CN113001517B - Overconstrained motion device and robot - Google Patents
Overconstrained motion device and robot Download PDFInfo
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- CN113001517B CN113001517B CN202110267829.8A CN202110267829A CN113001517B CN 113001517 B CN113001517 B CN 113001517B CN 202110267829 A CN202110267829 A CN 202110267829A CN 113001517 B CN113001517 B CN 113001517B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses an overconstrained motion device and a robot, wherein the motion device comprises a coaxial driving device and an overconstrained connecting rod mechanism, the coaxial driving device comprises an outer driver, an inner driver, an outer output shaft and an inner output shaft, the outer driver drives the outer output shaft, the inner driver drives the inner output shaft, and the inner output shaft and the outer output shaft are coaxially arranged; the inner output shaft is connected with a first driving rod of the over-constraint link mechanism, and the outer output shaft is connected with a second driving rod of the over-constraint link mechanism. The two drivers respectively drive the driving rod and the other driving rod through the inner output shaft and the outer output shaft which are coaxially arranged, so that the overconstrained connecting rod mechanism performs three-dimensional space motion, flexible three-dimensional space motion is realized under the condition of avoiding the addition of the drivers, forward walking, transverse walking and turning motion are performed, the weight and the cost of the motion device are controlled, and the robot is constructed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an overconstrained motion device and a robot.
Background
The existing robot generally adopts a decoupling mechanism to realize the design of a multi-joint multi-degree-of-freedom robot, namely, each degree of freedom of the robot is independently provided with an independent driver, and the independent drivers on a plurality of connecting rods and the connecting rod connection forming mechanism are used for realizing multi-joint movement, for example, a single-degree-of-freedom robot mainly comprises a driver and a connecting rod connected to the driver, a double-degree-of-freedom robot mainly comprises two rods and independent drivers on each connecting rod, a three-degree-of-freedom robot mainly comprises three rods and independent drivers on each rod, and the like.
On the basis, in order to meet the requirements of the robot on various aspects such as motion sensitivity, dexterity and the like in the interaction process with the external environment, a plurality of connecting rods are often combined to form a plurality of specially designed mechanisms, the actual arrangement positions driven by the robot are transferred to other parts (usually with larger inertia, such as approaching to the center of gravity, a base, a chassis and the like) from the motion ends of the degrees of freedom, and thus the maneuvering performance and the whole machine cost of the robot can be still maintained under the condition of not remarkably increasing the load of the driver.
Currently, there are mainly three robot configurations, namely a chain configuration, a parallel configuration and a compound configuration.
Under the chain configuration, each connecting rod of the robot is connected in sequence to form an open loop single chain, so that the robot has good mechanism decoupling characteristic, a driver is often required to be independently arranged at each connecting rod or the free degree end, the number of the free degrees of the mechanism is consistent with that of the drivers, and common examples include a general multi-joint industrial mechanical arm.
In parallel configuration, the robot is generally driven by a specially designed mechanism, at least one closed loop is formed between two banks, the drivers are arranged in a concentrated way at a position close to the center of gravity, the base and the chassis, each driver still drives one degree of freedom, and the number of degrees of freedom of the mechanism is consistent with that of the drivers. The most common mechanisms are planar link mechanisms and variants thereof (including belt drives, cam mechanisms and the like), which are more common in some high-speed planar motion mechanical arms and some foot robots, and also some spherical link mechanisms and variants thereof (the axes of the rotating shafts intersect at a point in space), which are more common in some surgical robots.
The compound configuration is a robot which adopts a chain type mechanism and a parallel mechanism at the same time, and often has higher number of degrees of freedom (4-7), the parallel configuration is adopted in the first 3 degrees of freedom to reduce the moment of inertia of the whole machine, the chain type configuration is adopted in the latter several degrees of freedom to independently drive, and the robot is more common in heavy industrial mechanical arms and toy mechanical arms.
In the prior art, the number of the degrees of freedom of the mechanism, the number of the drivers and the degree of freedom of the actually realized space motion are always in equal relation, and one great advantage of the design is that theoretical analysis, mechanism design and control are generally simpler and more direct in realization, and the design has rich and mature practical application cases. The main problem is that when the robot is interacted with complex environments, a higher degree of freedom is needed, so that a correspondingly higher number of drivers is needed, the weight, the cost and the like of the whole robot are higher, and the robot is particularly obvious on a foot-type robot or a multi-arm and multi-finger robot. For example, a four-foot robot using a two-degree-of-freedom parallel mechanism generally requires 8 drivers (Stanford dog, ghost minitar, etc.), while a four-foot robot using a three-degree-of-freedom compound configuration requires 12 drivers (Boston Dynamics Spot Mini, MIT chetah, etc.).
At present, a relatively common and widely applied motion device is a connecting rod type mechanical leg, which is a mechanical leg based on a planar connecting rod mechanism, such as Stanford dog and SpaceBok, and a planar four-bar mechanism with two degrees of freedom is adopted as a leg mechanism. However, the working range of the two-degree-of-freedom planar mechanical leg can only be a plane, and the final movement space of the robot is a three-dimensional space, so that some special movements (such as lateral movement along the body, smooth in-situ rotation and the like) cannot be realized, and the steering can only be performed by means of the differential speed of the two-side gait. For robots with two-degree-of-freedom planar legs, it is difficult to change the direction of movement, and it is often possible to achieve a relatively large turning speed radius, limiting its agility in narrow environments. While a three degree-of-freedom robot leg typically requires an additional actuator attached to the base of the two degree-of-freedom leg to achieve high speed maneuver, introducing an additional actuator presents new challenges to managing the total weight and cost of the robot.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides the over-constrained moving device and the robot, which drive the over-constrained connecting rod to move flexibly in three-dimensional space through two drivers in the coaxial driving device, thereby avoiding the increase of weight and cost caused by the increase of a motor.
The invention discloses an overconstrained motion device, which comprises a coaxial driving device and an overconstrained connecting rod mechanism, wherein the coaxial driving device comprises an outer driver, an inner driver, an outer output shaft and an inner output shaft, the outer driver drives the outer output shaft, the inner driver drives the inner output shaft, and the inner output shaft and the outer output shaft are coaxially arranged; one end of the inner output shaft is connected with a first driving rod of the over-constraint link mechanism, and one end of the outer output shaft is connected with a second driving rod of the over-constraint link mechanism.
Preferably, the coaxial driving device further comprises a mounting plate and a supporting frame, the outer driver and the inner driver are mounted on the mounting plate, a base is arranged on one side of the mounting plate, the outer output shaft is rotatably mounted on the base, a first outer synchronous pulley is mounted on the output shaft of the outer driver, and the first outer synchronous pulley is connected with a second outer synchronous pulley mounted on the outer output shaft through a synchronous belt; a first inner synchronous pulley is arranged on an output shaft of the inner driver and is connected with a second inner synchronous pulley arranged on the inner output shaft through a synchronous belt; the outer and inner drives are mounted on the same side of the mounting plate.
Preferably, the over-constrained linkage mechanism comprises one of the following mechanisms: all overconstrained mechanisms such as Bennett mechanism, goldberg mechanism, myard mechanism, extended Myard mechanism, double-Goldberg mechanism, waldron's Hybrid mechanism, yu & Baker's Syncopated mechanism, mavroidis & Roth's6R mechanism, dietmaier's 6R mechanism, briard mechanism, altmann's 6R mechanism, wohlhart's Hybrid6R mechanism, etc.
Preferably, the outer driver drives the outer output shaft in a collimation driving mode, and the reduction ratio of the outer driver to the outer output shaft is 1:5-1:10; the inner driver drives the inner output shaft through a collimation drive, and the reduction ratio of the inner driver to the inner output shaft is 1:5-1:10.
preferably, the connecting rod of the Bennett mechanism further comprises a first driven rod and a second driven rod, a first joint is formed at the upper ends of the first driving rod and the second driving rod, a second joint is formed between the first driving rod and the first driven rod, a third joint is formed between the second driving rod and the second driven rod, and a fourth joint is formed at the hinge joint of the first driven rod and the second driven rod.
Preferably, the coaxial driving device 12 further comprises a mounting plate and a supporting frame, an outer driver and an inner driver are mounted on the mounting plate, a base is arranged on one side of the mounting plate, the outer output shaft is rotatably mounted on the base, a first outer synchronous pulley is mounted on the output shaft of the outer driver, and the first outer synchronous pulley is connected with a second outer synchronous pulley mounted on the outer output shaft through a synchronous belt; a first inner synchronous pulley is arranged on an output shaft of the inner driver and is connected with a second inner synchronous pulley arranged on the outer output shaft through a synchronous belt; one side of the first outer synchronous pulley is provided with a supporting frame.
Preferably, the connecting rod comprises a positioning tube and a hinge assembly, wherein the hinge assembly comprises a mounting rod and a hinge head, and the hinge head is mounted at one end of the positioning tube through the mounting rod.
The invention also provides a robot provided with the over-constrained motion device, and the robot motion device is used as a mechanical leg, a mechanical arm or a mechanical finger.
Preferably, a plurality of over-constrained motion devices are provided on the robot body,
the robot includes any one of the following: humanoid robots, quadruped robots, bipedal robots, insect robots, crab robots and lobster robots.
Compared with the prior art, the invention has the beneficial effects that: the inner driver and the outer driver respectively drive the first driving rod and the second driving rod through the inner output shaft and the outer output shaft which are coaxially arranged, so that the overconstrained connecting rod mechanism performs three-dimensional space motion and performs forward walking, transverse walking and turning motion, and the smart three-dimensional space motion is realized under the condition of avoiding the increase of the driver, thereby being beneficial to controlling the weight and the cost of the mechanical leg.
Drawings
FIG. 1 is a schematic diagram of an over-constrained exercise device of the present invention;
FIG. 2 is a schematic structural view of the coaxial drive device;
FIG. 3 is a schematic diagram of the dynamics analysis of an overconstrained linkage;
FIG. 4 is a schematic diagram of an equivalent open-chain analysis of an overconstrained linkage;
FIG. 5 is a schematic diagram of the kinetic analysis of the Bennett mechanism;
FIG. 6 is a schematic diagram of the kinetic analysis of the Myard institution;
FIG. 7 is a schematic diagram of the kinetic analysis of the Extended Myard mechanism;
FIG. 8 is a schematic diagram of the detection and workspace of the Bennett mechanism;
FIG. 9 is a schematic view of three motion trajectories of a mechanical leg;
FIG. 10 is a diagram of center of gravity detection for three movements;
fig. 11 is a schematic structural view of a robot;
FIG. 12 is a schematic view of a second over-constrained exercise device;
FIG. 13 is a schematic view of a third over-constrained exercise device;
fig. 14 is a schematic structural view of the four-legged robot.
The marks in the figure: 1, overconstraining a connecting rod mechanism, 2, an inner output shaft; 3, an outer output shaft; 4, mounting plates; 5 an external driver; 6, an outer driver output shaft; 7, a synchronous belt; 8, a first outer synchronous pulley; 9 supporting frames; 10 a base; a second inner synchronous pulley 11, a coaxial driving device 12, a second outer synchronous pulley 13, an inner driver 15, an inner driver output shaft 16, a first inner synchronous pulley 18, and a bearing 19; 21 a first driving rod, 22 a second driving rod, 23 a first driven rod, 24 a second driven rod, 25 ends; 31 first part, 32 second part, 33 connecting ring, 34 connecting column, 35 screw, 36 hinge screw, 41 first joint, 42 second joint, 43 third joint, 44 fourth joint, 45 tension wheel, 46 second fixing frame, 51 connecting piece, 52 fuselage, 53 fixing plate, 54 depth camera, 55 overconstrained motion device, 56 mounting frame, 57 control box, 61 positioning tube, 62 hinge assembly, z 1 Drive shaft, z 2 First intermediate shaft, z 4 Second intermediate shaft, z 3 A distal shaft.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is described in further detail below with reference to the attached drawing figures:
an overconstrained motion device, as shown in figures 1, 2 and 13, comprises a coaxial driving device 12 and an overconstrained linkage mechanism 1, wherein the coaxial driving device 12 comprises an outer driver 5, an inner driver 15, an outer output shaft 3 and an inner output shaft 2, the outer driver 5 drives the outer output shaft 3, the inner driver 15 drives the inner output shaft 2, and the inner output shaft 2 and the outer output shaft 3 are coaxially arranged; one end of the inner output shaft 2 is connected with a first driving rod 21 of the over-constraint link mechanism 1, and one end of the outer output shaft 3 is connected with a second driving rod 22 of the over-constraint link mechanism 1.
The inner driver 15 and the outer driver 5 drive the first driving rod 21 and the second driving rod 22 through the inner output shaft 2 and the outer output shaft 3 which are coaxially arranged respectively, so that the over-constraint link mechanism 1 performs three-dimensional space motion, and the weight and the cost of the mechanical leg are favorably controlled under the condition of avoiding the increase of the driver. The conventional overconstrained linkage mechanism only has one degree of freedom and has one fixed base connecting rod, in the invention, the fixed base connecting rod is adjusted to be two driving rods coaxially arranged, and the driving rods are driven by the drivers to move, so that the tail end 25 of the overconstrained linkage mechanism 1 performs three-dimensional space movement, namely, the single degree of freedom is converted into two degrees of freedom by the two drivers.
In a specific test, the invention tests the Bennett mechanism, the Goldberg mechanism, the Myard mechanism, the Extended Myard mechanism and the Double-Goldberg mechanism, and tests and describes the movement performance of each mechanism, but the invention is not limited to the following mechanism, and the over-constraint link mechanism can also be one of the following mechanisms: all overconstrained mechanisms such as Waldron's Hybrid mechanism, yu & Baker's Syncopated mechanism, mavroidis & Roth's6R mechanism, dietmaier's 6R mechanism, briard mechanism, altmann's 6R mechanism, wohlhart's Hybrid6R mechanism, and the like.
As shown in fig. 3 and 4, in the dynamics analysis, the relationship of the outer drive, the inner drive, and the end of the over-constrained linkage can be expressed as:
φ i ＝h i (θ i )＝H i (q 1 ,q 2 ) (1)
wherein phi is i Equivalent open-chain rotation angle, θ, expressed as joint i i Expressed as joint angle, q 1 Expressed as the external drive speed, q 2 Expressed as internal drive speed, h i () Representing the function of the joint rotation angle and the equivalent open-chain rotation angle, H i () Represented as a function of the row to open chain rotation angle and drive speed.
Equivalent open-chain analysis treats the closed-loop links in the over-constrained linkage mechanism as serial open-chains, the motion on each joint is treated as virtual electric motion, and the equivalent joint angle phi i Through the actual joint angle theta i To define, from the actuator angle q in the kinematic analysis i Through the equation 7, the robot leg can be subjected to kinematics and dynamics analysis by a classical modeling method.
And the expression of the end movement speed is:
where V denotes the end movement speed, J denotes Jacobian (Jacobian), si denotes the coordinates of the rotation axis of the joint i at the initial position, which is the position of the link of the restraint mechanism when it is on the same plane, and J denotes the total number of joints between the end axis and the drive shaft.
Example 1
As shown in fig. 5, the left graph is a schematic diagram of the kinetic analysis of the Bennett mechanism, and the right graph is a schematic diagram of the equivalent open-chain analysis. The Bennett mechanism comprises four connecting rods and four joints, wherein two driving rods are respectively connected with two output shafts, a first joint 41 is formed at the hinge joint of the driving rods, and the driving shaft of the first joint 41 is z 1 Between the driving rod and the driven rodA second joint 42 and a third joint 43, the first intermediate shaft of the second joint 42 is z 2 The second intermediate axis of the third joint 43 is z 4 The junction of the two driven bars forms a fourth joint 44 with a terminal axis z 3 The expression of the Bennett mechanism is:
a 12 ＝a 34 ＝a,a 23 ＝a 41 ＝b,
α 12 ＝α 34 ＝α,α 23 ＝α 41 ＝β,
R i ＝0 (11)
wherein a is ij Denoted as the link between the i-joint and the j-joint, alpha ij Representation a ij The torsion angles of a and b are the lengths of the connecting rods, alpha and beta are the torsion angles, R i Indicating the joint offset, i being indicated as joint; for example, a 12 Represented as a link between a first joint and a second joint; a, a 34 Represented as a connecting rod between a third joint and a fourth joint, a 23 Representing a link between a second joint and a third joint, a 41 Denoted as link, alpha between fourth joint and first joint 12 Representation a 12 Is a of the torsion angle of (a) 34 Representation a 34 Is a of the torsion angle of (a) 23 Representation a 23 Is a of the torsion angle of (a) 41 Representation a 41 The first joint 41 serves as a driving joint, the fourth joint 44 serves as a distal end, and the relationship of the joint angles is:
wherein θ i The joint angle is expressed as a joint rotation angle and is used for expressing the included angle of two connecting rods on the joint. When α=β=0/pi, the four links constitute a parallel four-bar mechanism of one plane, and the bannit ratio is 0 at this time as an initial position.
In FIG. 5, x s And z s Expressed as coordinate axes, σ is expressed as the joint angle (z s And z 1 For a constant value), the Bennett mechanism has two degrees of freedom, where α=β=0/pi, and for a 270 degree value, the Bennett mechanism has a planar two-degree-of-freedom parallel leg. However, σ may also be a variable, in which case the Bennett mechanism has three degrees of freedom, i.e. the degree of freedom of the hip joint on the coronal plane (first joint angle) is increased, σ may be driven by the inner and outer drivers.
The expression of the tip movement speed is:
the expression of the end torque is:
τ＝J T F s (14)
where τ is denoted as tip torque, F s Expressed as joint moment, J T Represented as jacobian matrix.
As shown in fig. 8 and 9, the overconstrained exercise device was used as a test chart for the mechanical leg, and the index of the mechanical leg and the workshops were evaluated. Fig. 8 shows the projection of the motion profile of the mechanical leg in the Y-Z plane. Fig. 9 shows the trajectories of three movement modes of a four-foot robot provided with an over-constrained movement device of the present invention, respectively: forward travel path, lateral travel path, and turn path, wherein the structure of the four-legged robot is shown in fig. 14, the upper drawing is a plan projection view, and the lower drawing is a perspective view. The result shows that the single-foot walking robot with the over-constrained exercise device can walk forward. Even if each mechanical leg has only two drivers, the quadruped robot can walk sideways, and the gait behavior is similar to that of a crab.
In addition, simulation results show that the quadruped robot can turn on site, and the omnibearing capacity can be realized without additional advanced control or additional driving. As can be seen from FIG. 10, the height of the center of gravity fluctuates to some extent both in the front jogging and in the lateral jogging, at maximum 9.2mm when measured in the vertical direction, at maximum 10.3mm, and only 4mm when cornering.
In one specific design, as shown in fig. 2, 12 and 13, the connecting rod of the Bennett mechanism includes a first driving rod 21, a second driving rod 22, a first driven rod 23 and a second driven rod 24, and the first driving rod 21, the second driving rod 22, the first driven rod 23 and the second driven rod 24 are hinged in sequence to form a spatial single closed loop mechanism.
The coaxial driving device 12 further comprises a mounting plate 4 and a supporting frame 9, wherein the outer driver 5 and the inner driver 15 are mounted on the mounting plate 4, a base 10 is arranged on one side of the mounting plate 4, the outer output shaft 3 is rotatably mounted on the base 10, a first outer synchronous pulley 8 is mounted on the outer driver output shaft 6, and the first outer synchronous pulley 8 is connected with a second outer synchronous pulley 13 mounted on the outer output shaft 3 through a synchronous belt 7, so that the transmission of the outer driver 5 and the outer output shaft 3 is realized; the first inner synchronous pulley 18 is arranged on the inner driver output shaft 16, and the first inner synchronous pulley 18 is connected with the second inner synchronous pulley 11 arranged on the inner output shaft 2 through the synchronous belt 7, so that the transmission of the inner driver 15 and the inner output shaft 2 is realized; one side of the first outer synchronous pulley 8 is provided with a supporting frame 9. Bearing 19 may be provided between the base 10 and the outer output shaft 3, between the outer output shaft 3 and the inner output shaft 2, but the coaxial driving device is not limited to a synchronous belt driving method, and may be a gear driving method.
The supporting frame 9 is used for protecting the motor and the power transmission component. The mounting plate 4 and the connecting rod can be made of carbon fiber materials, the joints of the over-constraint connecting rod mechanism 1 can be made of aluminum alloy or stainless steel materials, the outer driver 5 and the inner driver 15 are arranged on the same side of the mounting plate 4, the drivers can be effectively protected, meanwhile, the drivers do not move along with the movement of the over-constraint connecting rod mechanism, and the rotational inertia of the robot unit is effectively reduced.
The connecting rod can adopt a modularized assembly mode: including registration arm 61 and articulated assembly 62 constitution, articulated assembly 62 installs at the registration arm 61 both ends, and articulated assembly 62 includes installation pole and articulated head, through the angle of adjustment installation pole with the registration arm, adjusts the initial angle of joint, and the articulated head can set up according to the mounting means of connecting rod, for the articulated head with output shaft matched with mounting hole, the articulated hole of its lower extreme articulated head passes through screw cooperation with the articulated head of first driven lever upper end, realizes articulating, but is not limited to this.
Fig. 12 is a schematic structural view of a second over-constrained exercise device, in which the design of the connecting rod is different, and the connecting rod is designed into a first portion 31 and a second portion 32 for obtaining a more flexible assembly structure, the first portion 31 and the second portion 32 are respectively provided with a connecting ring 33, and one end of a connecting post 34 is mounted on the connecting ring 33 by a screw 35, so as to facilitate adjustment of the initial rotation angle of the joint. The driving rod and the driven rod are hinged by a hinge screw 36.
Fig. 13 is a schematic structural view of a third over-constrained exercise device, in which a link is provided with a torsion angle, and the initial angle of the joint is adjusted by adjusting the torsion angle. The first joint 41 is formed at the upper ends of the first driving rod 21 and the second driving rod 22, the second joint 42 is formed between the first driving rod 21 and the first driven rod 23, the third joint 43 is formed between the second driving rod 22 and the second driven rod 24, the fourth joint 44 is formed at the hinge position of the first driven rod 23 and the second driven rod 24, and the lower end of the driven rod is used as the tail end 25 of the over-constraint link mechanism 1. One side of the synchronous belt 7 can be provided with a tension wheel 45, and the driver is fixed on the mounting plate 4 through a second fixing bracket 46.
The outer driver drives the outer output shaft in a collimation driving mode, and the reduction ratio of the outer driver to the outer output shaft is 1:5-1:10, preferably 1:10; the inner driver drives the inner output shaft in a collimation driving mode, and the reduction ratio of the inner driver to the inner output shaft is 1:5-1:10, preferably 1:10. through the mode of collimation drive, lower reduction ratio is adopted, when the overconstrained link mechanism interferes or collides, the current of the driver changes greatly, and the interference or collision is judged through the change of the current, so that the use of partial sensors, such as torsion sensing force, can be reduced.
Example 2
Unlike in the case of example 1,
five revolute joints are arranged in the Myard 5R mechanism, as shown in FIG. 6, a left graph is a kinetic analysis schematic diagram, a right graph is an equivalent open-chain analysis schematic diagram, wherein two crossed joints are arranged at the tail end of the Myard 5R mechanism, and the expression of the Myard 5R mechanism is as follows:
θ 1 +θ 3 +θ 4 ＝2π，θ 2 +θ 5 ＝2π，
and
joint rotation angle theta on outer output shaft 1 Expressed as:
θ 1 ＝f(q 1 ，q 2 )＝π-(q 2 -q 1 ). (22)
the expression of the tip movement speed is:
although the 5R overconstraining mechanism has a relatively complex closed equation, the equivalent open-chain kinematic analysis method significantly reduces the complexity of the kinematic derivation and derives the kinematic formula of the machine leg for the Myard 5R case.
Example 3
As shown in fig. 7, the left graph is a kinetic analysis schematic diagram of the Extended Myard mechanism, the right graph is an equivalent open-chain analysis schematic diagram, six rotational joints and four connecting rods are provided in the Extended Myard 6R mechanism, two joints which are symmetrically arranged are provided at the connection positions of the active connecting rod and the passive connecting rod, and the expression is as follows:
joint rotation angle theta on outer output shaft 1 Expressed as:
θ 1 ＝f(q 1, q 2 )＝π+q 2 -q 1 (32)
the expression of the tip movement speed is:
example 4
In the present embodiment, the robot is reconfigured according to the above-described overconstrained motion device, and as shown in fig. 11, a robot is constructed in which an aluminum alloy frame and a carbon fiber member are connected.
The low-gravity center robot movement device is suitable for walking of the multi-legged robot; the high-gravity-center over-constrained movement device is mainly used for walking like a person and can be formed by arranging an extension rod at the tail end of the low-gravity-center over-constrained movement device, so that the working space of the high-gravity-center over-constrained movement device is improved. The robot body 52 can be provided with the connecting piece 51, the overconstrained motion device is arranged on the connecting piece 51 through the mounting plate 4 to form a robot, and the overconstrained motion device can be used as a mechanical leg, a mechanical arm or a mechanical finger to reconstruct a new robot.
The final robot can be designed into various forms, such as an insect robot, a bipedal robot, and a bipedal animal robot; quadruped, crab-shaped robots, lobster robots, and humanoid robots.
Four-legged robot is equipped with four over-constrained motion devices 55 of symmetric distribution in fuselage 52 both sides, and as shown in fig. 14, fuselage 52 can splice through fixed plate 53 and form, is equipped with control box 57 and mini computer on the fuselage 52, and mini computer installs on the mounting bracket 56 of fuselage upside, and the fuselage front side is equipped with depth camera 54, realizes omnidirectional motion through eight drivers.
The lobster robot is composed of four groups of low-gravity center moving devices, one group is used as a manipulator arm, and the three groups are used as manipulator mechanical legs to move.
The humanoid robot is composed of a group of high-gravity-center mechanical arms and a group of high-gravity-center mechanical legs, and the outer ends of the mechanical arms can be provided with mechanical fingers.
The bipedal robot is provided with a group of mechanical legs with high gravity center at the lower side of the robot body. The crab-shaped robot is composed of six overconstrained motion devices symmetrically distributed on the left and right sides of the body.
Two drives are used per movement device for three-dimensional movement to reduce weight and cost.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An overconstrained motion device is characterized by comprising a coaxial driving device and an overconstrained link mechanism,
the coaxial driving device comprises an outer driver, an inner driver, an outer output shaft and an inner output shaft,
the outer driver drives the outer output shaft, the inner driver drives the inner output shaft,
the inner output shaft and the outer output shaft are coaxially arranged;
the inner output shaft is connected with a first driving rod of the over-constraint link mechanism, and the outer output shaft is connected with a second driving rod of the over-constraint link mechanism;
the over-constraint link mechanism further comprises a first driven rod and a second driven rod, wherein the first driving rod, the second driving rod, the first driven rod and the second driven rod are sequentially hinged to form a space single closed-loop mechanism;
wherein, the hinge joint of the first driving rod and the second driving rod and the inner output shaft forms a first joint; a second joint is formed between the first driving rod and the first driven rod; a third joint is formed between the second driving rod and the second driven rod, and a fourth joint is formed between the first driven rod and the second driven rod;
the axes of the pivot axes of the first, second, third and fourth joints are non-parallel;
the first driving rod, the second driving rod, the first driven rod and the second driven rod are provided with initially adjustable torsion angles for adjusting initial angles of corresponding joints;
the first driving rod, the second driving rod, the first driven rod and the second driven rod all comprise a positioning pipe and a hinge assembly, the hinge assembly comprises a mounting rod and a hinge head, and the hinge head is mounted at one end of the positioning pipe through the mounting rod so as to adjust the initial angle of the joint by adjusting the angle between the mounting rod and the positioning pipe.
2. The over-constrained exercise device according to claim 1, wherein the coaxial driving device further comprises a mounting plate and a supporting frame, the outer driver and the inner driver are mounted on the mounting plate, a base is arranged on one side of the mounting plate, the outer output shaft is rotatably mounted on the base, a first outer synchronous pulley is mounted on the output shaft of the outer driver, and the first outer synchronous pulley is connected with a second outer synchronous pulley mounted on the outer output shaft through a synchronous belt;
a first inner synchronous pulley is arranged on an output shaft of the inner driver and is connected with a second inner synchronous pulley arranged on the inner output shaft through a synchronous belt;
the outer and inner drives are mounted on the same side of the mounting plate.
3. The over-constrained exercise device of claim 1, wherein the over-constrained linkage comprises one of: bennett mechanism, goldberg mechanism, myard mechanism, extended Myard mechanism, double-Goldberg mechanism, waldron's Hybrid mechanism, yu & Baker's Syncopated mechanism, mavroidis & Roth's6R mechanism, dietmaier's 6R mechanism, briard mechanism, altmann's 6R mechanism, and Wohlhart's Hybrid6R mechanism.
4. The over-constrained exercise device of claim 1, wherein the outer driver drives the outer output shaft by means of a collimation drive, and the reduction ratio of the outer driver to the outer output shaft is 1:5-1:10;
the inner driver drives the inner output shaft through the collimation drive, and the reduction ratio of the inner driver to the inner output shaft is 1:5-1:10.
5. The over-constrained exercise device of claim 1, wherein the relationship between the outer drive, the inner drive, and the over-constrained linkage ends is:
φ i ＝h i (θ i )＝H i (q 1 ，q 2 ) (1)
wherein phi is i Equivalent open-chain rotation angle, θ, expressed as joint i i Expressed as joint angle, q 1 Expressed as the external drive speed, q 2 Expressed as internal drive speed, h i (θ i ) Representing the function of the joint rotation angle and the equivalent open-chain rotation angle, H i (q 1 ，q 2 ) Represented as a function of row-to-open chain rotation angle and drive speed;
the expression of the end movement speed is:
wherein V represents the terminal movement speed, J represents a Jacobian matrix, si represents the coordinates of the rotation axis of the joint i at the initial position, the initial position is the position of the connecting rod of the over-constraint mechanism on the same plane, and J represents the total number of joints between the terminal axis and the driving shaft.
6. The overconstrained motion device of claim 3, wherein the Bennett mechanism has the expression:
a 12 ＝a 34 ＝a，a 23 ＝a 41 ＝b，
α 12 ＝α 34 ＝α，α 23 ＝α 41 ＝β，
R i ＝0 (11)
wherein a is ij Denoted as the link between the i-joint and the j-joint, alpha ij Representation a ij The torsion angles of a and b are the lengths of the connecting rods, alpha and beta are the torsion angles, R i Indicating the joint offset, i being indicated as joint;
the relationship of the joint angles is as follows:
wherein θ i The joint angle is expressed as a joint rotation angle and is used for expressing the included angle of two connecting rods on the joint.
7. The over-constrained exercise device of claim 6, wherein in the Bennett mechanism, the relationship between the outer drive, the inner drive and the end of the over-constrained linkage is:
φ i ＝h i (θ i )＝H i (q 1 ，q 2 ) (1)
wherein phi is i Equivalent open-chain rotation angle, θ, expressed as joint i i Expressed as joint angle, q 1 Expressed as the external drive speed, q 2 Represented as internal driveDevice rotation speed, h_i (θ i ) Representing the function of the joint rotation angle and the equivalent open-chain rotation angle, H i (q 1 ，q 2 ) Represented as a function of row-to-open chain rotation angle and drive speed;
the expression of the tip movement speed is:
wherein V represents the terminal movement speed, J represents a Jacobian matrix, si represents the coordinates of the rotation axis of the joint i at the initial position, the initial position is the position of the connecting rod of the over-constraint mechanism on the same plane, and J represents the total number of joints between the terminal axis and the driving shaft.
8. A robot fitted with an over-constrained movement device as claimed in any one of claims 1-7, characterized in that the over-constrained movement device acts as a mechanical leg, arm or finger.
9. The robot of claim 8, wherein a plurality of over-constrained motion devices are provided on the robot body,
the robot includes any one of the following: humanoid robots, quadruped robots, bipedal robots, insect robots, crab robots and lobster robots.
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