CN108032331B - A kind of variation rigidity flexible mechanical arm - Google Patents
A kind of variation rigidity flexible mechanical arm Download PDFInfo
- Publication number
- CN108032331B CN108032331B CN201711202607.8A CN201711202607A CN108032331B CN 108032331 B CN108032331 B CN 108032331B CN 201711202607 A CN201711202607 A CN 201711202607A CN 108032331 B CN108032331 B CN 108032331B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- rigidity
- pieces
- variable rigidity
- support plate
- 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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The present invention relates to a kind of variation rigidity flexible mechanical arms, belong to mechanized equipment technical field.Variation rigidity flexible mechanical arm of the invention, its main part is three pieces of beam structures being parallel to each other of mechanical arm, that is two pieces of variable rigidity support plates and central branches fagging, it is uniformly distributed for three pieces with left, center, right, wherein two pieces of left and right is flexible plate-like structure, it can be driven by servo motor so that arching upward in the middle part of plate to change the rigidity of mechanical arm, the central branches fagging positioned at middle part is played a supporting role, and is a tube-in-tube structure.The advantage of the invention is that realizing the change of mechanical arm rigidity mechanically relatively simplely, rigidity adjustable extent is big, can satisfy requirement of the mechanical arm under different working condition for precision and flexibility.
Description
Technical field
The present invention relates to a kind of variation rigidity flexible mechanical arms, belong to mechanized equipment technical field.
Background technique
Flexible mechanical is one new branch of robot industry.Its purport is that the body part of robot is rigid from tradition
Property material is changed to soft and elastic material.
Conventional rigid machinery has an accurate advantage of controlling, but firm component its physical property can not change, and hinder
They are effectively contacted with the external world, can not adapt to complex environment.And flexible mechanical can be absorbed impact that system is subject to and
The environmental suitability of system is more efficiently realized in vibration.It is also flourishing in recent years, it is multiple in biology, medical treatment, rescue etc.
Application prospect is extensive under miscellaneous scene.
Meanwhile flexible mechanical also has disadvantage at present.Realize that flexible mechanical flexible is one nonlinear rigid by material
Soft coupled system.The flexible deformation mechanism of a variety of materials is different and the freedom degree high redundancy of flexible material, is difficult effectively to build
Mould and analysis.Therefore the control theory of current flexible mechanical is not yet formed, be difficult to find it is a kind of not only played flexible advantage, but also not
Reduce the control mode of control precision.For example, having derived various mechanical controls based on different flexible material characteristics
Mode processed.If the temperature of temperature memory alloy SMA material controls, the hydraulic pressure control etc. of bionic muscle fiber, although having certainly
The ability of complicated contact surface is adapted to, but is also all difficult to realize be precisely controlled.
Another paths for realizing flexible mechanical realize conventional rigid mechanical arm by controller design flexible, such as logical
The force-feedback control for crossing the servo motor of joint improves conventional rigid mechanical arm for the adaptive faculty of environment.Do so makes really
Rigid Robot Manipulator has also had both flexibility while possessing high accurancy and precision, but this is for the design of controller and the machine of motor
Electrical property proposes very big challenge, and high cost has limited the range of application.
Summary of the invention
The purpose of the present invention is to propose to a kind of variation rigidity flexible mechanical arms, realize machinery by changing the rigidity of mechanical arm
Switching at runtime of the arm between rigidity and flexibility has mechanical arm simultaneously simply and efficiently to change mechanical arm rigidity
There are rigidity and flexibility, achievees the purpose that the high-adaptability of the high accurancy and precision for taking into account Rigid Robot Manipulator and flexible mechanical arm.
Variation rigidity flexible mechanical arm proposed by the present invention, including footstock, two pieces of variable rigidity support plates, central branches fagging,
Elongated slot, pedestal, two cross actuators and eight connecting rods；The upper end of two pieces of variable rigidity support plates is fixed on
The two sides of footstock, the lower end of two pieces of variable rigidity support plates are fixed on the respective sides of pedestal, and the central branches fagging is set
In the centre of two pieces of variable rigidity support plates, the upper end of central branches fagging and footstock are relatively fixed, and the elongated slot is placed in pedestal
Centre, the lower end of central branches fagging protrudes into elongated slot, and the center of the cross actuator is provided with servo motor transmission axis
Insertion hole, have the first connecting hole on four spiders of cross actuator；
Servo motor mounting hole is had on the footstock and pedestal, for installing servo motor；
The variable rigidity support plate is equipped with upper and lower four pairs of fixed ears, is provided with the second connecting hole in fixed ear；
Four connecting rods in eight connecting rods are placed in one end of variation rigidity flexible mechanical arm, in addition four connections
Bar is placed in the other end of variation rigidity flexible mechanical arm, and eight connecting rods are respectively used to support cross actuator and variable rigidity
The connecting rod that plate mutually links；The both ends of every connecting rod pass through the first connecting hole in variable rigidity support plate fixed ear respectively
It is hinged with the second connecting hole on four spiders of cross actuator with variable rigidity support plate and cross actuator,
The movement of cross actuator is passed into variable rigidity support plate.
Variation rigidity flexible mechanical arm proposed by the present invention, its advantage is that:
1, variation rigidity flexible mechanical arm of the invention devises special variation rigidity supporting plate structure, and by being bent it
Shape realizes the adjustment of mechanical arm rigidity, has reached adjusting simply, the big purpose of variable rigidity range overcomes the prior art
It is insufficient.
2, the user of variation rigidity flexible mechanical arm of the present invention need to only control two cross for being embedded in footstock and pedestal
The windup-degree of servo motor in actuator, so that it may accurately control the both ends of variable rigidity support plate in the width direction it
Between distance, so that the geometry that variable rigidity support plate bending moment arches upward is controlled, accurately to control variable rigidity support plate
Along the symmetrical axis direction in cross section, that is, it is primarily subjected to the rigidity in the direction of load, and is determined by theoretical calculation, the present invention becomes rigid
The control mode for spending flexible mechanical arm can be to change mechanical arm in larger range.
3, mechanical arm of the invention, can be in the switching between flexible and rigidity, and handoff procedure is easily controllable, variable range
Greatly, the safety of rigid mechanical arm mechanism can be promoted and reduce the control difficulty of compliant mechanism, the high of flexible mechanical is taken into account and adapt to
Property and rigid mechanical accuracy so that flexible mechanical enter wider application field.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of variation rigidity flexible mechanical arm proposed by the present invention.
Fig. 2 is the main view of variation rigidity flexible mechanical arm shown in FIG. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is footstock back view.
Fig. 5 is the inside display diagram of variation rigidity support plate.
Fig. 6 is the structural schematic diagram of cross actuator.
Fig. 7 and Fig. 8 is variable rigidity support plate, cross actuator and connecting rod in variation rigidity flexible mechanical arm of the present invention
Between connection relationship diagram.
Fig. 9 is the connection relationship diagram of variation rigidity support plate Yu cross actuator.
Figure 10 is the relational graph of the rigidity and bending degree for variation rigidity flexible mechanical arm of the present invention.
In Fig. 1-Fig. 9,1 is footstock, and 2 be variable rigidity support plate, and 3 be central branches fagging, and 4 be elongated slot, and 5 be pedestal, and 6 are
The upper and lower end and footstock of variable rigidity support plate or the connecting screw hole of pedestal, 7 be servo motor mounting hole, and 8 be cross driving
Part, 9 be servo motor hole transmission shaft insertion hole, and 10-13 is the first connection on four spiders of cross actuator respectively
Kong Kong, 14-17 are the second connecting hole in the fixed ear of variable rigidity support plate respectively, and 18-21 is namely for making cross
The connecting rod that actuator is connect with variable rigidity support plate, 22 and 23 be the fixed ear in variable rigidity support plate.
Specific embodiment
Variation rigidity flexible mechanical arm proposed by the present invention, structure is as shown in Figure 1, include 1, two piece of variable rigidity branch of footstock
Fagging 2, central branches fagging 3, elongated slot 4,5, two cross actuators 8 of pedestal and eight connecting rods 18 (19,20,21), such as Fig. 7
With shown in Fig. 8.The upper end of two pieces of variable rigidity support plates 2 is fixed on two of footstock 1, two pieces of variable rigidity support plates 2
Lower end be fixed on corresponding two of pedestal 5.Central branches fagging 3 is placed in the centre of two pieces of variable rigidity support plates 2, central branches
The upper end of fagging and footstock are relatively fixed, and the elongated slot 4 is placed in the centre of pedestal, and elongated slot 4 is protruded into the lower end of central branches fagging 2
In, similar tube-in-tube structure plays a supporting role, connects the footstock 1 and pedestal 5 at both ends, as shown in Figure 2.On footstock 1 and pedestal 5
Servo motor mounting hole 7 is had, for installing servo motor (not indicating in servo motor figure), as shown in Figure 3.
The structure of cross actuator 8 is as shown in fig. 6, the center of cross actuator 8 is provided with servo motor transmission axis
It is inserted into hole 9, the first connecting hole 10 (11,12,13) is had on four spiders of cross actuator, in Fig. 4 and Fig. 6
10,11,12 and 13 shown in.
The structure of the variable rigidity support plate 3 is as shown in figure 5, variable rigidity support plate is equipped with upper and lower four pairs admittedly
Determine ear, if 22 and 23 in Fig. 5 are a pair of of fixed ear, the second connecting hole is provided in fixed ear, such as 14 (15,16 and in Fig. 9
17) shown in.
Four connecting rods in eight connecting rods are placed in one end of variation rigidity flexible mechanical arm, in addition four connections
Bar is placed in the other end of variation rigidity flexible mechanical arm, and as shown in Figure 9,18,19,20,21 namely for making cross in Fig. 9
The connecting rod that actuator 8 and variable rigidity support plate 2 mutually link.The both ends of every connecting rod are supported by variable rigidity respectively
The first connection on four spiders of the second connecting hole 14 (15,16 and 17) and cross actuator 8 in plate fixed ear
Hole makes variable rigidity support plate 2 and cross actuator 8 mutually link, and the movement of cross actuator 8 is passed to rigidity can
Become support plate 2, realizes control of the servo motor to the flexibility and rigidity of variation rigidity flexible mechanical arm.
Below in conjunction with attached drawing, it is situated between in detail to the working principle and the course of work of variation rigidity flexible mechanical arm of the invention
It continues:
Variation rigidity flexible mechanical arm upper and lower ends are fixed by footstock and pedestal, are played the role of fixed and are connected, top
Seat 1 can connect other articles such as extraneous counterweight, and pedestal 2 can be connected by pin with other mechanical arms, and embeddable
Servo motor is to realize control task.Among footstock and pedestal, there are three pieces of variable rigidity support plates 2 being parallel to each other in
Support plate 3 to be entreated, is uniformly distributed for three pieces with left, center, right, width is slightly smaller than the side length of footstock and pedestal, and two pieces of middle left and right
It is with flexible structure made of ABS plastic, the middle part at the both ends of flexible structure is connected with footstock and pedestal with fixation.In being located at
The central branches fagging 3 in portion is a tube-in-tube structure, is played a supporting role, and the footstock and pedestal at both ends are connected by pin.Two sides
It is embedded with cross actuator 8 on the inside of footstock and pedestal, is driven by servo motor, angle rotatable is 90 °.Its four endpoints have 4
A coupling part, the two sides with variable rigidity support plate 2 are linked by pin respectively.It can be realized by the rotation of servo motor
Flexible material is in the conversion between straight two states of arching upward, to realize the purpose of stiffness change.
Variable rigidity support plate 2 is a flexible flexible material, and the back side is smooth, and front is shape such as corrugation
The alternate structure of the bumps of paper, is made, the broached-tooth design of the recess of the protrusion and strip of strip goes out in succession of ABS plastic
It is existing, it is paved with entire plane, direction is consistent with the length of variable rigidity support plate 2, can be limited outer in order to material bending
Power effect is lower to realize the bigger deformation of material, with the variable range of elevating mechanism arm rigidity.Four tops of variable rigidity support plate 2
Point nearby, there are four connecting component in long side, is drilled with aperture in connecting component, can by pin and connecting rod 18 (19,20,
21) it is connected, respectively there are three apertures for two middle side parts of variable rigidity support plate 2, can pass through bolt structure and footstock 1 and low seat 5
On three apertures mutually fix so that variable rigidity support plate 2 stress be bent when, medium position keep substantially not
Become.
Cross actuator 8 can be connected by connecting rod 18 (19,20,21) with the fixed ear in variable rigidity support plate 2,
Servo motor can be installed by servo motor hole location 7, to control the torsion of cross actuator 8.Cross actuator 8 is one
Double-layer structure is connected by pin with connecting rod 18 (19,20,21) with facilitating, the servo motor hole transmission shaft insertion at middle part
Hole 9 is relatively fixed by servo motor transmission axis and footstock 1 and low seat 5 for connecting with servo motor.
By the synchronous rotary of the cross actuator 8 at both ends, the both ends stress of variable rigidity support plate 2 can be made and curved
Song makes its middle part arch upward.Its principle is that flexible plate bending moment will generate deformation, and deformation quantity and rigidity are negatively correlated,
It is inversely proportional with the Young's modulus of material and with cross sectional moment of inertia.
Figure 10 show the rigidity of variation rigidity flexible mechanical arm of the present invention and the relational graph of bending degree.Assuming that variable rigidity
The original width (i.e. distance between two-end-point) of support plate 2 is l, as shown in Fig. 5 and Fig. 7, during the work time, due to bending
It arches upward, the distance between two-end-point reduces, and the distance after note reduces is 2x, as shown in Figure 8.Pass through the theory meter of the mechanics of materials
It calculates, relationship such as Figure 10 institute between available the moment of inertia Iz (i.e. ordinate in Figure 10) and x (i.e. abscissa in Figure 10)
Show.It can be seen that rigidity is promoted with distance diminution between both ends, and promotes speed and be getting faster.
Claims (1)
1. a kind of variation rigidity flexible mechanical arm, it is characterised in that including footstock, two pieces of variable rigidity support plates, central branches fagging,
Elongated slot, pedestal, two cross actuators and eight connecting rods；
The upper end of two pieces of variable rigidity support plates is fixed on two of footstock, the lower end of two pieces of variable rigidity support plates
Portion is fixed on corresponding two of pedestal, and the central branches fagging is placed in the centre of two pieces of variable rigidity support plates, central supporting
The upper end of plate and footstock are relatively fixed, and the elongated slot is placed in the centre of pedestal, and the lower end of central branches fagging is protruded into elongated slot, institute
Servo motor mounting hole is had on the footstock and pedestal stated, for installing servo motor；
The center of the cross actuator is provided with the insertion hole of servo motor transmission axis, four crosses of cross actuator
The first connecting hole is had on arm；
The variable rigidity support plate is equipped with upper and lower four pairs of fixed ears, is provided with the second connecting hole in fixed ear；
Four connecting rods in eight connecting rods are placed in one end of variation rigidity flexible mechanical arm, and in addition four connecting rods are set
In the other end of variation rigidity flexible mechanical arm, eight connecting rods are respectively used to make cross actuator and variable rigidity support plate phase
The connecting rod mutually to link；The both ends of every connecting rod pass through the second connecting hole and ten in variable rigidity support plate fixed ear respectively
The first connecting hole on four spiders of font actuator makes variable rigidity support plate mutually link with cross actuator, by ten
The movement of font actuator passes to variable rigidity support plate, realizes servo motor to the flexible and rigid of variation rigidity flexible mechanical arm
The control of degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202607.8A CN108032331B (en) | 2017-11-27 | 2017-11-27 | A kind of variation rigidity flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711202607.8A CN108032331B (en) | 2017-11-27 | 2017-11-27 | A kind of variation rigidity flexible mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032331A CN108032331A (en) | 2018-05-15 |
| CN108032331B true CN108032331B (en) | 2019-09-27 |
Family
ID=62092946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711202607.8A Active CN108032331B (en) | 2017-11-27 | 2017-11-27 | A kind of variation rigidity flexible mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032331B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152189B (en) * | 2018-11-07 | 2021-07-09 | 北航（天津武清）智能制造研究院有限公司 | Flexible variable-rigidity mechanism with human-computer interaction safety |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN103753604A (en) * | 2013-12-27 | 2014-04-30 | 北京航空航天大学 | Modular flexible connection device allowing dynamic adjustment of stiffness |
| EP2737922A1 (en) * | 2012-11-28 | 2014-06-04 | Hansen Medical, Inc. | Catheter having unirail pullwire architecture |
| CN105171769A (en) * | 2015-09-28 | 2015-12-23 | 四川大学 | Variable-rigidity robot elastic joint |
| CN106426149A (en) * | 2016-11-05 | 2017-02-22 | 上海大学 | 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator |
-
2017
- 2017-11-27 CN CN201711202607.8A patent/CN108032331B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2737922A1 (en) * | 2012-11-28 | 2014-06-04 | Hansen Medical, Inc. | Catheter having unirail pullwire architecture |
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN103753604A (en) * | 2013-12-27 | 2014-04-30 | 北京航空航天大学 | Modular flexible connection device allowing dynamic adjustment of stiffness |
| CN105171769A (en) * | 2015-09-28 | 2015-12-23 | 四川大学 | Variable-rigidity robot elastic joint |
| CN106426149A (en) * | 2016-11-05 | 2017-02-22 | 上海大学 | 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032331A (en) | 2018-05-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2910565C (en) | Variable stiffness actuator with large range of stiffness | |
| US9381092B2 (en) | Flexible joint arrangement incorporating flexure members | |
| CN102428348B (en) | Micromechanical sensor | |
| KR100932231B1 (en) | Athletic board for immersive exercise simulator | |
| JP2015516592A5 (en) | ||
| KR20130093256A (en) | Underwater robot based on flapping | |
| KR101485999B1 (en) | 5-dof micro robot of parallel-type | |
| KR20100112670A (en) | Robot hand device | |
| CN108032331B (en) | A kind of variation rigidity flexible mechanical arm | |
| CN101316789A (en) | Micro-mechanical element capable of derivation | |
| CN106662756A (en) | Positioning device for image stabilizer | |
| CN104973561B (en) | Microcomputer electric component | |
| JP5521674B2 (en) | robot | |
| US20130046317A1 (en) | Medical instrument with flexible wrist mechanism | |
| JP6105024B2 (en) | Rotation drive mechanism in robot | |
| JP2004506529A (en) | Device for multi-axially and precisely adjustable support of components | |
| JP2004535556A (en) | Device for fixing and adjusting members to be supported | |
| JP2011089862A (en) | Bending fatigue testing device | |
| CN103213131B (en) | Robot crus structure capable of imitating human body ankle motions by utilizing pull rods | |
| KR101376877B1 (en) | Underwater Robot based on flapping | |
| JP2013052487A (en) | Parallel mechanism and positioning device using parallel mechanism | |
| US20120042728A1 (en) | Micromechanical Sensor | |
| CN102225545B (en) | Two-dimensional rotation parallel mechanism having virtual motion center | |
| CN111421523A (en) | Micro-motion platform | |
| CN202608932U (en) | Robotic transformation foot capable of simulating kangaroo to jump |
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 |