CN115256362A - Multi-stage flexible modular continuum robot and control method - Google Patents

Multi-stage flexible modular continuum robot and control method Download PDF

Info

Publication number
CN115256362A
CN115256362A CN202210891581.7A CN202210891581A CN115256362A CN 115256362 A CN115256362 A CN 115256362A CN 202210891581 A CN202210891581 A CN 202210891581A CN 115256362 A CN115256362 A CN 115256362A
Authority
CN
China
Prior art keywords
joint
plate
joint group
holes
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210891581.7A
Other languages
Chinese (zh)
Other versions
CN115256362B (en
Inventor
张静
孙弋
刘满禄
王姮
刘宏伟
霍建文
刘冉
张坊
石繁荣
徐锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southwest University of Science and Technology
Original Assignee
Southwest University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southwest University of Science and Technology filed Critical Southwest University of Science and Technology
Priority to CN202210891581.7A priority Critical patent/CN115256362B/en
Publication of CN115256362A publication Critical patent/CN115256362A/en
Application granted granted Critical
Publication of CN115256362B publication Critical patent/CN115256362B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a multi-stage flexible modular continuum robot and a control method, wherein the robot comprises a plurality of stages of joint groups which are connected with each other, the end part of the joint group positioned at the top end is connected with an end effector, the lower end of the joint group positioned at the bottom end is installed on a base, a first through hole which penetrates through the joint group is formed in the joint group along the axis, a plurality of second through holes which penetrate through the joint group are formed in the periphery of the first through hole along the axis direction, a plurality of control cables which control the movement of the joint group are arranged in the second through holes, and the control cables on each stage of joint group are led out from the first through hole in the next stage of joint group and are connected with a corresponding driver; the control method comprises steps S1-S4. Every driver individual drive festival joint group of this scheme utilization utilizes the electric jar platform to carry out audio-visual control to joint group and adjusts, the complexity of reduction high-level continuum robot control that can be very big promotes the intuitionistic nature of control effect, can be quick deploys into the robot organism with multistage joint.

Description

Multi-stage flexible modular continuum robot and control method
Technical Field
The invention relates to the technical field of robots, in particular to a multi-stage flexible modular continuum robot and a control method.
Background
The traditional continuum robot is generally suitable for operation work in a narrow space, and has the characteristics of high flexibility and multiple degrees of freedom, but the traditional continuum robot generally has the problems of high control difficulty (a user needs to ensure that the sum of changes of local joint postures of the robot conforms to the changes of a predicted global posture), non-intuitive control effect (the user only depends on abstract data such as robot coordinate system parameters to realize the posture changes of the continuum robot), difficulty in deployment of the robot (the user is difficult to flexibly adjust the structure of the robot according to the field condition), and the like, so that the engineering application of the continuum robot is very limited, and the traditional continuum robot needs to be improved in a control mode and a structure.
The traditional multi-stage continuum robot usually places the motor in front of the joint (such as a tokamak device robot), and the connection mode of the multi-stage joint is complex due to the fact that the motor is placed in front. The multi-stage (more than 4-stage) continuum robot control system is complex and has great control difficulty. The number of stages of the multi-stage continuum robot cannot be too high, otherwise, a control system of the robot is very large, so that not only is the reliability of the system poor, but also the convenience of the robot is reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the multi-stage flexible modular continuum robot and the control method, and the reconfigurable modular joints of the continuum robot are driven by the control cables, so that the convenience of the traditional continuum robot is improved, and the control difficulty of the traditional continuum robot is reduced.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the robot comprises a plurality of stages of joint groups which are connected with each other, wherein the end part of the joint group positioned at the top end is connected with an end effector, the lower end of the joint group positioned at the bottom end is installed on a base, a first through hole which penetrates through the joint group is formed in the joint group along the axis, a plurality of second through holes which penetrate through the joint group are formed in the periphery of the first through hole along the axis direction, a plurality of control cables which control the movement of the joint group at the stage are arranged in the second through holes, and the control cables on the joint group at each stage are led out from the first through hole in the joint group at the next stage to be connected with a corresponding driver;
the driver comprises an upper cover plate and a lower cover plate, an electric cylinder is arranged between the upper cover plate and the lower cover plate, the lower end of the electric cylinder is arranged on the lower cover plate, and the telescopic end of the electric cylinder is connected with the upper cover plate through a universal joint; the border of upper cover plate is provided with a plurality of couples, and the tip of control cable sets up solid fixed ring, and solid fixed ring's top is provided with the through-hole, and the couple passes the through-hole and is connected with solid fixed ring, and the border of lower apron is provided with the breach that supplies the flexible activity of control cable, and the electric jar is connected with the controller electricity.
Furthermore, the joint group comprises two joint plates, a plurality of support plates are arranged between the two joint plates, the support plates and the two joint plates are coaxially stacked and arranged, gaps are arranged between every two adjacent support plates and between every two adjacent support plates, and the support plates, the joint plates and the adjacent support plates are supported by a plurality of springs;
the adjacent joint groups are connected through a joint plate, the end effector is arranged on the joint plate, and the joint groups are arranged on the base through the joint plate; the middle parts of the supporting plate and the joint plate are both provided with spinal holes, the joint plate of the same level joint group and the spinal holes on the supporting plate are internally provided with the same first limiting pipe, the first limiting pipe is made of soft materials, and the first limiting pipe forms a first through hole;
a plurality of traction holes are formed around the vertebra holes on the joint plate and the support plate, the joint plate of the same-stage joint group is connected with the traction holes on the support plate through a second limiting pipe, the second limiting pipe is made of soft materials, a second through hole is formed in the second limiting pipe, a control cable is arranged in the second through hole and connected with the joint plate at the top end in the same-stage joint group, and the control cable penetrates through a first limiting pipe in the middle of the next-stage joint group and is led out from the base to be connected with a corresponding driver through a hook.
Furthermore, the base comprises a lower base plate and an upper base plate, a boss is arranged above the upper base plate, the lower base plate is connected with the upper base plate through a plurality of support columns, a plurality of third through holes corresponding to the traction holes and a plurality of fourth through holes corresponding to the spinal holes are formed in the boss, the control cable penetrates through the third through holes and penetrates out of a gap between the lower base plate and the upper base plate, and the joint plate is fixed on the boss;
a plurality of U-shaped notches are uniformly formed in the outer circumference of each joint plate, the joint plates of adjacent joint groups are connected through bolts, and the bolts are arranged in the U-shaped notches; the boss is provided with a U-shaped sinking groove corresponding to the U-shaped notch, the joint plate is arranged on the boss through a bolt, and the bolt is arranged in the U-shaped sinking groove.
Further, the surface of each grade joint group all passes through the corrugated paper encapsulation, and both ends joint board is connected to the corrugated paper, and corrugated paper parcel joint board and backup pad.
Further, the end effector includes lower claw plate and last claw plate, be provided with the bracing piece between lower claw plate and the last claw plate, lower claw plate installs on the joint plate, be provided with a plurality of movable holes on the last claw plate, all be provided with the lifter in every movable hole, the lower extreme of every lifter is all installed on the lifter, the lifter is installed and is served along the extension of the flexible electric telescopic handle of joint group axis, electric telescopic handle installs the lower extreme at last claw plate, the upper end of lifter articulates there is first connecting rod, the spout has been seted up along length direction in the middle part of lifter, the middle part and the second connecting rod of lifter are connected, and the one end of second connecting rod is provided with movable column, movable column activity sets up in the spout, the other end of second connecting rod articulates there is the third connecting rod, the tip of third connecting rod is provided with the claw tooth, electric control cable draws forth from the base through first spacing pipe and is connected with the controller electricity.
Furthermore, the two lifting rods are arranged in parallel, the second connecting rod is L-shaped and is arranged between the two lifting rods; the two lifting rods are provided with sliding grooves, the second connecting rod is provided with movable columns located in the sliding grooves, and the end portions of the second connecting rod are connected with the claw teeth through two parallel third connecting rods.
Furthermore, the control cable comprises a steel cable, the steel cable is arranged in the second through hole and the first through hole, a brake pipe is sleeved on the steel cable between the base and the driver, and the hook is connected with the steel cable.
Furthermore, the number of the connecting control cables on the same driver is equal to the number of the electric cylinders arranged on the driver, and the electric cylinders are arranged corresponding to the positions of the hooks.
The control method of the multistage flexible modular continuum robot comprises the following steps:
s1: setting a moving posture instruction of the robot according to a task to be completed by the end effector;
s2: decomposing the moving posture instruction into the changing posture of each level of joint group to obtain the bending angle alpha to be executed by each level of joint group1，α2，···，αnN is the number of stages of the joint group assembled by the robot; according to the bending angle alpha and the bending direction beta of each level of joint groupiCalculating the variation delta L of the corresponding control cablei：
Figure BDA0003767777730000041
Figure BDA0003767777730000042
Wherein a is the radius of the joint group, epsilon is the distribution angle of the control cable, and epsilon is taken
Figure BDA0003767777730000043
i is the ith control cable of each level of joint group, Δ l0The variation of the reference control cable selected from the same level of joint group;
Δl0±Δlithe method for taking the sign in cos epsilon is as follows: if l0And liOn the same axis, take Δ l0+ΔliCos ε; otherwise, take Δ l0-Δli·cosε；
S3: according to the variation quantity Delta LiThe telescopic lengths of different electric cylinders on corresponding drivers are controlled, so that the upper cover plate is inclined, control cables connected to different positions on the same upper cover plate reach corresponding variable quantities, and the control of different offset angles of different joint groups is realized.
The beneficial effects of the invention are as follows: according to the scheme, a plurality of joint levels can be lapped as required to form the continuum robot, the base is used for fixing the reconfigurable modular joint manipulator and can be fixed on the ground, the wall or an inclined plane through a threaded fastener, the end effector is a manipulator, and the manipulator is driven to move in the space through the multi-level joint groups. Each driver controls one joint group, the joint groups are connected through control cables to drive the joints in a group orientation mode, and the brake cable tube is used for restraining the control cables between the drivers and the joint groups. Through above-mentioned modularization joint group, can overlap into arbitrary progression according to user's demand, the operation requirement under the length with the different conditions of adaptation has promoted the convenience that traditional continuum robot disposed greatly, about the lectotype of joint: different shapes of the joint plate and the support plate can be arranged, so that the joint assembly can be built into a linear type or a conical type.
The joint plate and the support plate are provided with a plurality of second through holes, and the control cables can be selected to pass through the second through holes which are closer to the first through holes (the control precision is higher but the load is small) or pass through the second through holes which are far away from the first through holes (the load is larger but the control precision is lower) under the condition that the working environment is determined. The joint plate is arranged at the joint of the joint groups to play a role of fixedly connecting with the upper joint and the lower joint, and meanwhile, the control cable of the upper joint group can pass through the redundant second through hole and also can pass through the first through hole. The joint plates are connected through the U-shaped notches by using studs or bolts in the threaded fasteners, and the U-shaped notches have the advantage that joint quick change can be realized without completely dismounting the threaded fasteners.
The controller is used for controlling a plurality of drivers, and a section joint group is driven alone to every driver, utilizes the electric jar platform to carry out audio-visual control to joint group and adjusts, and the reduction high-level continuum robot control's that can be very big complexity promotes the nature directly perceived of control effect, can be quick deploys into robot body with multistage joint.
Drawings
Fig. 1 is an assembly diagram of a multi-stage flexible modular continuum robot.
Fig. 2 is a block diagram of an end effector.
Fig. 3 is a structural view of a joint set.
Fig. 4 is a structural view of the drive.
Fig. 5 is a structural view of the base.
Fig. 6 is a space bending schematic diagram of a robot joint.
Fig. 7 is a schematic view of spatial curvature assistance.
Fig. 8 is a schematic cross-sectional view.
Figure 9 is an elevation view (normal circle) of the articular end surface in flexion.
Fig. 10 is a schematic diagram of a zero state coordinate system of the joint set.
Fig. 11 is a schematic diagram of an arbitrary posture coordinate system of the joint set.
The device comprises an end effector 1, an end effector 2, a joint plate 3, a joint group 4, a driver 5, a controller 6, a base 7, a universal joint 8, a telescopic end 9, an electric cylinder 10, a through hole 11, a fixing ring 12, a control cable 13, an upper cover plate 14, a lower cover plate 15, a hook 16, a lower base plate 17, an upper base plate 18, a boss 19, a third through hole 20, a U-shaped sinking groove 21, a fourth through hole 22, a second limiting pipe 23, a U-shaped notch 24, a traction hole 25, a lower claw plate 26, an upper claw plate 27, a lifting block 28, a support rod 29, a lifting rod 30, a second connecting rod 31, a first connecting rod 32, a claw tooth 33, a third connecting rod 34, an electric telescopic rod 35, a support plate 36, a first limiting pipe 37, a spring 38 and a spinal hole.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined by the appended claims, and all changes that can be made by the invention using the inventive concept are intended to be protected.
As shown in fig. 1 to 5, the multi-stage flexible modular continuum robot of the present scheme includes a plurality of stages of joint groups 3 connected to each other, an end effector 1 is connected to an end of the joint group 3 located at the top end, a lower end of the joint group 3 located at the bottom end is mounted on a base 6, a first through hole penetrating through the joint group 3 is formed along an axis, a plurality of second through holes penetrating through the joint group 3 are formed around the first through hole along the axis, a plurality of control cables 12 for controlling the movement of the joint group 3 are disposed in the second through holes, and the control cables 12 on the joint groups 3 of each stage are led out from the first through holes in the joint groups 3 of the next stage and connected to corresponding drivers 4.
The driver 4 comprises an upper cover plate 13 and a lower cover plate 14, an electric cylinder 9 is arranged between the upper cover plate 13 and the lower cover plate 14, the lower end of the electric cylinder 9 is installed on the lower cover plate 14, and a telescopic end 8 of the electric cylinder 9 is connected with the upper cover plate 13 through a universal joint 7; the border of upper cover plate 13 is provided with a plurality of couples 15, and the tip of control cable 12 sets up solid fixed ring 11, and solid fixed ring 11's top is provided with through-hole 10, and couple 15 passes through-hole 10 and is connected with solid fixed ring 11, and the border of lower cover plate 14 is provided with the breach that supplies control cable 12 flexible activity, and electric jar 9 is connected with controller 5 electricity.
In this embodiment, the joint assembly 3 includes two joint plates 2, a plurality of supporting plates 35 are disposed between the two joint plates 2, the supporting plates 35 and the two joint plates 2 are coaxially stacked, gaps are disposed between adjacent supporting plates 35 and between the supporting plates 35 and the joint plates 2, and the supporting plates 35 and the joint plates 2 and the adjacent supporting plates 35 are supported by a plurality of springs 37.
The adjacent joint groups 3 are connected through joint plates 2, the end effector 1 is arranged on the joint plates 2, and the joint groups 3 are arranged on a base 6 through the joint plates 2; both the middle parts of the supporting plate 35 and the joint plate 2 are provided with spinal holes 38, the joint plate 2 and the spinal holes 38 on the supporting plate 35 of the joint group 3 at the same stage are internally provided with a same first limiting pipe 36, the first limiting pipe 36 is made of soft material, and the first limiting pipe 36 forms a first through hole;
a plurality of traction holes 24 are arranged around the vertebra holes 38 on the joint plate 2 and the supporting plate 35, the joint plate 2 of the joint group 3 at the same stage and the traction holes 24 on the supporting plate 35 are connected through the same second limiting tube 22, the second limiting tube 22 is made of soft material, the second limiting tube 22 forms a second through hole, the control cable 12 is arranged in the second through hole, the control cable 12 in the joint group 3 at the same stage is connected with the joint plate 2 at the top end, and the control cable 12 passes through the first limiting tube 36 in the middle of the joint group 3 at the next stage and is led out from the base 6 to be connected with the corresponding hook 15 on the driver 4.
In this embodiment, the base 6 includes a lower bottom plate 16 and an upper bottom plate 17, a boss 18 is disposed above the upper bottom plate 17, the lower bottom plate 16 is connected with the upper bottom plate 17 through a plurality of support columns, the boss 18 is provided with a plurality of third through holes 19 corresponding to the traction holes 24 and a fourth through hole 21 corresponding to the spinal hole 38, the control cable 12 passes through the third through hole 19 and penetrates out from the gap between the lower bottom plate 16 and the upper bottom plate 17, and the joint plate 2 is fixed on the boss 18;
a plurality of U-shaped gaps 23 are uniformly formed in the outer circumference of each joint plate 2, the joint plates 2 of adjacent joint groups 3 are connected through bolts, and the bolts are arranged in the U-shaped gaps 23; the boss 18 is provided with a U-shaped sinking groove 20 corresponding to the U-shaped gap 23, the joint plate 2 is mounted on the boss 18 through a bolt, and the bolt is arranged in the U-shaped sinking groove 20.
Every level joint group 3's surface all passes through the corrugated paper encapsulation, and both ends joint board 2 is connected to the corrugated paper, and corrugated paper parcel joint board 2 and backup pad 35.
In this embodiment, the end effector 1 includes a lower jaw plate 25 and an upper jaw plate 26, a support rod 28 is disposed between the lower jaw plate 25 and the upper jaw plate 26, the lower jaw plate 25 is mounted on the joint plate 2, a plurality of movable holes are disposed on the upper jaw plate 26, a lifting rod 29 is disposed in each movable hole, a lower end of each lifting block 27 is mounted on the lifting block 27, the lifting block 27 is mounted on an extending end of an electric telescopic rod 34 that extends and retracts along an axis of the joint group 3, the electric telescopic rod 34 is mounted on a lower end of the upper jaw plate 26, an upper end of the lifting rod 29 is hinged to a first link 31, a sliding groove is disposed in a middle portion of the lifting rod 29 along a length direction, a middle portion of the lifting rod 29 is connected to a second link 30, a movable column is disposed at one end of the second link 30, the movable column is movably disposed in the sliding groove, a third link 33 is hinged to the other end of the second link 30, a jaw tooth 32 is disposed at an end of the third link 33, and a control cable of the electric telescopic rod 34 is led out from the base 6 through a first limit tube 36 to be electrically connected to the controller 5.
The two lifting rods 29 are arranged in parallel, the second connecting rod 30 is L-shaped, and the second connecting rod 30 is arranged between the two lifting rods 29; the two lifting rods 29 are provided with sliding grooves, the second connecting rods 30 are provided with movable columns located in the sliding grooves, and the end portions of the second connecting rods 30 are connected with the claw teeth 32 through two parallel third connecting rods 33.
The contraction and expansion of the end effector 1 are controlled by the extension and contraction of the electric telescopic rod 34, and the claw teeth 32 are driven by the multi-stage connecting rods to be more flexible in gripping and clamping products, so that the stability is high.
In this embodiment, the end effector may also be a camera, a temperature sensor, or the like mounted on the end portion of the joint group 3 at the tip end, so as to expand the function of the end effector.
In this embodiment, the control cable 12 comprises a steel cable, the steel cable is disposed in the second through hole and the first through hole, a brake pipe is sleeved on the steel cable between the base 6 and the driver 4, and the hook 15 is connected to the steel cable. The number of the connecting control cables 12 on the same driver 4 is equal to the number of the electric cylinders 9 arranged on the driver 4, and the electric cylinders 9 are arranged corresponding to the positions of the hooks 15.
The control method of the multistage flexible modular continuum robot comprises the following steps:
s1: setting a moving posture instruction of the robot according to a task to be completed by the end effector 1;
s2: decomposing the moving posture instruction into the changing posture of each level of joint group 3 to obtain the bending angle alpha which needs to be executed by each level of joint group 31，α2，···，αnN is the number of stages of the joint group 3 assembled by the robot; according to the bending angle alpha and the bending direction beta of each stage of the joint set 3iCalculating the variation DeltaL of the corresponding control cable 12i：
Figure BDA0003767777730000091
Figure BDA0003767777730000092
Wherein a is the radius of the joint group, epsilon is the distribution angle of the control cable 12, and epsilon is the radius of the joint group
Figure BDA0003767777730000093
i is the ith control cable 12 of each level of joint group, delta l0The amount of change in the reference control wires 12 selected for the same level of joint set;
Δl0±Δlithe method for taking the sign in cos epsilon is as follows: if l0And liOn-axis, take Δ l0+ΔliCos ε; otherwise, take Δ l0-Δli·cosε；
S3: according to the variation amount Delta LiThe telescopic lengths of different electric cylinders on corresponding drivers are controlled to incline the upper cover plate 13, so that control cables connected to different positions on the same upper cover plate 1312, the corresponding variable quantity is achieved, and the control of different deviation angles of different joint groups is realized.
The driving control principle of the scheme is explained by taking three control cables A, B and C as an example:
as shown in fig. 6, the number of control wires 12 of the predetermined robot is odd, and the control wires 12 are annularly and equally distributed in the joint group 3 of the robot. For simplicity of calculation, assume that the joint is driven by three control cables a, B, C, which are at a distance a from the spine O, and fig. 6 is a schematic view of the joint in a null state and in any attitude in flexion.
Drawing an auxiliary line as shown in fig. 7; wherein MN is the maximum curvature line (the joint is bent along MN) when the joint is bent under the state, and the lower bottom surface also has one line which connects the two lines and intersects at a space P point, at the moment, the angle OPO' is the joint bending angle alpha. Crossing ABC points, respectively making a vertical line for the maximum curvature line MN, crossing the A ' B ' C ' point, and setting the corresponding central angle as ^ betaiBy geometric relationships, can be obtained
OX′＝a·cosβi
Further, a curved cross section of the joint is taken along MN, as shown in FIG. 8.
Since the cross section here has the largest curvature, the line of projection of the ABC pull rope onto this cross section must be inside the NM, which is indicated by the blue dashed line in fig. 8.
At this time, ON = OM = a, OA' = a · cos βA，OB′＝a·cosβB，OC′＝a·cosβC. In addition, the pulling rope ABC is pulled (tightened or loosened) in the vertical direction and is not affected by the projection in the vertical direction. Therefore, the pull change Δ l of the blue dotted line at this time is still related to the respective cylinder stroke, where Δ liAre known and controlled. The following can be obtained:
Figure BDA0003767777730000101
wherein,. DELTA.liIn order to correspond to the amount of travel change, β, of the control wire 12iFor controlling the rope 12 to close correspondinglyThe angle of the joint spinal connecting line relative to the line of maximum curvature. In the case of three control wire drives, the following equation can be obtained:
Figure BDA0003767777730000102
after simplification, one can obtain:
Figure BDA0003767777730000103
it is obvious that the stroke change Δ l of the control cable 12 has a proportional relationship with the included angle cos β formed by each.
In FIG. 9, βA、βB、βCThere is a geometrical relationship between:
cosβA＝cos(π-ε-βB)＝cos(ε-βC)
here, ε is the degree of the included angle between trisection points, and ε is equal to
Figure BDA0003767777730000111
Five or seven, and so on.
It is also noteworthy that the above-mentioned geometric relationship exists in any bending case, but βA＝π-ε-βBHour expression-AAnd < betaBOn the same axial side, betaA＝ε-βCHour expression-AAnd < betaCOn different axial sides.
The method for identifying the problem of the ipsilateral distribution of the control cables 12 is as follows:
because the included angle formed by ABC and O point must be defined as acute angle, the program only selects the angle interval after traversing once
Figure BDA0003767777730000112
The calculation result of (2) is just required.
By combining the above equations, an algebraic relationship can be obtained for three control wires as shown in fig. 9:
Figure BDA0003767777730000113
Figure BDA0003767777730000114
simply solved to obtain
Figure BDA0003767777730000115
Figure BDA0003767777730000116
The included angle beta of the control cable 12 can be known from the above formulaiIs completely influenced by its stroke Δ liAnd the profile angle epsilon therebetween, and the stroke deltaliAnd the angle of distribution epsilon is known by operators and is equal to the angle of control cable betaiMay be controlled by an operator.
Further obtaining:
Figure BDA0003767777730000117
wherein l0For an arbitrary pulling rope selected from the beginning (for example, in formula 10, we select A pulling rope as l0). The sign in the above formula depends on0And liIf the two are coaxial, the sum is taken if the two are coaxial, and the difference is taken if the two are different, so as to judge0 liWhether the coaxial is determined by the acute angle determination method given above.
For the coordinate system of the joint in space:
at this time, a known amount (Δ l) can be usediEtc.) represents the joint space angle alpha and the angle beta of the control cables 12iUsing alpha and betaiIndicating that the spatial bending state of the joint is no longer difficult, three-control switchesThe space state representation method of the section is as follows:
the coordinate system is set up as shown in FIG. 10 with the Z axis vertically up OO ', the Y axis off the screen along A ' O ', and the X axis perpendicular to both the Z and Y axes. It should be noted that, when establishing the coordinate axes, the connecting line between the control cable 12 and the vertebral point must have an axis passing through the coordinate axes, where point a is on the negative half of the Y axis.
When the joint starts to work, the bending angle is an arbitrary angle, and the bending direction is also an arbitrary direction, wherein the state diagram of a certain case is shown in fig. 11. Wherein the joint space included angle alpha is < OPO', which represents the bending angle of the joint; angle beta of the control cable 12i(here,. Beta.)A) Is an acute angle AOM and represents the bending direction of the joint.
It is easy to understand that the joint space angle α represents the meaning of the bending angle, here equal to:
Figure BDA0003767777730000121
according to the geometric relationship, the angle AOM = < A 'O' M 'can be obtained, namely on the XOY plane of coordinate axis, the angle A' O 'M' = < betaA. And ═ a ' O ' M ' can just describe the bending direction of the whole joint in space, according to equation 11, the bending direction of the joint is equal to:
Figure BDA0003767777730000122
according to the above method, we can smoothly express the bending angle and the bending direction of the joint in any bending condition in space by the change amount of the control wire 12, the joint radius, and the distribution angle of the control wire 12, and we can reversely deduce the change amount of the control wire 12 according to the required bending angle and bending direction. Generally, the amount of change in the control wire 12 is equal to the stroke of the corresponding electric cylinder.
According to the scheme, a plurality of joint levels can be lapped as required to form a continuum robot, the base 6 is used for fixing the reconfigurable modular joint manipulator and can be fixed on the ground, the wall or an inclined plane through a threaded fastener, the end effector is a manipulator, and the manipulator is driven to move in the space through the multistage joint group 3. Each driver 4 controls one joint group 3, is connected with the joint group 3 through a control cable 12 and is used for group-oriented driving of the joints, and the brake cable tube is used for restraining the control cable 12 between the driver 4 and the joint group 3.
Through above-mentioned modularization joint group 3, can become arbitrary progression according to user's demand overlap joint, the operation requirement under the length with the different conditions of adaptation has promoted the convenience that traditional continuum robot disposed greatly, about articular lectotype: different shapes of the articulation plate 2 and the support plate 35 can be provided, so that the articulation group 3 can be built up in a linear or conical manner.
The joint plate 2 and the supporting plate 35 are provided with a plurality of second through holes, so that under the condition of determining the working environment, the control cable 12 can be selected to pass through the second through hole closer to the first through hole (the control precision is higher but the load is small) or pass through the second through hole far away from the first through hole (the load is larger but the control precision is lower). The joint plate 2 is installed at the joint of the joint group 3 to play a role of fixedly connecting with the upper and lower joints, and the control cable 12 of the upper joint group 3 can pass through the redundant second through hole and also can pass through the first through hole. The joint plates 2 are connected through the U-shaped notches 23 by using studs or bolts in threaded fasteners, and the U-shaped notches 23 have the advantage that joint quick change can be realized without completely dismounting the threaded fasteners.
The controller 5 is used for controlling a plurality of drivers 4, and every driver 4 drives a section joint group 3 alone, utilizes 9 platforms of electric jar to carry out audio-visual control to joint group 3 and adjusts, and the complexity of reduction high-level continuum robot control that can be very big promotes the nature directly perceived of control effect, can be quick deploys into the robot organism with multistage joint.

Claims (9)

1. A multi-stage flexible modular continuum robot is characterized in that the robot is composed of a plurality of stages of joint groups which are connected with each other, the end part of the joint group positioned at the top end is connected with an end effector, the lower end of the joint group at the bottommost end is installed on a base, a first through hole which penetrates through the joint group is formed in the joint group along the axis, a plurality of second through holes which penetrate through the joint group are formed in the periphery of the first through hole along the axis direction, a plurality of control cables which control the joint group at the stage to move are arranged in the second through holes, and the control cables on the joint groups at each stage are led out from the first through holes in the joint groups at the next stage to be connected with corresponding drivers;
the driver comprises an upper cover plate and a lower cover plate, an electric cylinder is arranged between the upper cover plate and the lower cover plate, the lower end of the electric cylinder is installed on the lower cover plate, and the telescopic end of the electric cylinder is connected with the upper cover plate through a universal joint; the border of upper cover plate is provided with a plurality of couples, the tip of control cable sets up solid fixed ring, gu fixed ring's top is provided with the through-hole, the couple passes the through-hole and is connected with solid fixed ring, the border of apron is provided with the breach that supplies the flexible activity of control cable down, the electric jar is connected with the controller electricity.
2. The multi-stage flexible modular continuum robot of claim 1, wherein the joint set comprises two joint plates, a plurality of support plates are disposed between the two joint plates, the support plates and the two joint plates are coaxially stacked, gaps are disposed between adjacent support plates and between each support plate and each joint plate, and the support plates and the joint plates and the adjacent support plates are supported by a plurality of springs;
the adjacent joint groups are connected through joint plates, the end effector is installed on the joint plates, and the joint groups are installed on the base through the joint plates; the middle parts of the supporting plate and the joint plate are both provided with spinal holes, the spinal holes on the joint plate and the supporting plate of the same level joint group are internally provided with the same first limiting pipe, the first limiting pipe is made of soft materials, and the first limiting pipe forms a first through hole;
a plurality of traction holes are formed around the vertebra holes on the joint plate and the support plate, the joint plate of the joint group and the traction holes on the support plate at the same level are connected through a second limiting pipe, the second limiting pipe is made of soft materials, a second through hole is formed in the second limiting pipe, a control cable is arranged in the second through hole and connected with the joint plate at the top end in the joint group at the same level, and the control cable penetrates through a first limiting pipe in the middle of the joint group at the next level and is led out from the base to be connected with a corresponding driver upper hook.
3. The multi-stage flexible modular continuum robot of claim 2, wherein the base comprises a lower base plate and an upper base plate, a boss is arranged above the upper base plate, the lower base plate and the upper base plate are connected through a plurality of support columns, a plurality of third through holes corresponding to the traction holes and fourth through holes corresponding to the spinal holes are arranged on the boss, the control cable penetrates through the third through holes and penetrates out of a gap between the lower base plate and the upper base plate, and the joint plate is fixed on the boss;
a plurality of U-shaped notches are uniformly formed in the outer circumference of each joint plate, the joint plates of adjacent joint groups are connected through bolts, and the bolts are arranged in the U-shaped notches; the joint plate is arranged on the boss through a bolt, and the bolt is arranged in the U-shaped sinking groove.
4. The multi-stage flexible modular continuum robot of claim 2, wherein the outer surface of each stage of the set of joints is encapsulated by corrugated paper connecting the joint plates at both ends and the corrugated paper wraps the joint plates and the support plates.
5. The multi-stage flexible modular continuum robot according to claim 2, wherein the end effector comprises a lower jaw plate and an upper jaw plate, a support rod is arranged between the lower jaw plate and the upper jaw plate, the lower jaw plate is mounted on a joint plate, a plurality of movable holes are formed in the upper jaw plate, a lifting rod is arranged in each movable hole, the lower end of each lifting block is mounted on the lifting block, the lifting block is mounted on an extending end of an electric telescopic rod extending along the axis of the joint group, the electric telescopic rod is mounted at the lower end of the upper jaw plate, a first connecting rod is hinged to the upper end of each lifting rod, a sliding groove is formed in the middle of each lifting rod in the length direction, the middle of each lifting rod is connected with a second connecting rod, a movable column is arranged at one end of each second connecting rod, the movable column is movably arranged in the sliding groove, a third connecting rod is hinged to the other end of each second connecting rod, claw teeth are arranged at the end of each third connecting rod, and a control cable of the electric telescopic rod is led out from a base through a first limiting pipe and electrically connected with the controller.
6. The multi-stage flexible modular continuum robot of claim 5, wherein the number of lift rods comprises two, the two lift rods are arranged in parallel, the second link is L-shaped, and the second link is arranged between the two lift rods; the two lifting rods are provided with sliding grooves, the second connecting rod is provided with movable columns located in the sliding grooves, and the end portion of the second connecting rod is connected with the claw teeth through two parallel third connecting rods.
7. The multi-stage flexible modular continuum robot of claim 1, wherein the control cable comprises a steel cable, the steel cable is disposed in the second through hole and the first through hole, a brake pipe is sleeved on the steel cable between the base and the driver, and the hook is connected to the steel cable.
8. The multi-stage flexible modular continuum robot of claim 1, wherein the number of control cables connected to the same driver is equal to the number of electric cylinders provided on the driver, and the electric cylinders are provided corresponding to the positions of the hooks.
9. A control method of a multi-stage flexible modular continuum robot according to any of claims 1-8, comprising the steps of:
s1: setting a moving posture instruction of the robot according to a task to be completed by the end effector;
s2: decomposing the active gesture command into eachThe change posture of the first-level joint group is obtained to obtain the bending angle alpha which needs to be executed by each level of joint group1，α2，···，αnN is the number of stages of the joint group assembled by the robot; according to the bending angle alpha and the bending direction beta of each level of joint groupiCalculating the variation delta L of the corresponding control cablei：
Figure FDA0003767777720000031
Figure FDA0003767777720000032
Wherein a is the radius of the joint group, epsilon is the distribution angle of the control cable, and epsilon is taken
Figure FDA0003767777720000033
i is the ith control cable of each level of joint group, delta l0The variation of the reference control cable selected from the same level of joint group;
Δl0±Δlithe method for taking the sign in cos epsilon is as follows: if l0And liOn-axis, take Δ l0+ΔliCos ε; otherwise, take Δ l0-Δli·cosε；
S3: according to the variation quantity Delta LiThe telescopic lengths of different electric cylinders on corresponding drivers are controlled to enable the upper cover plate to incline, so that control cables connected to different positions on the same upper cover plate reach corresponding variable quantities, and control of different offset angles of different joint groups is realized.
CN202210891581.7A 2022-07-27 2022-07-27 Multistage flexible modularized continuum robot and control method Active CN115256362B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210891581.7A CN115256362B (en) 2022-07-27 2022-07-27 Multistage flexible modularized continuum robot and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210891581.7A CN115256362B (en) 2022-07-27 2022-07-27 Multistage flexible modularized continuum robot and control method

Publications (2)

Publication Number Publication Date
CN115256362A true CN115256362A (en) 2022-11-01
CN115256362B CN115256362B (en) 2024-06-21

Family

ID=83770503

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210891581.7A Active CN115256362B (en) 2022-07-27 2022-07-27 Multistage flexible modularized continuum robot and control method

Country Status (1)

Country Link
CN (1) CN115256362B (en)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080249640A1 (en) * 2003-12-01 2008-10-09 Timothy Ramford Vittor Method for Controlling a System Formed from Interdependent Units
CN102441892A (en) * 2011-10-25 2012-05-09 浙江大学 Under-actuated manipulator claw for picking fruits and vegetables
CN104128927A (en) * 2014-04-24 2014-11-05 安徽工程大学 Robot gripping device
US20140330432A1 (en) * 2012-04-20 2014-11-06 Vanderbilt University Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots
CN104760055A (en) * 2015-04-07 2015-07-08 哈尔滨工业大学深圳研究生院 Turtle robot and flexible neck device thereof
CN106239497A (en) * 2016-08-31 2016-12-21 清华大学 Fluid skeleton flexible mechanical arm assembly
CN108582054A (en) * 2018-07-18 2018-09-28 毛忠杰 A kind of snake-shaped robot
CN110190555A (en) * 2019-06-13 2019-08-30 华北理工大学 Snakelike high-voltage line crusing robot and barrier-avoiding method and its fetching device and method
WO2020057144A1 (en) * 2018-09-18 2020-03-26 哈尔滨工业大学（深圳） Self-adaptive flexible gripper based on torsion springs, and robot
US20200114497A1 (en) * 2018-10-15 2020-04-16 General Electric Company Selectively Flexible Extension Tool
US20200179652A1 (en) * 2017-08-14 2020-06-11 Project Moray, Inc. Alternative Fluid-Driven Articulation Architecture for Catheters and Other Uses

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080249640A1 (en) * 2003-12-01 2008-10-09 Timothy Ramford Vittor Method for Controlling a System Formed from Interdependent Units
CN102441892A (en) * 2011-10-25 2012-05-09 浙江大学 Under-actuated manipulator claw for picking fruits and vegetables
US20140330432A1 (en) * 2012-04-20 2014-11-06 Vanderbilt University Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots
CN104128927A (en) * 2014-04-24 2014-11-05 安徽工程大学 Robot gripping device
CN104760055A (en) * 2015-04-07 2015-07-08 哈尔滨工业大学深圳研究生院 Turtle robot and flexible neck device thereof
CN106239497A (en) * 2016-08-31 2016-12-21 清华大学 Fluid skeleton flexible mechanical arm assembly
US20200179652A1 (en) * 2017-08-14 2020-06-11 Project Moray, Inc. Alternative Fluid-Driven Articulation Architecture for Catheters and Other Uses
CN108582054A (en) * 2018-07-18 2018-09-28 毛忠杰 A kind of snake-shaped robot
WO2020057144A1 (en) * 2018-09-18 2020-03-26 哈尔滨工业大学（深圳） Self-adaptive flexible gripper based on torsion springs, and robot
US20200114497A1 (en) * 2018-10-15 2020-04-16 General Electric Company Selectively Flexible Extension Tool
CN110190555A (en) * 2019-06-13 2019-08-30 华北理工大学 Snakelike high-voltage line crusing robot and barrier-avoiding method and its fetching device and method

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
MOLOI, BL: "Direction Control of a Snake Robot using Amplitude Modulation", 2017 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS (PRASA-ROBMECH), 13 April 2018 (2018-04-13), pages 80 - 85 *
TANAKA, M: "Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations", IEEE TRANSACTIONS ON ROBOTICS, vol. 35, no. 1, 21 February 2019 (2019-02-21), pages 135 - 146, XP011708906, DOI: 10.1109/TRO.2018.2878361 *
廖堃宇: "一种机器人末端工具快换装置及其仿真分析", 制造业自动化, vol. 40, no. 8, 25 August 2018 (2018-08-25), pages 122 - 126 *
赵严: "3-PUU并联机器人弹性动力学分析与误差补偿研究", 中国优秀硕士学位论文全文数据库, no. 4, 15 April 2022 (2022-04-15), pages 140 - 411 *

Also Published As

Publication number Publication date
CN115256362B (en) 2024-06-21

Similar Documents

Publication Publication Date Title
US6382437B1 (en) Crane apparatus
EP1381925B1 (en) Buckling arm robot
US8469420B2 (en) Spreader spacing device
CN100450728C (en) Handling large, heavy workpieces using gantry robots with two robot arms
US9409269B2 (en) Positioning apparatus, working system, and hot working apparatus
US8096380B2 (en) Transfer robot
KR20110109201A (en) Telescopic turbe set of bridge transport system
CN103029987A (en) Robot system
CN108161892A (en) A kind of manipulator carried for mold
US20210269289A1 (en) Crane
CN102190255A (en) Crane
CN115256362A (en) Multi-stage flexible modular continuum robot and control method
US11491645B2 (en) Scissor linkage design and method of operation
CN107725891B (en) A kind of intelligent machine equipment with quickly accurate laying function pipeline
CN111633638A (en) Continuum robot and satellite fuel filling system
de Santos et al. Power assist devices for installing plaster panels in construction
CN116442268A (en) Self-telescopic rope-driven continuous robot
KR101554947B1 (en) Electric cable installation robot and cable installation using the same
CN110165605A (en) Extension pulley suitable for different tube diameters cable poling
JPS6359959B2 (en)
JPH1039088A (en) Fuel handling machine for reactor
Fukui et al. Hangbot: A ceiling mobile robot with robust locomotion under a large payload (key mechanisms integration and performance experiments)
CN113305806A (en) Driving mechanism of line-driven continuum robot
EP3356278B2 (en) A lifting arrangement for lifting a wind turbine component
JP2001071912A (en) Transporter using jacking device, and use of transporter

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant