CN107756388B - Physical man-machine interaction platform based on rope traction series elastic drive - Google Patents
Physical man-machine interaction platform based on rope traction series elastic drive Download PDFInfo
- Publication number
- CN107756388B CN107756388B CN201711245325.6A CN201711245325A CN107756388B CN 107756388 B CN107756388 B CN 107756388B CN 201711245325 A CN201711245325 A CN 201711245325A CN 107756388 B CN107756388 B CN 107756388B
- Authority
- CN
- China
- Prior art keywords
- winch
- machine interaction
- man
- rope
- sliding block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a physical man-machine interaction platform based on rope traction serial elastic driving. The device comprises a direct-current servo motor, a speed reducer, a coupler, a winch, a linear guide rail, a sliding block, a magnetic grating ruler, a spring, a handle, a rotating shaft and the like. The upper limb of a person drives the handle to move along the linear guide rail, and meanwhile, the direct-current servo motor provides corresponding driving force to drive the winch to pull the rope, so that the deformation of the elastic element is changed, and the effects of controlling the moment and the impedance of man-machine interaction are achieved. Through designing corresponding impedance controller, can realize safe, compliance, stable human-computer interaction.
Description
Technical Field
The invention relates to a physical man-machine interaction platform based on rope traction serial elastic drive, which is generally used in the field of robots and the field of rehabilitation medical appliances.
Background
With the development of robotics, robots are increasingly required to physically interact with people or the external environment. While security is critical when the robot performs interactive tasks. Conventional robots often employ rigid drives to ensure quick response and high accuracy requirements, which may pose a threat to operators and interactive environments if a fault occurs. In order to improve the safety of the system, the system can be realized by two modes of active compliance and passive compliance of the robot.
In active compliance, the dynamic relationship between the force and displacement of the robotic end effector, i.e., the magnitude of the interaction impedance, is adjusted by designing an impedance or admittance controller. For a rigid drive, if the impedance controller fails due to power outage during the task execution, potential damage to people or the environment still occurs.
The serial elastic driver (Series Elastic Actuator, SEA) has the advantages of strong flexibility, low impedance, stable output, energy buffering and storage, external force impact resistance, safety and the like, and can realize passive flexibility of the system and improve the safety of the system.
The rope has the characteristics of light weight and single force transmission direction, and simultaneously breaks under the condition that the force suddenly changes and exceeds a threshold value, so that the transmission force disappears, and further protection effect is achieved.
Disclosure of Invention
The invention provides a physical man-machine interaction platform based on rope traction serial elastic drive, which is used for improving the passive compliance of a system through serial elastic drives, improving the active compliance of the system through impedance control, and improving the stability and safety of the system by combining rope traction.
The technical proposal of the invention
The utility model provides an upper limbs physical man-machine interaction platform based on rope pulls serial elastic drive, including an aluminum alloy bottom plate, a linear slide rail and a magnetic stripe parallel with the linear slide rail are installed to one side of bottom plate, install three sliders on the linear slide rail, be first slider, second slider and third slider in order, link to each other through two elastic coefficient and the same spring of length in the middle of the three sliders, be fixed with handle seat and handle on the second slider in the middle, be used for man-machine interaction, install a couple that is used for fixing the rope respectively in the outside of the first slider and the third slider of both ends; the side surfaces of the three sliding blocks are respectively provided with 3 magnetic grating ruler reading heads, and the 3 magnetic grating ruler reading heads and the magnetic strips are matched to form a position measuring device which is used for measuring the positions of the three sliding blocks in real time to obtain deformation amounts of the two springs, and the elastic force of the springs is obtained through calculation; further obtaining the position information and the stress condition of the human hand; the other side of the bottom plate is provided with a U-shaped motor frame for fixing a motor and a winch, the outer side of one end of the motor frame is fixedly provided with a direct current servo motor, a motor shaft penetrates through the motor frame and then is fixed with a coupler, the other end of the coupler is connected with the winch, meanwhile, the other end of the winch is fixedly connected with a screw rod, the screw rod penetrates out of a screw hole at the other end of the U-shaped motor frame, and a straight line where the motor shaft is positioned is perpendicular to the straight line sliding rail; two ropes are reversely wound on the winch, one end of each rope is fixed with the winch, and the other end of each rope is connected and fixed with a hook on the outer side of the first sliding block or the third sliding block through three rotating shafts arranged on a bottom plate between the motor frame and the linear sliding rail.
One ends of the two ropes on the winch are respectively fixed on the outer side of the winch and are reversely wound towards the middle, the two ropes are left and right in the out-connection direction and are positioned on the same side of the winch, and the two ropes cannot be rolled together or laterally offset in the rotating process. The tail ends of the two ropes are respectively parallel to the linear slide rail.
The invention has the advantages and beneficial effects that:
the invention adopts the rope traction serial elastic driver, has the advantages of strong flexibility, low impedance, stable output, energy buffering and storage, external force impact resistance, safety and the like, and can improve the flexibility, safety and stability of the man-machine interaction system.
Drawings
Fig. 1 is a schematic diagram of a mechanical structure of a physical man-machine interaction platform based on series elastic driving.
Fig. 2 is a top view of a physical human-computer interaction platform based on tandem elastic driving.
Fig. 3 is a schematic view of the mechanical structure of the motor frame and the coupling.
Fig. 4 is a side view of the motor mount.
Fig. 5 is a wire rope winding manner.
Fig. 6 is a schematic diagram of a man-machine interaction end.
Fig. 7 is a schematic diagram of a wire rope connection.
Fig. 8 is a rotation axis.
Fig. 9 is an impedance control block diagram.
In the figure, 1 direct current servo motor, 2 motor frames, 3 couplings, 4 winches, 5 screw rods, 6 handle seats, 7 first sliding blocks, 8 second sliding blocks, 9 third sliding blocks, 10 sliding rails, 11 springs, 12 magnetic grating ruler reading heads, 13 magnetic strips, 14 hooks, 15 steel wire ropes, 16 handles, 17 bottom plates, 18 first rotating shafts, 19 second rotating shafts and 20 third rotating shafts.
The wire rope path is shown at 15 in fig. 1 and 2.
Fig. 5 shows the manner of fixing and winding the wire rope on the winch.
Detailed Description
The invention will be described in more detail with reference to the accompanying drawings
As shown in fig. 1 and 2, the physical man-machine interaction platform based on rope traction serial elastic driving comprises an aluminum alloy bottom plate 17, and a U-shaped aluminum alloy frame for fixing a servo motor 1 and a coupler 3 is installed at the upper position of the bottom plate, which is called a motor frame, namely a motor frame 2. The servo motor 1 is fixed on the outer side of one end of the motor frame through a screw, and a motor shaft penetrates through the motor frame and is fixed with the coupler through a set screw. The other end of the coupling is connected with a winch 4, and the tail end of the winch is connected with a screw rod 5 with a threaded structure to form a whole, and the screw rod 5 is arranged on the other end of the motor frame through threads, as shown in fig. 3 and 4. The opposite side of the motor frame relative to one side of the fixed motor is provided with a screw hole matched with the screw rod, and the screw rod penetrates out of the screw hole.
The winch 4 is used for fixing and driving two ropes, namely, a wire rope 15, which is wound in a manner shown in fig. 5. The physical man-machine interaction platform uses 2 steel wire ropes with the same length and the diameter of 1 mm. The outer sides (upper and lower ends shown in the figure) of the winches are respectively provided with a screw for fixing the steel wire ropes, the screw is used for observing from the screw rod 5 to one side of the motor, after the steel wire ropes are respectively fixed by the screws, the steel wire ropes close to one side of the motor are wound anticlockwise to the opposite side, and the steel wire ropes close to one side of the screw rod are wound clockwise to the opposite side (the winding directions of the two steel wire ropes can be interchanged). The two steel wires are respectively connected to two sides from the same side (upper side in the figure) of the winch after being wound for the same number of turns, and the two wires are parallel.
According to the structure and the rope winding method, the steel wire rope cannot be wound together or laterally offset in the rotating process of the motor, and the influence of the change of the rotating radius and the lateral offset on the elastic deformation of the spring is avoided.
A linear slide rail 10 and a magnetic strip 13 are arranged at the lower position of the bottom plate and perpendicular to the straight line where the motor shaft is positioned. The linear slide rail is provided with 3 rows of ball linear slide blocks with the same technical parameters, namely, the first slide block 7, the second slide block 8 and the third slide block 9, and the middle parts of the 3 slide blocks are connected through 2 springs 11 with the same elastic coefficient and length, as shown in fig. 6. A handle seat 6 is fixed on the second slide block 8 and used for fixing a handle 16, and a hook 14 is fixed on the outer side of the first slide block 7 and the outer side of the third slide block 9 and used for fixing the tail end of a steel wire rope 15. Meanwhile, a magnetic grating ruler reading head 12 (3 magnetic grating ruler reading heads in total) is respectively fixed on the side surfaces of the 3 sliding blocks, and the magnetic grating ruler reading heads and the magnetic strips are matched to form a position measuring device for measuring the positions of the three sliding blocks in real time so as to obtain deformation amounts of the two springs, and the elastic force of the springs is obtained through calculation so as to further obtain the position information and the stress condition of a human hand.
The two steel wire ropes are wound out after being fixed by a winch, and are respectively connected and fixed with the hooks 14 on the first sliding block 7 or the third sliding block 9 through the first rotating shaft 18, the second rotating shaft 19 and the third rotating shaft 20 in sequence, and the tail ends of the two steel wire ropes are respectively parallel to the linear sliding rail, as shown in fig. 1 and 2.
The structure of the above-mentioned rotating shaft is shown in fig. 8 (the rotating shaft functions as a intermediate wheel and may be replaced by a pulley).
The power transmission process of the driver is as follows: in the process that the hand drives the handle to move along the linear guide rail, the motor provides corresponding driving force, and the winch is driven to pull the rope so as to change the deformation of the elastic element, so that the interaction force and the impedance perceived by the hand are changed. Through designing corresponding impedance controller, realize the mutual compliance degree of expected man-machine.
The impedance controller block diagram is shown in fig. 9, wherein: g CSEA Open loop model of elastic driving platform connected in series by rope traction and input of open loop model is displacement of handle respectivelyAnd motor speed control command omega d Output is human-machine interaction moment tau h 。Z d For a desired impedance model, τ d Is the desired moment. e is torque tracking error, and K is impedance controller.
τ h By the deformation of two springs and according to the formulaObtaining the product.
Wherein the method comprises the steps ofFor motor end displacement, K s Is the equivalent stiffness of the two springs.
In conclusion, the structural design of the invention realizes flexible, safe and stable physical man-machine interaction based on the rope traction series elastic driving method.
Claims (4)
1. A physical man-machine interaction platform based on rope traction serial elastic drive is characterized in that: the physical man-machine interaction platform comprises a bottom plate, wherein a linear sliding rail and a magnetic strip parallel to the linear sliding rail are arranged on one side of the bottom plate, three sliding blocks are arranged on the linear sliding rail, namely a first sliding block, a second sliding block and a third sliding block in sequence, the middle of the three sliding blocks is connected through two springs, a handle seat and a handle are fixed on the second sliding block in the middle and used for man-machine interaction, and a hook used for fixing a rope is arranged on the outer sides of the first sliding block and the third sliding block at two ends respectively; the side surfaces of the three sliding blocks are respectively provided with a total of 3 magnetic grating ruler reading heads, and the 3 magnetic grating ruler reading heads and the magnetic strips are matched to form a position measuring device; the other side of the bottom plate is provided with a U-shaped motor frame for fixing a motor and a winch, the outer side of one end of the motor frame is fixedly provided with a direct current servo motor, a motor shaft penetrates through the motor frame and then is fixed with a coupler, the other end of the coupler is connected with the winch, meanwhile, the other end of the winch is fixedly connected with a screw rod, the screw rod penetrates out of a screw hole at the other end of the U-shaped motor frame, and a straight line where the motor shaft is positioned is perpendicular to the straight line sliding rail; two ropes are reversely wound on the winch, one end of each rope is fixed with the winch, and the other end of each rope is connected and fixed with a hook on the outer side of the first sliding block or the third sliding block through three rotating shafts arranged on a bottom plate between the motor frame and the linear sliding rail.
2. The physical man-machine interaction platform based on rope traction serial elastic drive of claim 1, wherein the physical man-machine interaction platform is characterized in that: one ends of the two ropes on the winch are respectively fixed on the outer side of the winch and are reversely wound towards the middle, the two ropes are left and right in the out-connection direction and are positioned on the same side of the winch, and the two ropes cannot be rolled together or laterally offset in the rotating process.
3. The rope traction series elastic drive-based physical man-machine interaction platform according to claim 1 or 2, wherein the platform is characterized in that: the tail ends of the two ropes led out of the winch are respectively parallel to the linear slide rail.
4. The rope traction series elastic drive-based physical man-machine interaction platform according to claim 1 or 2, wherein the platform is characterized in that: the elastic coefficients and the lengths of the two springs arranged in the middle of the three sliding blocks are the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245325.6A CN107756388B (en) | 2017-12-01 | 2017-12-01 | Physical man-machine interaction platform based on rope traction series elastic drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245325.6A CN107756388B (en) | 2017-12-01 | 2017-12-01 | Physical man-machine interaction platform based on rope traction series elastic drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107756388A CN107756388A (en) | 2018-03-06 |
| CN107756388B true CN107756388B (en) | 2023-09-19 |
Family
ID=61277155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711245325.6A Active CN107756388B (en) | 2017-12-01 | 2017-12-01 | Physical man-machine interaction platform based on rope traction series elastic drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756388B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581988A (en) * | 2018-06-07 | 2018-09-28 | 芜湖隆深机器人有限公司 | A kind of interval adjustable transferring device of storage cylinder end piece |
| CN109109017B (en) * | 2018-09-12 | 2023-10-20 | 华南农业大学 | Automatic wire arranging and winding mechanism for rope traction robot |
| WO2022192109A1 (en) * | 2021-03-08 | 2022-09-15 | Intuitive Surgical Operations, Inc. | Devices, systems and methods for controlling cable drive mechanisms |
| CN116118897A (en) * | 2021-11-15 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Mechanical leg module and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202132461U (en) * | 2011-05-03 | 2012-02-01 | 哈尔滨工程大学 | Compact pull rope type resilient driver |
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
| CN106618941A (en) * | 2016-09-18 | 2017-05-10 | 南开大学 | Rope traction serial connection elastic actuator based on force-position coupling |
| CN107042510A (en) * | 2017-04-12 | 2017-08-15 | 华中科技大学 | A kind of hydraulic series flexible drive mechanism and test its experiment porch |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9259274B2 (en) * | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
-
2017
- 2017-12-01 CN CN201711245325.6A patent/CN107756388B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202132461U (en) * | 2011-05-03 | 2012-02-01 | 哈尔滨工程大学 | Compact pull rope type resilient driver |
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
| CN106618941A (en) * | 2016-09-18 | 2017-05-10 | 南开大学 | Rope traction serial connection elastic actuator based on force-position coupling |
| CN107042510A (en) * | 2017-04-12 | 2017-08-15 | 华中科技大学 | A kind of hydraulic series flexible drive mechanism and test its experiment porch |
Non-Patent Citations (1)
| Title |
|---|
| 基于弹性铰链的仿人型肌电假手设计;王念峰，劳锟沂，张宪民;华南理工大学学报( 自然科学版);第第44卷卷(第第10期期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107756388A (en) | 2018-03-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107756388B (en) | Physical man-machine interaction platform based on rope traction series elastic drive | |
| CN101332604B (en) | Control method of man machine interaction mechanical arm | |
| CN102727360B (en) | Human upper limb rehabilitation robot | |
| Morozovsky et al. | SkySweeper: A low DOF, dynamic high wire robot | |
| CN202637381U (en) | Robot for human body upper limb rehabilitation | |
| CN104802177A (en) | Magnetorheological fluid indirect-adaptive underactuation robot finger device | |
| Hagen et al. | Feasibility study of electromechanical cylinder drivetrain for offshore mechatronic systems | |
| KR101839317B1 (en) | End effector capable of being actuated by cable tension and cable-driven parallel robot comprising same | |
| WO2022147979A1 (en) | Structural multi-dimensional loading test system considering real complex boundary conditions | |
| Sonoda et al. | Control of robotic joint by using antagonistic pair of twist drive actuators | |
| US10035265B2 (en) | Manipulator | |
| Mitsantisuk et al. | Variable mechanical stiffness control based on human stiffness estimation | |
| JP6151857B2 (en) | Control method for controlling arm segments of a collaborative manipulator | |
| Han et al. | External force estimation method for robotic manipulator based on double encoders of joints | |
| JP3519884B2 (en) | Wire drive link device and drive control device thereof | |
| CN207548758U (en) | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive | |
| Vikranth Reddy et al. | Planar cable-driven robots with enhanced orientability | |
| Tao et al. | Optimization and control of cable tensions for hyper-redundant snake-arm robots | |
| CN108908345B (en) | Under-actuated dexterous hand transmission system state sensing system | |
| JPH02256489A (en) | Multi-joint hand | |
| KR101841477B1 (en) | Lower limb rehabilitation robot system based on wire driven actuator and method of controlling the same | |
| Kumar et al. | Hardware in the loop based simulation of a robotic system with real time control and animation of working model | |
| Yu et al. | Research on stiffness control of a redundant cable-driven parallel mechanism | |
| KR101685433B1 (en) | A cable-driven system using a spring - actuator mechanism | |
| KR101999057B1 (en) | Series elastic actuator and controller including the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |