CN112659099A - Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint - Google Patents
Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint Download PDFInfo
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- CN112659099A CN112659099A CN202011289393.4A CN202011289393A CN112659099A CN 112659099 A CN112659099 A CN 112659099A CN 202011289393 A CN202011289393 A CN 202011289393A CN 112659099 A CN112659099 A CN 112659099A
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Abstract
The invention discloses a local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint which comprises four parallel units, wherein the four parallel units are overlapped from bottom to top and respectively comprise a first parallel unit, a second parallel unit, a third parallel unit and a fourth parallel unit from bottom to top, the first parallel mechanism unit and the fourth parallel mechanism unit have the same structure, and the second parallel mechanism unit and the third parallel mechanism unit have the same structure; a flexible shared platform is arranged between every two adjacent parallel units of the four parallel units, a flexible fixed platform is arranged at the bottom end of the first parallel unit, a flexible movable platform is arranged at the top end of the fourth parallel unit, a rigid central branch, a flexible constraint branch and artificial muscles are arranged between the two adjacent platforms, the artificial muscles are uniformly distributed along the circumferential direction, and the head end and the tail end of each artificial muscle are vertically hinged with the two adjacent platforms respectively; the invention has high simulation and good application market prospect.
Description
Technical Field
The invention relates to the technical field of humanoid robots, in particular to a waist joint of a rigid-flexible coupling bionic robot with local two degrees of freedom.
Background
The waist joint of the human body mainly functions to connect the lower limbs and the trunk, has a function of not only providing rotational freedom, but also sensing the force between the trunk and the lower limbs. For the bionic robot, although the serial mechanism has a larger working space, the serial mechanism often has the problems of high accumulated error, poor load capacity and the like, so that the parallel connection is a preferred choice for waist joint bionic. Through the search of the prior related technical documents, the invention patent CN101695838A provides a parallel mechanism with three-rotation and one-shift, which indeed reduces the accumulated error and improves the load capacity compared with other serial mechanisms; the invention patent CN108393872A proposes a parallel unit coupling mechanism, which increases the flexibility of the mechanism and the working space. However, the robot joints are all rigid joints, and have certain differences in structure and performance with human waist joints integrating rigid-flexible coupling and motion perception.
Disclosure of Invention
The invention provides a local two-degree-of-freedom rigid-soft coupling bionic robot waist joint, which solves the defects of poor flexibility and no force sensing capability of the waist joint of the existing bionic robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a just soft coupling bionic robot waist joint of local two degrees of freedom, includes that four parallel unit form by supreme stack from bottom to top, its characterized in that: the four parallel units are respectively a first parallel unit, a second parallel unit, a third parallel unit and a fourth parallel unit from bottom to top, the first parallel mechanism unit and the fourth parallel mechanism unit have the same structure, and the second parallel mechanism unit and the third parallel mechanism unit have the same structure; set up flexible sharing platform between every adjacent two of four parallelly connected units, first parallelly connected unit bottom sets up flexible fixed platform, the platform is moved to fourth parallelly connected unit top setting flexibility, includes rigidity center branch, flexible restraint branch, artificial muscle between two adjacent platforms, artificial muscle is along circumference evenly distributed, and artificial muscle head and the tail both ends are articulated perpendicularly with two adjacent platforms respectively.
The technical scheme of the invention is further improved as follows: the flexible fixed platform comprises three force induction branches a, one ends of the three force induction branches a are connected with each other through a flexible hinge, the three force induction branches a are mutually separated by 120 degrees, the other ends of the three force induction branches a are connected with the switching platform through hinges, strain gauges are arranged in the force induction branches a, and the flexible movable platform and the flexible fixed platform are identical in structure.
The technical scheme of the invention is further improved as follows: the flexible shared platform comprises a flexible shared platform a which is arranged between the first parallel unit and the second parallel unit, a flexible shared platform b which is arranged between the second parallel unit and the third parallel unit, and a flexible shared platform c which is arranged between the third parallel unit and the fourth parallel unit.
The technical scheme of the invention is further improved as follows: the flexible shared platform a comprises six identical force sensing branches b, and one end of each two force sensing branches b is connected with each other through a flexible hinge; the other ends of every three force induction branches b are connected with each other through hinges, the six force induction branches b form a spindle shape, and springs are arranged between the upper end and the lower end of the flexible shared platform a for buffering.
The technical scheme of the invention is further improved as follows: a rigid central branch a, a flexible constraint branch a and an artificial muscle a are arranged between the flexible fixed platform and the flexible shared platform a, a rigid central branch b, a flexible constraint branch b and an artificial muscle b are arranged between the flexible shared platform a and the flexible shared platform b, a rigid central branch c, a flexible constraint branch c and an artificial muscle c are arranged between the flexible shared platform b and the flexible shared platform c, and a rigid central branch d, a flexible constraint branch d and an artificial muscle d are arranged between the flexible shared platform c and the flexible movable platform.
The technical scheme of the invention is further improved as follows: the rigid central branch a comprises a first hook hinge, a second hook hinge and a fifth connecting rod, the first hook hinge and the second hook hinge are respectively connected with the fifth connecting rod in series up and down, the flexible constraint branch a comprises two connecting rods which are respectively a first connecting rod and a second connecting rod, one end of the first connecting rod is connected with the flexible fixed platform through a first revolute pair, the other end of the first connecting rod is connected with the second connecting rod through a second revolute pair, the other end of the second connecting rod is connected with the flexible shared platform a through a third revolute pair, the structures of the rigid central branch b, the rigid central branch c and the rigid central branch d are the same as those of the rigid central branch a, and the structures of the flexible constraint branch b, the flexible constraint branch c and the flexible constraint branch d are the same as those of the flexible constraint branch a.
Due to the adoption of the technical scheme, the invention has the technical progress that:
the bionic waist joint is composed of a flexible platform, integrates the functions of motion and force sensing, is combined into an eight-degree-of-freedom joint by four local two-degree-of-freedom parallel units, increases the mechanism flexibility, can realize more complex simulation behaviors, replaces the traditional mechanical waist joint with a simple structure, is composed of a rigid branch, a flexible branch and a software drive, has higher simulation performance, and has better market application prospect.
Drawings
FIG. 1 is a perspective view of the overall structure;
FIG. 2 is a perspective view of a first parallel unit;
FIG. 3 is a perspective view of a first parallel unit deflection;
FIG. 4 is a perspective view of a second parallel unit;
FIG. 5 is a perspective view of a flexible stationary platen;
FIG. 6 is a perspective view of a flexible shared platform;
FIG. 7 is a perspective view of a rigid center branch;
wherein, 010, flexible fixed platform, 011, force sensing branch a, 012, strain gage, 013, switching platform, 014, flexible hinge, 020, flexible shared platform a, 021, force sensing branch b, 022, strain gage, 023, spring, 024, flexible hinge, 030, flexible shared platform b, 040, flexible shared platform c, 050, flexible moving platform, 060, flexible constraint branch a, 061, first rotation pair, 062, first link, 063, second rotation pair, 064, second link, 065, third rotation pair, 070, flexible constraint branch b, 080, flexible constraint branch c, 090, flexible constraint branch d, 100, rigid central branch a, 101, first hooke hinge, 102, fifth link, 103, second hooke hinge, 110, rigid central branch b, 120, rigid central branch c, 130, artificial central muscle branch d, 140, rigid central muscle a, 150, Artificial muscle b, 160, artificial muscle c, 170, artificial muscle d.
Detailed Description
A local two-degree-of-freedom rigid-soft coupling bionic robot waist joint comprises four parallel units which are overlapped from bottom to top, wherein the four parallel units are respectively a first parallel unit, a second parallel unit, a third parallel unit and a fourth parallel unit from bottom to top; a flexible shared platform is arranged between every two adjacent four parallel units, namely a flexible shared platform a, a flexible shared platform b and a flexible shared platform c, the bottom end of the first parallel unit is provided with a flexible fixed platform 010, the flexible fixed platform 010 comprises three force sensing branches a, one ends of the three force sensing branches a are connected with each other through a flexible hinge, the three force sensing branches a are mutually spaced by 120 degrees, the other ends of the three force sensing branches a are connected with a switching platform through a hinge, strain pieces 012 are arranged in the force sensing branches a and used for measuring stress on the force sensing branches, and the flexible movable platform and the flexible fixed platform are the same in structure; the top end of the fourth parallel unit is provided with a flexible movable platform 050 with the same structure as the flexible fixed platform 010, a rigid central branch a, a flexible constraint branch a and an artificial muscle a are arranged between the flexible fixed platform 010 and the flexible shared platform a, a rigid neutral branch b, a flexible constraint branch b and an artificial muscle b are arranged between the flexible shared platform a and the flexible shared platform b, a rigid central branch c, a flexible constraint branch c and an artificial muscle c are arranged between the flexible shared platform b and the flexible shared platform c040, a rigid central branch d, a flexible constraint branch d and an artificial muscle d are arranged between the flexible shared platform c and the flexible movable platform d, two adjacent platforms are connected through the rigid central branch, the flexible constraint branch and the artificial muscle to form a local two-degree-of-freedom parallel joint, and the whole waist joint of the rigid-flexible coupling bionic robot is an eight-degree-of-freedom joint, the rigid central branch a comprises a first Hooke hinge 101, a second Hooke hinge 103 and a fifth connecting rod 102, the first Hooke hinge 101 and the second Hooke hinge 103 are respectively connected with the fifth connecting rod 102 in series up and down, the flexible constraint branch a comprises two connecting rods which are respectively a first connecting rod 062 and a second connecting rod 064, one end of the first connecting rod 062 is connected with the flexible fixed platform 010 through a first rotating pair 061, the other end of the first connecting rod 062 is connected with the second connecting rod 064 through a second rotating pair 063, the other end of the second connecting rod 064 is connected with the flexible shared platform a through a third rotating pair 065, and the structures of the rigid central branch b, the rigid central branch c and the rigid central branch d are the same as those of the rigid central branch a.
The flexible shared platform comprises a flexible shared platform a arranged between a first parallel unit and a second parallel unit, a flexible shared platform b arranged between the second parallel unit and a third parallel unit, and a flexible shared platform c arranged between the third parallel unit and a fourth parallel unit, wherein the three flexible shared platforms have the same structure, the specific flexible shared platform a comprises six identical force sensing branches b, and one ends of every two force sensing branches b are connected with each other through a flexible hinge; the other ends of every three force induction branches b are connected with each other through hinges, the six force induction branches b form a spindle shape, and springs are arranged between the upper end and the lower end of the flexible shared platform a for buffering.
The internal mechanisms of the four parallel units of the waist joint of the bionic robot are approximately the same, and in the first parallel mechanism unit, the flexible fixed platform 010 is connected with the adjacent flexible shared platform a through three flexible constraint branches a, a rigid central branch a and three groups of artificial muscles a. The flexible constraint branch 060 is connected with the flexible fixed platform 010 through a first connecting rod 062 and a second connecting rod 064, one end of the first connecting rod 062 is connected with the flexible fixed platform 010 through a first revolute pair 061, the other end of the first connecting rod 062 is connected with the second connecting rod 064 through a second revolute pair 063, the other end of the second connecting rod 064 is connected with the flexible shared platform a through a third revolute pair 065, and a fifth connecting rod 102 on the rigid central branch a is connected with the flexible fixed platform 010 through a first hooke hinge 101 and is connected with the flexible shared platform a through a second hooke hinge 103; one end of the artificial muscle a is hinged with the flexible fixed platform 010, the other end of the artificial muscle a is hinged with the flexible shared platform a, and the flexible constraint branch b, the flexible constraint branch c and the flexible constraint branch d are structurally the same as the flexible constraint branch a.
Claims (6)
1. The utility model provides a just soft coupling bionic robot waist joint of local two degrees of freedom, includes that four parallel unit form by supreme stack from bottom to top, its characterized in that: the four parallel units are respectively a first parallel unit, a second parallel unit, a third parallel unit and a fourth parallel unit from bottom to top, the first parallel mechanism unit and the fourth parallel mechanism unit have the same structure, and the second parallel mechanism unit and the third parallel mechanism unit have the same structure; the flexible sharing platform is arranged between every two adjacent four parallel units, the flexible fixed platform (010) is arranged at the bottom end of the first parallel unit, the flexible movable platform (050) is arranged at the top end of the fourth parallel unit, a rigid center branch, a flexible constraint branch and artificial muscles are arranged between every two adjacent platforms, the artificial muscles are evenly distributed along the circumferential direction, and the head end and the tail end of each artificial muscle are vertically hinged to the two adjacent platforms respectively.
2. The local two-degree-of-freedom rigid-soft coupling bionic robot waist joint as claimed in claim 1, wherein: the flexible fixed platform (010) comprises three force sensing branches a (011), one ends of the three force sensing branches a (011) are connected with each other through a flexible hinge (014), the three force sensing branches a (011) are separated by 120 degrees, the other ends of the three force sensing branches are connected with a switching platform (013) through hinges, a strain gauge (012) is arranged inside the force sensing branches a (011), and the flexible movable platform (050) is identical to the flexible fixed platform (010) in structure.
3. The local two-degree-of-freedom rigid-soft coupling bionic robot waist joint as claimed in claim 1, wherein: the flexible shared platform comprises a flexible shared platform a (020) which is arranged between the first parallel unit and the second parallel unit, a flexible shared platform b (030) which is arranged between the second parallel unit and the third parallel unit, and a flexible shared platform c (040) which is arranged between the third parallel unit and the fourth parallel unit.
4. The local two-degree-of-freedom rigid-soft coupling bionic robot waist joint as claimed in claim 3, wherein: the flexible shared platform a (020) comprises six identical force sensing branches b (021), and one end of each two force sensing branches b (021) is connected with each other through a flexible hinge (024); every three force induction branches b (021) other end pass through hinge interconnect, and six force induction branches b (021) constitute spindle form, set up spring (023) between the upper and lower both ends of flexible shared platform a (020) and cushion.
5. The local two-degree-of-freedom rigid-soft coupling bionic robot waist joint as claimed in claim 1, wherein: a rigid central branch a (100), a flexible constraint branch a (060) and an artificial muscle a (140) are arranged between the flexible fixed platform (010) and the flexible shared platform a (020), a rigid central branch b (110), a flexible constraint branch b (070) and an artificial muscle b (150) are arranged between the flexible shared platform a (020) and the flexible shared platform b (030), a rigid central branch c (120), a flexible constraint branch c (080) and an artificial muscle c (160) are arranged between the flexible shared platform b (030) and the flexible shared platform c (040), and a rigid central branch d (130), a flexible constraint branch d (090) and an artificial muscle d (170) are arranged between the flexible shared platform c (040) and the flexible movable platform (050).
6. The local two-degree-of-freedom rigid-soft coupling bionic robot waist joint as claimed in claim 5, wherein: the rigid central branch a (100) comprises a first hooke hinge (101), a second hooke hinge (103) and a fifth connecting rod (102), the first hooke hinge (101) and the second hooke hinge (103) are respectively connected with the fifth connecting rod (102) in series up and down, the flexible constraint branch a (060) comprises two connecting rods which are respectively a first connecting rod (062) and a second connecting rod (064), one end of the first connecting rod (062) is connected with the flexible fixed platform (010) through a first revolute pair (061), the other end of the first connecting rod is connected with the second connecting rod (064) through a second revolute pair (063), the other end of the second connecting rod (064) is connected with the flexible shared platform a through a third revolute pair (065), the structures of the rigid central branch b (110), the rigid central branch c (120) and the rigid central branch d (130) are the same as the rigid central branch a (100), and the flexible constraint branch b (070) and the flexible constraint branch b, The flexible constraint branch c (080) and the flexible constraint branch d (090) are structurally identical to the flexible constraint branch a (060).
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| CN202011289393.4A CN112659099B (en) | 2020-11-17 | 2020-11-17 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
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| CN202011289393.4A CN112659099B (en) | 2020-11-17 | 2020-11-17 | Local two-degree-of-freedom rigid-flexible coupling bionic robot waist joint |
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