively；It is single
The cable wire winding (24) that servo motor (23) are set on first bracket and are rotated under the drive of servo motor (23), Universal pulley
(10) can 360 ° rotation settings on unit rack；Three compound spherical hinges (11) are circumferentially being evenly arranged on for the negative of installation load
It carries on mounting platform；Inner ear (40), the external ear (41) of compound spherical hinge (11) respectively bypass the cable wire of Universal pulley (10) by one
It is connected with cable wire winding (24)；Joint space power detection unit (3) for detecting cable wire stress size is installed on flexible cable
Lower end, compound spherical hinge, joint space power detection unit and flexible cable installed in series in order；For detecting servo motor
(23) revolving speed and rotary angle transmitter (25) of revolving speed and corner are arranged on servo motor (23)；Joint space power detection unit
(3) it is connected through data acquisition and procession unit (4) with control unit (5) with the output of revolving speed and rotary angle transmitter (25), controls
The output of unit (5) connects servo motor (23)；
Pedestal position of articulating point adjustment mechanism (12) includes the radial direction for adjusting unit rack (13) radial position and circumferential position
Position adjusting mechanism and circumferential position adjustment mechanism；
Radial position adjustment mechanism include the radiai adjustment guide rail (16) being rotatably arranged on pedestal bottom plate, by screw thread pair it is mutual
The radiai adjustment nut (17) and radiai adjustment lead screw (19) of cooperation, radiai adjustment lead screw (19) are rotatably arranged on radiai adjustment and lead
On rail (16), axis direction and radiai adjustment guide rail (16) sliding of radiai adjustment nut (17) radially adjusted lead screw (19) are matched
It closes, the radiai adjustment motor (22) for driving radiai adjustment lead screw (19) to rotate is set on radiai adjustment guide rail (16)；Control
The output of unit processed connects radiai adjustment motor (22), to control to adjust the movement of motor 22；Unit rack (13) and radiai adjustment
Nut (17) is fixedly linked；
Circumferential position adjustment mechanism includes the circular arc long hole being opened on pedestal bottom plate (14), passes through circular arc long hole and and radiai adjustment
The connected preload screw rod (32) of guide rail (16), be sleeved on pre-tighten on screw rod (32) across the preload tabletting on circular arc long hole
(33), it is fixed on and pre-tightens on screw rod (32) for the push stopping part for pre-tightening tabletting pressure；The center camber line of circular arc long hole be used for
The revolute pair axis for connecting radiai adjustment guide rail (16) and pedestal floor is concentric.
2. the self-adjustable six degree of freedom incidence flexible exoskeleton system of pedestal position of articulating point as described in claim 1,
It is characterized in that: Universal pulley (10) includes the fixed pulley (35) being rotatably arranged on fork ear (34)；Ear (34) are pitched around fork trunnion line
The setting of 360 ° of rotations is on unit rack (13)；The pilot hole extended along fork trunnion line is provided on fork ear；Cable wire is around fixed
Pulley simultaneously passes through pilot hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555857.9A CN106112971B (en) | 2016-07-14 | 2016-07-14 | Pedestal position of articulating point can automatically adjust six degree of freedom incidence flexible exoskeleton system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610555857.9A CN106112971B (en) | 2016-07-14 | 2016-07-14 | Pedestal position of articulating point can automatically adjust six degree of freedom incidence flexible exoskeleton system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112971A CN106112971A (en) | 2016-11-16 |
| CN106112971B true CN106112971B (en) | 2018-12-21 |
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| US6135683A (en) * | 1997-11-05 | 2000-10-24 | Jongwon Kim | Parallel mechanism for multi-machining type machining center |
| JP5397856B2 (en) * | 2009-08-28 | 2014-01-22 | 国立大学法人東京工業大学 | 6 DOF parallel mechanism |
| CN101791159B (en) * | 2010-01-29 | 2012-03-21 | 南京航空航天大学 | Six-degree-of-freedom parallel mechanism helmet servo system |
| CN204072672U (en) * | 2014-09-09 | 2015-01-07 | 佳木斯大学 | Parallel robot for rehabilitation of anklebone |
| CN104669248B (en) * | 2015-01-28 | 2017-02-22 | 河南理工大学 | Adjustable motion platform for three-freedom parallel mechanisms and adjusting method of adjustable motion platform |
| CN104985589B (en) * | 2015-07-02 | 2017-01-25 | 上海交通大学 | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs |
| CN105589558B (en) * | 2015-11-25 | 2022-02-18 | 南京航空航天大学 | Virtual reality helmet burden reduction follow-up system and method based on surface electromyographic signals |
| CN205809427U (en) * | 2016-07-14 | 2016-12-14 | 南京林业大学 | The flexible power-assisted of a kind of human body head load and tracking device |
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Application publication date: 20161116 Assignee: Nanjing Guanyun Aviation Technology Co., Ltd. Assignor: Nanjing Forestry University Contract record no.: 2019320000170 Denomination of invention: Base hinge point position self-adjusting six-degree-of-freedom neck part flexible exoskeleton system Granted publication date: 20181221 License type: Common License Record date: 20190610 |
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Application publication date: 20161116 Assignee: Shanghai Xingzhou Digital Technology Co., Ltd Assignor: Nanjing Forestry University Contract record no.: X2019320000124 Denomination of invention: Base hinge point position self-adjusting six-degree-of-freedom neck part flexible exoskeleton system Granted publication date: 20181221 License type: Common License Record date: 20191018 |
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Effective date of registration: 20211229 Address after: 200233 floor 14, building 1, No. 339, Jiuxin highway, Jiuting Town, Songjiang District, Shanghai Patentee after: Shanghai Xingzhou Digital Technology Co.,Ltd. Address before: Nanjing City, Jiangsu province 210037 Longpan Road No. 159 Patentee before: NANJING FORESTRY University |