CN109176479A - A kind of Complete Bind Compliant Assembly variable stiffness apparatus - Google Patents
A kind of Complete Bind Compliant Assembly variable stiffness apparatus Download PDFInfo
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- CN109176479A CN109176479A CN201811293006.7A CN201811293006A CN109176479A CN 109176479 A CN109176479 A CN 109176479A CN 201811293006 A CN201811293006 A CN 201811293006A CN 109176479 A CN109176479 A CN 109176479A
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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
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Abstract
The invention discloses a kind of Complete Bind Compliant Assembly variable stiffness apparatus, including mainframe box, mainframe box bottom is equipped with twice hollow cylindrical linear guide groove, there are compressed spring and circular bulkheads respectively in per pass hollow cylindrical linear guide groove, compressed spring is separately connected between circular bulkheads and mainframe box, activity-oriented wheel support shaft is equipped in mainframe box, two 2 power slide bars, two power slide bar one end are contacted with cylindrical separator and hollow cylindrical straight-line guidance trench bottom, other end common rotation is connected to activity-oriented wheel support shaft, activity-oriented wheel is fixed on activity-oriented wheel support shaft, a pair of of fixed guide wheel support shaft is also rotatably equipped in mainframe box, two fixed guide wheel support shafts are symmetrical in front and back relative to activity-oriented wheel support shaft, fixed guide wheel support shaft is respectively fixed with fixed guide wheel；Flexible cable penetrates mainframe box from mainframe box side flexible cable inlet and outlet, is pierced by with after activity-oriented wheel from mainframe box other side flexible cable inlet and outlet around two fixed guides.The present invention provides good submissive variation rigidity characteristic for Complete Bind Compliant Assembly.
Description
Technical field
The present invention relates to flexible cable robot field, specifically a kind of Complete Bind Compliant Assembly variable stiffness apparatus.
Background technique
In recent years, with robot technology, the especially development of Compliant Assembly technology, people-machine is researched and developed
Device people-environment co-melting interaction Compliant Assembly has become the research hotspot of such robot, such as wearable robot, health
The Compliant Assemblies such as multiple robot.Such robot all has the characteristics that common: all there is user and robot body
The physical human-computer interaction of contact.Relative to traditional rigid parallel robot, though Compliant Assembly is with preferable soft
It is pliable, but for user, stiffness characteristics still with higher, when man-machine interactive operation, may make user by
Human-computer interaction security to injury, robot has received significant attention.And such issues that the key that solves be that robot exists
While controlling position, there is good submissive variation rigidity characteristic.Due to the cartesian space of Compliant Assembly ontology
Rigidity is difficult to be adjusted on a large scale, it is therefore desirable to by one auxiliary body with nonlinear stiffness characteristic of flexible cable series connection, i.e.,
Variable stiffness apparatus.According to the series connection theorem of rigidity, by adjusting the variable stiffness apparatus of easy variation rigidity, and then change entire robot
Cartesian space rigidity, and then meet the requirement of human-computer interaction security and environmental suitability.Variable stiffness apparatus is according to task need
Ask can easy regulating system cartesian space rigidity, the man-machine cordiality degree of robot and safety can be effectively improved, and then pursuit is more
The Robot Design application theory of high man-machine environment harmony and co-existence, application prospect are very wide.
Currently, having obtained some good achievements about the research of variable stiffness apparatus both at home and abroad, but what is be directed to is true mostly
Fixed robot or mechanism, and in view of the research of variable stiffness apparatus that is a kind of or being suitable for a variety of robots or mechanism is then opposite
It is less.Therefore, a kind of suitable Complete Bind Compliant Assembly variable stiffness apparatus how is designed, keeps robot easy to accomplish good
Good submissive variation rigidity characteristic is a research in current man-machine interaction Compliant Assembly reliability and safety field
Emphasis.
Summary of the invention
The object of the present invention is to provide a kind of Complete Bind Compliant Assembly variable stiffness apparatus, for flexible cable robot
Good submissive variation rigidity characteristic is provided.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: including mainframe box, mainframe box bottom
Equipped with twice each parallel to hollow cylindrical linear guide groove in the front-back direction, twice hollow cylindrical linear guide groove entirety exists
Left and right directions is staggered a distance, and twice hollow cylindrical linear guide groove is spaced a distance between front-rear direction, often
Compressed spring is slidably fitted in road hollow cylindrical linear guide groove respectively, is also divided in per pass hollow cylindrical linear guide groove
Not She You circular bulkheads, the hollow cylindrical linear guide groove where being axially parallel to of compressed spring, compressed spring one end is solid
Due to mainframe box respective side inner wall, the compressed spring other end is nested in circular bulkheads；
Activity-oriented wheel support shaft, activity-oriented wheel and a pair of two power slide bars are equipped in mainframe box, two 2 power slide bars are preceding
Rear direction is in symmetrical inclination, and two 2 power slide bars are integrally staggered a distance in left and right directions, and two 2 power slide bars tilt lower end one
One, which corresponds to circular bulkheads, contacts, and circular bulkheads are constrained in cylindrical linear guide groove and with two power slide bars inclination lower end
It moves and is axially moved along hollow cylindrical guide groove, make compressed spring compressive deformation.Activity-oriented wheel support shaft is axially flat
Row is in left and right directions, and two 2 power slide bar slanted upper end common rotations are connected to activity-oriented wheel support shaft, and activity-oriented wheel is fixed
Activity-oriented wheel support shaft middle position between two 2 power slide bar junctions is sliding by activity-oriented wheel support shaft, two 2 power
Bar constitutes isosceles triangle one, by vertex, two 2 power slide bars of activity-oriented wheel support shaft is waist in isosceles triangle one；
A pair of of fixed guide wheel support shaft is also rotatably equipped in mainframe box, two fixed guide wheel support shafts are axially parallel to
Activity-oriented wheel support shaft is axial, and two fixed guide wheel support shafts are located at the forward and backward side of activity-oriented wheel support shaft and mutual
Symmetrically, fixed guide wheel, fixed guide wheel size and activity-oriented wheel are respectively fixed among each fixed guide wheel support shaft
Size is identical, is made of isosceles triangle two activity-oriented wheel center and two fixed guide wheel centers, in isosceles triangle two with
Activity-oriented wheel center is vertex, and line is waist between activity-oriented wheel center and fixed guide wheel center；
The forward and backward side of mainframe box is respectively equipped with flexible cable inlet and outlet, and the determining straight line of two sides flexible cable inlet and outlet, which is located at two fixations, leads
It further include flexible cable immediately below the straight line determined to wheel center, flexible cable penetrates mainframe box from side flexible cable inlet and outlet, then passes around pair
Answer further around crossing at the top of activity-oriented wheel behind the fixed guide wheel bottom of side, finally around behind another fixed guide wheel bottom from another
Flexible cable inlet and outlet in side are pierced by.
A kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: mainframe box bottom is located at
Twice hollow cylindrical linear guide groove front-rear direction interval location is equipped with two power slide bar blocks, about by the limit of two power slide bar blocks
The movement of two 2 power slide bar of beam makes two 2 power slide bars constitute isosceles triangle one with activity-oriented wheel support shaft always.
A kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: mainframe box left and right side its
Middle side is set as open, and open-mouth lid closes connecting cover plate, is axially parallel to the fixed guide wheel support shaft of left and right directions respectively one
End is rotationally connected with cover board, and the other end is rotationally connected with side of the mainframe box relative to cover board.
A kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: the cover board and cover board
Opposite mainframe box side is equipped with cylinder shape groove, and the shaft end of fixed guide wheel support shaft is rotatablely connected by cylinder shape groove.
A kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: the activity-oriented wheel
Activity-oriented wheel support shaft middle position is limited in by the clamping of axial sides split washer, two 2 power slide bar slanted upper ends are by being open
The clamping of retaining ring unilateral side is limited in activity-oriented wheel support shaft both ends, and fixed guide wheel is limited in by the clamping of axial sides split washer
Fixed guide wheel support shaft middle position.
Compared with prior art, advantages of the present invention are as follows:
1, --- linear guide groove and two fixed guide wheels --- flexible cable --- are living for the symmetrical two power slide bar that the present invention designs
Two groups of variable isosceles triangle mechanisms that action-oriented wheel is constituted cooperate compressed spring, so that variable stiffness apparatus acquisition is good
Non-linear positive stiffness characteristics, driving flexible rope tension is bigger, and the rigidity of variable stiffness apparatus is bigger.
2, the output of the adjustable rigidity from zero stiffness to perfect rigidity theoretically may be implemented in the present invention, passes through the series connection of flexible cable
Effect can adjust the cartesian space rigidity of robot significantly, improve the safety of human-computer interaction.
3, adjustable rigidity value of the invention is the function about flexible rope tension, i.e., it can be adjusted by adjusting flexible rope tension
Rigidity realizes that its stiffness equivalent is simple and convenient for Complete Bind Compliant Assembly.
4, the linear compression spring that different-stiffness can be used in the present invention can get different adjustable rigidity ranges.
Detailed description of the invention
Fig. 1 is outside drawing of the invention.
Fig. 2 is that the present invention removes facing after cover board and shaft side figure, in which:
Fig. 2 a is front view, and Fig. 2 b is shaft side figure.
Fig. 3 is that mainframe box of the present invention is faced and cross-sectional view, in which:
Fig. 3 a is front view, and Fig. 3 b is cross-sectional view.
Fig. 4 is cover board front view of the present invention.
Fig. 5 is the symmetrical two power slide bar of the present invention and activity-oriented set mechanism and fixed guide wheel axonometric drawing, in which:
Fig. 5 a is symmetrical two power slide bar and activity-oriented set mechanism axonometric drawing, and Fig. 5 b is fixed guide wheel axonometric drawing.
Fig. 6 is that the present invention removes mainframe box and cover board rear axle mapping.
Fig. 7 is to remove cover board front view after the present invention concatenates flexible cable.
Fig. 8 is Complete Bind Compliant Assembly structure diagram.
Fig. 9 is variation rigidity realization principle figure of the present invention.
Figure 10 is single spring stress schematic diagram of the invention.
Figure 11 is flexible cable-variable stiffness apparatus stress deformation characteristic curve.
Figure 12 is power-load-deflection curve of the invention.
Figure label explanation:
In figure: 1: mainframe box, 2: cover board, 3: soket head cap screw, 21: activity-oriented wheel, 22: fixed guide wheel one, 23: Gu
Determine directive wheel two, 24: two power slide bars, 25: two power slide bar blocks, 26: compressed spring, 27: circular bulkheads, 31: flexible cable is imported and exported,
32: cylinder shape groove, 33: two power slide bar block fixing grooves, 34: hollow cylindrical linear guide groove, 51: the support of activity-oriented wheel
Axis, 52: split washer, 61: fixed guide wheel support shaft, 71: flexible cable.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, a kind of Complete Bind Compliant Assembly variable stiffness apparatus, including mainframe box 1,1 bottom of mainframe box
Portion is equipped with twice each parallel to hollow cylindrical linear guide groove 34 in the front-back direction, twice hollow cylindrical linear guide groove 34
The whole a distance that is staggered in left and right directions, and twice hollow cylindrical linear guide groove 34 is spaced one section between front-rear direction
Distance is slidably fitted with circular bulkheads 27, per pass hollow cylindrical straight line in per pass hollow cylindrical linear guide groove 34 respectively
Compressed spring 26, the hollow cylindrical straight-line guidance for being axially parallel to place of compressed spring 26 are further respectively had in guide groove 34
Circular bulkheads 27 are fixed in slot 34,26 one end of compressed spring, and 26 other end of compressed spring is fixed on 1 respective side inner wall of mainframe box；
It is sliding that activity-oriented wheel support shaft 51, activity-oriented wheel 21 and a pair of two power slide bars, 24, two 2 power are equipped in mainframe box 1
Bar 24 is tilted in front-rear direction in symmetrical, and the whole a distance that is staggered in left and right directions of two 2 power slide bar 24, two 2 power slide bars
24 inclination lower ends are corresponded to be contacted with circular bulkheads 27, circular bulkheads 27 be constrained on cylindrical linear guide groove 34 it is interior and with
Two power slide bars 24 tilt the movement of lower end and are axially moved along hollow cylindrical guide groove 34, make compressed spring 26 by buckling
Shape.Activity-oriented wheel support shaft 51 is axially parallel to left and right directions, and two 2 power slide bar, 24 slanted upper end common rotation is connected to work
Action-oriented wheel support shaft 51, activity-oriented wheel 21 are fixed on the activity-oriented wheel support shaft 51 between two 2 power slide bar, 24 junction
Middle position, is made of isosceles triangle one activity-oriented wheel support shaft 51, two 2 power slide bars 24, with work in isosceles triangle one
Action-oriented wheel support shaft 51 is vertex, two 2 power slide bars 24 are waist；
A pair of of fixed guide wheel support shaft 61 is also rotatably equipped in mainframe box 1, two fixed guide wheel support shaft 61 is axial
It is axial to be parallel to activity-oriented wheel support shaft 51, two fixed guide wheel support shafts 61 are located at activity-oriented wheel support shaft 51
Forward and backward side is simultaneously symmetrical, is respectively fixed with fixed guide wheel among each fixed guide wheel support shaft 61, fixed guide wheel is big
It is small identical as 21 size of activity-oriented wheel, by 21 center of activity-oriented wheel and fixed guide wheel 1, fixed guide wheel 2 23
The heart constitutes isosceles triangle two, using 21 center of activity-oriented wheel as vertex in isosceles triangle two, 21 center of activity-oriented wheel point
Line is waist not between fixed guide wheel 1,2 23 center of fixed guide wheel；
The forward and backward side of mainframe box 1 is respectively equipped with flexible cable inlet and outlet 31, and the straight line that two sides flexible cable inlet and outlet 31 determine, which is located at, to be fixed
Further include flexible cable 71 immediately below the straight line that directive wheel 1,2 23 center of fixed guide wheel determine, flexible cable 71 from side flexible cable into
Outlet penetrates mainframe box 1, then passes around further around 21 top of activity-oriented wheel is crossed behind one 22 bottom of fixed guide wheel, finally around solid
It is pierced by after determining 2 23 bottom of directive wheel from other side flexible cable inlet and outlet.
It is sliding equipped with two power to be located at 34 front-rear direction interval location of twice hollow cylindrical linear guide groove for 1 bottom of mainframe box
Pole spacing block 25, by two power slide bar blocks 25 limit constraint two 2 power slide bars 24 movement, make two 2 power slide bars 24 always with activity
Directive wheel support shaft 51 constitutes isosceles triangle one.
Wherein side is set as open to 1 left and right side of mainframe box, and open-mouth lid closes connecting cover plate 2, is axially parallel to left and right directions
Activity-oriented wheel support shaft 51, the respective one end of fixed guide wheel support shaft 61 be rotationally connected with cover board 2, the support of activity-oriented wheel
Axis 51, the respective other end of fixed guide wheel support shaft 61 are rotationally connected with side of the mainframe box 1 relative to cover board 2.
Cover board 2 and opposite 1 side of mainframe box of cover board 2 are equipped with cylinder shape groove 32, pass through the rotation of cylinder shape groove 32 and connect
The shaft end for the action-oriented wheel support shaft 51, fixed guide wheel support shaft 61 of taking over a job.
Activity-oriented wheel 21 is limited in 51, two 2 power slide bar of activity-oriented wheel support shaft by the clamping of axial sides split washer
24 slanted upper ends are limited in activity-oriented wheel support shaft 51 by the unilateral clamping of split washer 52, and fixed guide wheel is opened by axial sides
The mouth clamping of retaining ring 52 is limited in fixed guide wheel support shaft 61.
The present invention includes mainframe box, symmetrical two power sliding bar mechanism, activity-oriented wheel, fixed guide wheel, cover board and compression
Spring.1 bottom of mainframe box is provided with 2 groups of hollow cylindrical linear guide grooves 34 being staggered, hollow cylindrical linear guide groove 34
In compressed spring 26 is installed, 26 one end of compressed spring and 1 interior side contacts of mainframe box, the other end connect with circular bulkheads 27, justify
Shape partition 27 connects with the inclination lower end of two power slide bars 24, while the inclination lower end of two power slide bars 24 and circular bulkheads 27 contact
It is also contacted with 34 bottom of hollow cylindrical linear guide groove, by squeezing circular bulkheads along hollow cylindrical linear guide groove 34
27, so that 26 compressive deformation of compressed spring, it is sliding with another two power that slanted upper end then passes through activity-oriented wheel support shaft 51
One end of bar is connected, and activity-oriented wheel 21 is mounted among activity-oriented wheel support shaft 51, solid by the split washer 52 of two sides
Fixed, both sides are then two group of two power slide bars 24 being connected with support shaft, and same two group of two power slide bar is kept off also through the opening in outside
Circle 52 is fixed, while constituting activity-oriented set mechanism, the activity-oriented set mechanism with support shaft and activity-oriented wheel
It is allowed to the hollow cylindrical linear guide groove 34 of 1 bottom of mainframe box by the constraint of two power slide bar blocks 25 always in isoceles triangle
Shape, two power slide bar blocks 25 are fixed by fixing groove 33, and isosceles triangle is consolidating for isoceles triangle type by two group of two power slide bar
Determine waist, the support shaft of two group of two power slide bar of connection is vertex, the contact of two group of two power slide bar and hollow cylindrical linear guide groove
Point is bottom edge two o'clock, and two o'clock position symmetrically changes with the compressive deformation of compressed spring.
Cylinder shape groove 32 there are two also opening on 1 side inside wall of mainframe box, 61 one end of fixed guide wheel support shaft is stuck in circle
In cylindrical groove 32, the other end is stuck in the corresponding groove of cover board 2, and cover board 2 is a rectangle thin plate, is the envelope of mainframe box 1
Capping plate, it is fixed by screw 3 and mainframe box 1；Fixed guide wheel 22 is then fixed among fixed guide wheel support shaft 61, is passed through
The split washers 52 of two sides is fixed, two groups of fixed guide wheels 22 and activity-oriented wheel 21 is in the same size and position on be in isoceles triangle
Shape, activity-oriented wheel 21, can be living up and down vertically as symmetrical two power slide bar 24 is along the sliding of hollow cylindrical linear guide groove 34
It is dynamic, it is the vertex of isoceles triangle, two groups of fixed guide wheels 22 are fixed in mainframe box 1 by support shaft, constitute isosceles triangle
Fixation bottom edge.
Flexible cable inlet and outlet 31 are provided among 1 front of mainframe box and the back side, flexible cable imports and exports 31 positions and two groups of fixed guides
Wheel 22 and central line underface, flexible cable 71 enters in mainframe box 1 along import, across the bottom of one group of fixed guide wheel 22
Portion, it is another around being connected to behind 21 top of activity-oriented wheel around the top for being connected to activity-oriented wheel 21 behind 22 bottom of fixed guide wheel
The bottom of one group of fixed guide wheel 22 is pierced by mainframe box 1 along flexible cable inlet and outlet 31 around behind 22 bottom of fixed guide wheel.Flexible cable
71 at the top of 22 bottom of fixed guide wheel to activity-oriented wheel 21 and at 21 top to another fixed guide wheel bottom of activity-oriented wheel
The waist of this two sections composition isosceles triangles in portion, length change with the variation of 21 position of activity-oriented wheel.
Realization principle of the present invention is as follows:
Fig. 8 show a kind of Complete Bind Compliant Assembly of n freedom degree by m (m=n+1) root Wire driven robot
Structure diagram, robot forms flexible cable by the flexible cable three parts that moving platform is determined in fixed platform, moving platform and connection and fixed platform connects
Contact is Ai(i=1,2 ..., m), the tie point with moving platform are Bi, length vector is by liIndicate that foundation is consolidated in moving platform
Global coordinate system OG- XYZ is consolidated in the moving coordinate system O of motion platform mass center pE- xyz, vector aiFlexible cable is respectively indicated with p and is determined
The tie point A of platformiWith position of the motion platform mass center under global coordinate system, flexible cable length vector is calculated:
li=p+Rbi-ai
Wherein R is indicated from moving coordinate system OE- xyz arrives global coordinate system OGThe spin matrix vector F and M of-XYZ respectively indicates
External force and moment of face suffered by end establish end effector power and torque equilibrium equation:
W=JT
Wherein mpAnd IpMoving platform quality and mass center inertial tensor are respectively indicated, v and ω respectively indicate moving platform systemic velocity
And angular velocity vector, g are gravity acceleration, T=[t1,t2,…,tm]TFor soft flexible rope tension vector,For the structure matrix of robot,Indicate flexible cable position arrow
Amount, si=li/||li| | for flexible cable unit vector when act on end effector generalized external force occur minor change δ W when,
Cause end effector that micro-displacement δ X occurs, micro-displacement δ l will also occur for flexible cable length, and flexible rope tension changes δ T, by Hooke
Law obtains:
Wherein Kc=diag [kc1,kc2,…,kcm] and kciFlexible cable rigidity, KsIndicate the cartesian space rigidity of robot,
Association type (1), formula (3) calculate Descartes's rigidity:
It is noted that the cartesian space stiffness matrix K of robotsValue by flexible rope tension T and flexible cable system stiffness KcJointly
The of decision this provide important theoretical foundation for design Compliant Assembly cartesian space variable stiffness apparatus and this is same
When, relative to K2, K1The contribution of global stiffness can be ignored, it can thus be concluded that Compliant Assembly cartesian space
Rigidity:
Ks=JKcJT
Therefore it is the cartesian space rigidity for being adjustable Compliant Assembly, then carries out control mono- to flexible cable rigidity
As for, the rigidity of flexible cable is very big, to obtain significant change rigidity, needs to apply very big driving force or using small
The flexible cable of rigidity, the former increases useless power consumption, and the latter influences robot load and movenent performance, is based on this, to obtain
Significant change rigidity, variable stiffness apparatus of the invention are a kind of with nonlinear stiffness characteristic auxiliary equipment, realize flexible cable
When the principle as shown in Figure 9 of a wide range of variation rigidity is not added with variable stiffness apparatus for single flexible cable, rigidity are as follows:
K=kc
After variable stiffness apparatus is installed, rigidity are as follows:
K in formulavIt (t) is the rigidity of variable stiffness apparatus, it is notable that its value is the function about flexible rope tension t, into
And the rigidity that flexible cable can be controlled by controlling the tension of flexible cable there is single order to drive Complete Bind Compliant Assembly
Dynamic redundancy, under given posture, the not unique of the solution of flexible rope tension under the booster action of variable stiffness apparatus, passes through control in turn
Robot flexible rope tension can adjust robot cartesian space rigidity significantly.
The single compressed spring stress of variable stiffness apparatus of the invention is as shown in Figure 10, ignores flexible cable and directive wheel, two power
The force of sliding friction of slide bar, geometrical relationship and stress balance according to Δ ABC and Δ DEG calculate:
Wherein, t is flexible rope tension, and F is pressure under two power slide bars, FtFor compressed spring counter-force suffered by two power slide bars, L two
Rope coiling length between directive wheel (to simplify the calculation, enable L=| | AB | |) calculates counter spring force:
Ft=kt(y-y0)
Wherein, ktFor compressed spring rigidity, y0Compressed spring initial position is respectively indicated with y and current location calculates soft
Rope tensility obtains:
Wherein,
Wherein, L0Original state (t=0N) flexible cable length and flexible cable length variable quantity are respectively indicated with l, a, b, d and r divide
Not Wei CF, BC, DE and AD length, be variable stiffness apparatus constant parameter to flexible rope tension t about flexible cable length variable quantity
L asks first derivative that can obtain:
The parameter for introducing one group of variable stiffness apparatus is as shown in table 1, will join according to the rigidity model for the variable stiffness apparatus built
Number is input in Matlab program, obtains flexible cable-variable stiffness apparatus stress deformation characteristic curve, as shown in figure 11.
The basic parameter of 1 variable stiffness apparatus of table
Stress deformation characteristic curve derivation to the device, the power-rigidity that can obtain variable stiffness apparatus of the present invention are special
Linearity curve, as shown in figure 12, as seen from the figure, which has good non-linear positive stiffness characteristics, i.e. flexible cable power is bigger, rigidity
It is bigger, and adjustable rigidity range is larger, can change to maximum 7.7 × 10 from 0N/m in the ideal situation4N/m.Flexible cable power increases
Reach maximum adjustment rigidity when being added to 50N, two fixed guide wheel wheel trench bottoms and activity-oriented wheel race top are conllinear at this time, soft
Rope is fully straightened.The rigidity expression formula of the device can be obtained by carrying out curve fitting to Figure 12:
kv(t)=0.0031t4+0.4094t3+2.346t2+32.61t
So robot flexible cable system stiffness is
KC_V=[Kc -1+KV -1]-1
Wherein Kv=diag [kv1(t1),kv2(t2),…,kvm(tm)] indicate variable stiffness apparatus stiffness matrix, it is noted that
The stiffness matrix K of flexible cable systemC_VIt is the function about variable stiffness apparatus rigidity, and variable stiffness apparatus of the present invention has
Good non-linear positive stiffness characteristics, and its adjustable rigidity range is larger, therefore the present invention is for Complete Bind flexible cable parallel machine
Device people's stiffness equivalent is of great significance, and can improve the human-computer interaction security of robot.
Claims (5)
1. a kind of Complete Bind Compliant Assembly variable stiffness apparatus, it is characterised in that: including mainframe box, mainframe box bottom is set
There are twice each parallel to hollow cylindrical linear guide groove in the front-back direction, twice hollow cylindrical linear guide groove is whole on a left side
Right direction is staggered a distance, and twice hollow cylindrical linear guide groove is spaced a distance between front-rear direction, per pass
Circular bulkheads are slidably fitted in hollow cylindrical linear guide groove respectively, are also distinguished in per pass hollow cylindrical linear guide groove
Equipped with compressed spring, the hollow cylindrical linear guide groove for being axially parallel to place of compressed spring, compressed spring one end is fixed
In circular bulkheads, the compressed spring other end is fixed on mainframe box respective side inner wall；
Activity-oriented wheel support shaft, activity-oriented wheel and a pair of two power slide bars are equipped in mainframe box, two 2 power slide bars are in front and back
To in symmetrical inclination, and two 2 power slide bars are integrally staggered a distance in left and right directions, and it is a pair of that two 2 power slide bars tilt lower end one
It should be contacted with circular bulkheads, circular bulkheads are constrained in cylindrical linear guide groove and with the promotion of two power slide bars inclination lower end
And squeeze compressed spring；Activity-oriented wheel support shaft is axially parallel to left and right directions, two 2 power slide bar slanted upper end common rotations
It is connected to activity-oriented wheel support shaft, activity-oriented wheel is fixed on the activity-oriented wheel support shaft between two 2 power slide bar junctions
Middle position is constituted isosceles triangle one by activity-oriented wheel support shaft, two 2 power slide bars, is led in isosceles triangle one with activity
To wheel support shaft be vertex, two 2 power slide bars are waist；
A pair of of fixed guide wheel support shaft is also rotatably equipped in mainframe box, two fixed guide wheel support shafts are axially parallel to activity
Directive wheel support shaft is axial, and two fixed guide wheel support shafts are located at the forward and backward side of activity-oriented wheel support shaft and symmetrical,
Fixed guide wheel, fixed guide wheel size and activity-oriented wheel size phase are respectively fixed among each fixed guide wheel support shaft
Together, isosceles triangle two is constituted by activity-oriented wheel center and two fixed guide wheel centers, is led in isosceles triangle two with activity
It is vertex to wheel center, line is waist between activity-oriented wheel center and fixed guide wheel center；
The forward and backward side of mainframe box is respectively equipped with flexible cable inlet and outlet, and the determining straight line of two sides flexible cable inlet and outlet is located at two fixed guide wheels
It further include flexible cable immediately below the straight line that center determines, flexible cable penetrates mainframe box from side flexible cable inlet and outlet, then passes around respective side
Further around crossing at the top of activity-oriented wheel behind fixed guide wheel bottom, finally around soft from the other side behind another fixed guide wheel bottom
Rope inlet and outlet are pierced by.
2. a kind of Complete Bind Compliant Assembly variable stiffness apparatus according to claim 1, it is characterised in that: host
Bottom portion is located at twice hollow cylindrical linear guide groove front-rear direction interval location and is equipped with two power slide bar blocks, sliding by two power
The movement of pole spacing block limit two 2 power slide bars of constraint, makes two 2 power slide bars constitute isoceles triangle with activity-oriented wheel support shaft always
Shape one.
3. a kind of Complete Bind Compliant Assembly variable stiffness apparatus according to claim 1, it is characterised in that: host
Wherein side is set as open to case left and right side, and open-mouth lid closes connecting cover plate, is axially parallel to the activity-oriented wheel branch of left and right directions
Support axis, respectively one end is rotationally connected with cover board, activity-oriented wheel support shaft, fixed guide wheel support shaft to fixed guide wheel support shaft
The respective other end is rotationally connected with side of the mainframe box relative to cover board.
4. a kind of Complete Bind Compliant Assembly variable stiffness apparatus according to claim 3, it is characterised in that: described
Cover board and the opposite mainframe box side of cover board are equipped with cylinder shape groove, pass through cylinder shape groove and are rotatablely connected the support of activity-oriented wheel
The shaft end of axis, fixed guide wheel support shaft.
5. a kind of Complete Bind Compliant Assembly variable stiffness apparatus according to claim 1, it is characterised in that: described
Activity-oriented wheel is limited in activity-oriented wheel support shaft by the clamping of axial sides split washer, and two 2 power slide bar slanted upper ends are by opening
The clamping of mouth retaining ring unilateral side is limited in activity-oriented wheel support shaft, and fixed guide wheel is limited in solid by the clamping of axial sides split washer
Determine directive wheel support shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293006.7A CN109176479B (en) | 2018-11-01 | 2018-11-01 | Rigidity changing device of fully-constrained flexible cable parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811293006.7A CN109176479B (en) | 2018-11-01 | 2018-11-01 | Rigidity changing device of fully-constrained flexible cable parallel robot |
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| CN109176479A true CN109176479A (en) | 2019-01-11 |
| CN109176479B CN109176479B (en) | 2021-12-24 |
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Citations (5)
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