CN108393872B - Humanoid robot waist joint based on 3-RRR spherical surface parallel mechanism - Google Patents
Humanoid robot waist joint based on 3-RRR spherical surface parallel mechanism Download PDFInfo
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- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
一种基于3‑RRR球面并联机构的人形机器人腰关节，其由奇数个结构相同的并联机构单元对称耦联而成，所述并联机构单元包括定平台、共用平台、末端平台以及连接每两个平台的三条结构相同且沿周向均布的的RRR串联支链，每条支链包括主动杆、从动杆和直齿锥齿轮，相邻的两个并联机构单元中的前级并联机构单元的动平台和后级并联机构单元的定平台共用一个平台，前级机构单元全部构件与后级机构单元全部构件在任何瞬时都关于共用平台对称，增设单自由度传动机构将前级机构单元的从动杆的角度变化等量转化为后级机构单元的主动杆的角度变化。本发明能够实现倍数叠加、工作空间放大、运动灵活、与人体腰椎多节段联动的运动特点几乎完全吻合。
A waist joint of a humanoid robot based on a 3-RRR spherical parallel mechanism, which is formed by symmetrically coupling an odd number of parallel mechanism units with the same structure, and the parallel mechanism units include a fixed platform, a shared platform, an end platform, and a connection between every two The platform has three RRR series branch chains with the same structure and evenly distributed along the circumferential direction. Each branch chain includes a driving rod, a driven rod and a spur bevel gear. The platform and the fixed platform of the rear-level parallel mechanism unit share a platform. All components of the front-level mechanism unit and all components of the rear-level mechanism unit are symmetrical with respect to the shared platform at any instant. The angle change of the rod is equivalently converted into the angle change of the active rod of the post-stage mechanism unit. The invention can realize multiple superposition, enlarged working space, flexible movement, and is almost completely consistent with the movement characteristics of multi-segment linkage of human lumbar vertebrae.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a human-shaped robot waist joint.
Background
"human-machine co-fusion" is the goal of humanoid robot development, directing the direction of research in this field. Although the shape and the function of the existing humanoid robot are more and more humanoid, all have the obvious defect of rigid action. The bionic level of the waist joint of the existing humanoid robot is seriously lagged behind that of other bionic joints, and the wooden barrel effect is obvious.
In the field of joint bionics, as ankle joints, hip joints, elbow joints, wrist joints and finger joints of a human body all belong to spherical joints, the same motion characteristics can be easily realized in mechanics, and the research is relatively mature. However, unlike other human body movement joints, the waist joint is not a spherical joint around a certain rotation center, but a segment composed of multiple joints having a linkage movement property and a superposition of multiple stages of movements, and the degree of movement is highest among the human body joints. In addition, the waist of the human body not only has the function of connecting the upper limb and the lower limb, but also can adjust the gravity center when the human is engaged in various exercises and participate in the control of balance, so the waist has obvious effect on the human body exercises. Once the waist joint of the robot is similar to the waist of a human body, the robot not only has stable gait, but also can complete flexible movement and flexible posture. Li Yanjie has studied in the human-like robot human hair exhibition and the function of the waist joint thereof and Wuweiguo has studied in the human-like robot waist joint balance function research and simulation, which proves the important significance of the bionic waist joint.
However, there is currently no mechanism for achieving this motion characteristic in the true sense. Although the tandem mechanism can realize the motion characteristic by overlapping a plurality of rotating pairs, a corresponding driving unit must be matched for each degree of rotational freedom, and the tandem mechanism has little practical value in terms of overall weight and power and energy efficiency. For the traditional parallel mechanism, a mechanism which can be matched with the working space is hardly found. Therefore, the conventional method must be broken through, the advantages of the two methods are utilized and complemented, a mechanism which has the advantages of rotation, superposition, super-large working space and the number of driving units as few as possible is designed, and the high bionic of the waist of the human body is realized.
Disclosure of Invention
The invention aims to solve the problem that the bionic level of the waist joint of the existing humanoid robot is seriously low in the known technology, and provides the waist joint of the humanoid robot based on the 3-RRR spherical parallel mechanism, which can realize multiple superposition, working space amplification, flexible movement and almost complete coincidence with the movement characteristics of multi-section linkage of the lumbar of a human body.
The parallel mechanism unit is formed by symmetrically coupling odd number of parallel mechanism units with the same structure, is a parallel mechanism with three rotational degrees of freedom, and comprises a fixed platform, a shared platform I or a shared platform II, a tail end platform and three RRR serial branched chains which are connected with every two platforms, have the same structure and are uniformly distributed along the circumferential direction, wherein each RRR serial branched chain comprises a driving rod, a driven rod and a straight bevel gear; one end of a driving rod of each adjacent parallel mechanism unit is fixedly connected with the other straight bevel gear and is connected with the common platform through a revolute pair, the two straight bevel gears are meshed, the other end of the driving rod is connected with one end of a driven rod through the revolute pair, and the other end of the driven rod is fixedly connected with the straight bevel gear and is connected with the other common platform through the revolute pair; arranging a plurality of adjacent parallel mechanism units according to requirements; one end of a driving rod of the tail end of one parallel mechanism unit is connected with the other straight bevel gear and is connected with the shared platform through a revolute pair, the other end of the driving rod is connected with one end of a driven rod through a revolute pair, and the other end of the driven rod is connected with the tail end platform through a revolute pair; the same parallel mechanism unit contains 9 revolute pairs in total, and the axes of the revolute pairs intersect at one point; the two adjacent parallel mechanism units are divided into a front-stage mechanism unit and a rear-stage mechanism unit according to the motion output direction; the symmetrical coupling means that, on the one hand, all components of the preceding mechanism unit and all components of the subsequent mechanism unit are symmetrical with respect to the common platform at any instant, and, on the other hand, the transmission of motion between the parallel mechanism units is realized by additionally arranging a single degree-of-freedom transmission mechanism between the driven rod of the preceding mechanism unit and the driving rod of the subsequent mechanism unit, and the single degree-of-freedom transmission mechanism can equivalently convert the angular change of the driven rod of the preceding mechanism unit into the angular change of the driving rod of the subsequent mechanism unit.
Compared with the prior art, the invention has the following advantages:
(1) the parallel mechanism units based on the 3-RRR parallel mechanism form a human-like waist shape in a symmetrical coupling mode;
(2) the motion characteristics of the symmetrical coupling of the odd number of parallel mechanism units are matched with the motion characteristics of the multi-section linkage of the lumbar vertebra of the human body;
(3) the number of parallel mechanism units participating in coupling does not influence the number of required driving units, and only three groups of driving units are needed;
(4) two adjacent parallel mechanism units are symmetrical about the shared platform, and all the parallel mechanism units can deflect towards the same direction at any moment;
(5) the total deflection angle is equal to the sum of the deflection angles of all the parallel mechanism units in a symmetrical coupling mode, the effects of multiple superposition and working space amplification are realized, and the movement is flexible;
(6) the rotation of the movable platform relative to the fixed platform and the rotation of the movable platform relative to the fixed platform of the input end parallel mechanism unit have a determined multiple relation, so that the position analysis can be converted into the position analysis of the parallel mechanism unit, the calculation model is simplified conveniently, and the practical application is facilitated.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the deflection configuration of the present invention;
FIG. 3 is a schematic view of the present invention in a self-rotating configuration;
fig. 4 is a schematic view of the present invention in both deflected and autorotated configurations.
In the figure: 1. the system comprises a fixed platform, a first shared platform, a second shared platform, a 4-tail end platform, a 5-driving rod I, a 6-driven rod I, a 7-straight bevel gear I, a 8-straight bevel gear II, a 9-driving rod II, a 10-driven rod II, a 11-straight bevel gear III, a 12-straight bevel gear IV, a 13-driving rod III and a 14-driven rod III.
Detailed Description
In the schematic diagrams of the human-shaped robot waist joint based on the 3-RRR spherical parallel mechanism shown in fig. 1-4, the human-shaped robot waist joint comprises 3 parallel mechanism units with the same structure, the parallel mechanism units are parallel mechanisms with three rotational degrees of freedom, each parallel mechanism unit comprises a fixed platform, a shared platform, a tail end platform and three RRR serial branched chains which are connected with the fixed platform, the shared platform and the tail end platform and have the same structure and are uniformly distributed along the circumferential direction, each RRR serial branched chain comprises a driving rod, a driven rod and a straight bevel gear, wherein one end of a driving rod I5 in the first parallel mechanism unit is connected with the fixed platform 1 through a revolute pair R1, the other end of the driving rod I5 is connected with one end of a driven rod I6 through a revolute pair R2, and the other end of the driven rod I6 is fixedly connected with a straight bevel gear I7 and is connected with a shared platform I2 through a revolut; one end of a driving rod II 9 of the second parallel mechanism unit is fixedly connected with a straight bevel gear II 8 and is connected with a common platform I2 through a revolute pair R4, a straight bevel gear I7 is meshed with the straight bevel gear II 8, the other end of the driving rod II 9 is connected with one end of a driven rod II 10 through a revolute pair R5, and the other end of the driven rod II 10 is fixedly connected with a straight bevel gear III 11 and is connected with a common platform II 3 through a revolute pair; one end of a driving rod III 13 of the tail-end parallel mechanism unit is fixedly connected with a straight bevel gear IV 12 and is connected with a shared platform II 3 through a revolute pair R7, a straight bevel gear III 11 is meshed with the straight bevel gear IV 12, the other end of the driving rod III 12 is connected with one end of a driven rod III 14 through a revolute pair R8, and the other end of the driven rod III 14 is connected with a tail-end platform 4 through a revolute pair R9; the same parallel mechanism unit contains 9 revolute pairs in total, and the axes of the revolute pairs intersect at one point;
the two adjacent parallel mechanism units are divided into a preceding stage mechanism unit and a subsequent stage mechanism unit according to the motion output direction, a first common platform is a movable platform of a first stage parallel mechanism and a fixed platform of a second stage parallel mechanism, a second common platform is a movable platform of a second stage parallel mechanism and a fixed platform of a third stage parallel mechanism, a driving rod of the first stage parallel mechanism unit, a driven rod of the second stage parallel mechanism and a driving rod of the third stage parallel mechanism use connecting rods with the same structure and size, a driven rod of the first stage parallel mechanism unit, a driving rod of the second stage parallel mechanism and a driven rod of the third stage parallel mechanism use connecting rods with the same structure and size, the two structure and size can be the same or different, the symmetry of the preceding stage parallel mechanism and the subsequent stage parallel mechanism about the common platform is not influenced, and the coupling mode is that the preceding stage mechanism unit and the driving rod of the subsequent stage parallel mechanism unit are additionally arranged between the driven rod of the preceding stage mechanism unit and the subsequent stage mechanism unit The single-degree-of-freedom transmission mechanism can equally convert the angle change of the driven rod of the preceding mechanism unit into the angle change of the driving rod of the rear mechanism unit, the single-degree-of-freedom transmission mechanism is a gear transmission mechanism consisting of one straight bevel gear with the same parameters or two straight bevel gears with the same parameters, and the two straight bevel gears are fixedly connected with the driven rod of the preceding parallel mechanism unit and the driving rod of the rear parallel mechanism unit respectively.
Claims (1)
1. The utility model provides a humanoid robot waist joint based on 3-RRR sphere parallel mechanism which characterized in that: the parallel mechanism unit is a parallel mechanism with three rotational degrees of freedom and comprises a fixed platform, a shared platform I or a shared platform II, a tail end platform and three RRR serial branched chains which are connected with every two platforms, have the same structure and are uniformly distributed along the circumferential direction, wherein each RRR serial branched chain comprises a driving rod, a driven rod and a straight bevel gear; one end of a driving rod of each adjacent parallel mechanism unit is fixedly connected with the other straight bevel gear and is connected with the common platform through a revolute pair, the two straight bevel gears are meshed, the other end of the driving rod is connected with one end of a driven rod through the revolute pair, and the other end of the driven rod is fixedly connected with the straight bevel gear and is connected with the other common platform through the revolute pair; a plurality of adjacent parallel mechanism units can be arranged as required; one end of a driving rod of the tail end of one parallel mechanism unit is connected with the other straight bevel gear and is connected with the shared platform through a revolute pair, the other end of the driving rod is connected with one end of a driven rod through a revolute pair, and the other end of the driven rod is connected with the tail end platform through a revolute pair; the same parallel mechanism unit contains 9 revolute pairs in total, and the axes of the revolute pairs intersect at one point; the two adjacent parallel mechanism units are divided into a front-stage mechanism unit and a rear-stage mechanism unit according to the motion output direction; the symmetrical coupling means that, on the one hand, all components of the preceding mechanism unit and all components of the subsequent mechanism unit are symmetrical with respect to the common platform at any instant, and, on the other hand, the transmission of motion between the parallel mechanism units is realized by additionally arranging a single degree-of-freedom transmission mechanism between the driven rod of the preceding mechanism unit and the driving rod of the subsequent mechanism unit, and the single degree-of-freedom transmission mechanism can equivalently convert the angular change of the driven rod of the preceding mechanism unit into the angular change of the driving rod of the subsequent mechanism unit.
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| CN110718129B (en) * | 2019-05-13 | 2022-07-12 | 上海大学 | A six-degree-of-freedom knee joint motion simulation system |
| CN112659100B (en) * | 2020-11-17 | 2022-04-19 | 燕山大学 | A local three-degree-of-freedom rigid-soft coupled bionic robot waist joint |
| CN112659099B (en) * | 2020-11-17 | 2022-07-29 | 燕山大学 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
| CN116214574B (en) * | 2022-12-30 | 2025-07-01 | 浙江大学 | A universal ball structure for multi-degree-of-freedom unit replication |
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| CN105058413B (en) * | 2015-08-12 | 2017-06-20 | 北京化工大学 | Imitative snake search and rescue robot becomes born of the same parents' articulation mechanism |
| CN105619447A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Two-degree-of-freedom in-parallel spraying robot joint |
| CN105599002A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Four-branch-chain two-rotation parallel robot joint |
| CN206748409U (en) * | 2017-04-13 | 2017-12-15 | 哈尔滨工程大学 | Nine-degree of freedom serial-parallel mirror stabilized platform |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
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