CN1254350C - Series-parallel man-shaped robot - Google Patents
Series-parallel man-shaped robot Download PDFInfo
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- CN1254350C CN1254350C CN 03102865 CN03102865A CN1254350C CN 1254350 C CN1254350 C CN 1254350C CN 03102865 CN03102865 CN 03102865 CN 03102865 A CN03102865 A CN 03102865A CN 1254350 C CN1254350 C CN 1254350C
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Abstract
The present invention relates to a series-parallel anthropomorphic robot which belongs to the technical field of a robot. The present invention mainly solves the problems of the poor carrying capacity and the poor balance control of an anthropomorphic robot and has the main technical points that the neck, the shoulders, the waist, the hip and the wrists of the robot are all composed of three-freedom degree spherical surface parallel mechanisms, and the head, the arms, the trunk upper body, the hip, the legs and the hands are all connected in series by the three-freedom degree spherical surface parallel mechanisms; both arms of the robot adopt a slide type, and both legs adopt a crossed four-rod type; both of the arms can also adopt the crossed four-rod type, both of the legs can adopt the slide type, and all the four limbs can be in the slide type or the crossed four-rod type. Because the waist of the robot has three-freedom degree rotation, the attitude and the center of gravity of the upper body can be adjusted so as to improve the balanced control performance, and simultaneously, the moving range of the arms is enlarged. Due to the adoption of the parallel mechanism, the local carrying capacity of the anthropomorphic robot is enhanced.
Description
The technology of the present invention field
The invention belongs to the robot field, particularly a kind of connection in series-parallel anthropomorphic robot.
Background technology of the present invention
Anthropomorphic robot is focus and the difficult point in the robot research field, and it also is the embodiment of a national science and technology and industrial might level.One of the basis that rational anthropomorphic robot configuration is its research and emphasis.
Aspect anthropomorphic robot research, research institution's level of Japan occupy rank first.Honda (Honda) company of Japan has developed P series anthropomorphic robot, and P3 humanoid robot is wherein having unrivaled advance aspect personification walking and other some anthropomorphic motions.On this basis, the said firm has released the ASIMO robot, and this robot adopts cascaded structure, comprises head, body and four limbs three parts.Wherein head has two frees degree, and arm has 5 frees degree, and leg has 6 frees degree.Because adopt new gait planning method, its motion is more flexible.The SDR series anthropomorphic robot of company of Sony (Sony) development of Japan is purpose with the amusement, has developed SDR-3X, SDR-4X type anthropomorphic robot at present.This robot architecture and ASIMO are similar, also are made up of head, body and four limbs, and just head has four frees degree.The anthropomorphic robot of developments such as Japan Waseda (rice field early) university, Tokyo (Tokyo) university also all is to have adopted similar structure.Some domestic units, as University of Science and Technology for National Defence, Harbin Institute of Technology and Tsing-Hua University, the anthropomorphic robot of development has also adopted cascaded structure.
From top analysis as can be seen: anthropomorphic robot in the world generally adopts cascaded structure at present, and seldom has waist.In general, the robot bearing capacity that adopts the cascaded structure form a little less than, lack the anthropomorphic robot of waist owing to be subjected to the influence of body weight, it is poor that its balance is controlled.In order to eliminate this adverse effect, some anthropomorphic robot upper bodies and arm are just done as a whole in its motion process and other parts link together, base coordinate system (Base Coordinate) with respect to robot remains static, like this, the motion of robot is just not too flexible.
Technology contents of the present invention
Technical problem to be solved by this invention is: solve the bearing capacity of existing anthropomorphic robot and the problem of balance control difference, thereby provide a kind of flexibly, bearing capacity is strong and the good connection in series-parallel anthropomorphic robot of balance control performance.
Technical solution of the present invention is as follows:
The connection in series-parallel anthropomorphic robot, it is made up of trunk, four limbs and the foot of health, both arms in its four limbs and both legs adopt one or both in sliding structure or the intersection four-bar type structure, described sliding structure is meant the leading screw that translator is housed in big arm or the thigh cavity, overlapping the slide block that has slide block connecting rod on the leading screw, slide block connecting rod is connecting forearm or shank; Described intersection four-bar type structure is meant that the motor that is fixed on big arm or the thigh connects forearm or shank by four connecting rods, its neck, shoulder, waist, hip and wrist constitute by three-degree-of-freedom spherical parallel mechanism, and head, arm, trunk upper body, leg and hand all are connected in series by three-degree-of-freedom spherical parallel mechanism.
Three-degree-of-freedom spherical parallel mechanism is that six roots of sensation arc rigidity connecting rod is hinged to three branches 18,19 and 20 respectively in twos, one end five equilibrium of three branches be fixed on the lower platform 22 motor 21,23 and 24 the axle on, the other end along branches such as circumference be hinged on the upper mounting plate 17.
Its both arms of connection in series-parallel anthropomorphic robot are slidingtypes, and both legs are to intersect four-bar.
Its both arms of connection in series-parallel anthropomorphic robot also intersect four-bar, and both legs are slidingtypes.
The present invention compared with prior art has following beneficial effect:
All adopt the three-degree-of-freedom spherical parallel-connection structure because the structure of connection in series-parallel anthropomorphic robot is neck, shoulder, wrist, waist, hip place, these parallel-connection structures serial connections are constituted anthropomorphic robot; Make its waist have the Three Degree Of Freedom rotating function, can regulate upper body attitude and center of gravity, improved flexibility, also enlarged simultaneously the range of movement of arm, improved anthropomorphic robot local bearing capacity, improve the balance control performance.
Description of drawings of the present invention is as follows:
Fig. 1 is that both arms of the present invention are that slidingtype, both legs are for intersecting four-bar connection in series-parallel anthropomorphic robot.
Fig. 2 is the three-degree-of-freedom spherical parallel mechanism schematic diagram.
Fig. 3 is a slidingtype upper limbs schematic diagram.
Fig. 4 is intersection four-bar lower limb schematic diagrames.
Fig. 5 is the foot schematic diagram.
Fig. 6 is that both arms of the present invention are slidingtype connection in series-parallel anthropomorphic robot for intersection four-bar, both legs.
Fig. 7 is an intersection four-bar upper limbs schematic diagram.
Fig. 8 is slidingtype lower limb schematic diagrames.
Fig. 9 is that four limbs of the present invention are slidingtype connection in series-parallel anthropomorphic robot.
Figure 10 is that four limbs of the present invention are for intersecting four-bar connection in series-parallel anthropomorphic robot.
The specific embodiment of the present invention is as follows:
Embodiment 1:
Both arms are that slidingtype, both legs are for intersecting four-bar connection in series-parallel anthropomorphic robot as shown in Figure 1, its 16 neck 15 by three-degree-of-freedom spherical parallel mechanism are connected with trunk upper body 14, the two ends, upper body are respectively the both arms 2,12 and the wrist 5,8 of two three-degree-of-freedom spherical parallel mechanisms, 1,13 serial connection slidingtypes by shoulder, the bottom of trunk upper body affixed the waist 11 of three-degree-of-freedom spherical parallel mechanism, waist is in series with the hip that is made of two three-degree-of-freedom spherical parallel mechanisms 3,10, crotch's intersection four-bar both legs 4,9 of connecting, both legs are connected with foot 6,7.
Three-degree-of-freedom spherical parallel mechanism as shown in Figure 2, it is that six roots of sensation arc rigidity connecting rod is hinged to three branches 18,19 and 20 respectively in twos, one end five equilibrium of three branches be fixed on the lower platform 22 motor 21,23 and 24 the axle on, the other end along branches such as circumference be hinged on the upper mounting plate 17.
Its upper limbs structure as shown in Figure 3 in the cavity of big arm 28 upper end affixed motor 29, affixed the end that is with the leading screw 31 of slide block 37 of the axle of motor, the other end of leading screw affixed the lower end in cavity, slide block and slide block connecting rod 36 are hinged by bearing pin 30, the other end that the slide block connecting rod other end and an end are fixed in the connecting rod 34 on the forearm 33 is hinged by bearing pin 35, and it is hinged that big arm and forearm pass through bearing pin 32.
Its lower limb structure is affixed the motor 39 in the cavity of thigh 38 upper end as shown in Figure 4, one end of the affixed connecting rod 48 of axle of motor, connecting rod 48 other ends are hinged by bearing pin 40 with the intermediate connecting rod 47 that passes cavity, the other end of intermediate connecting rod and an end be fixed in shank 43 connecting rod 42 the other end by bearing pin 41 hinged, thigh and shank by bearing pin 46 hinged, the lower end of shank affixed two curved rods that have circular hole 44,45.
Foot structure is a five-rod as shown in Figure 5, outside at the bottom of " U " shape of " U " shape connecting rod 54 middle side part affixed motor 55 the axle, motor 55 is fixed in the hole 44 on the shank 43, under " U " shape connecting rod a cross axle 50 is arranged, axle two ends in this cross axle are hinged with " U " shape connecting rod 54 openends respectively, one end and the curved rod 49 of another root axle of cross axle are hinged, and its other end is unsettled, and curved rod 49 other ends and curved rod 53 are hinged; The axle of the other end of curved rod 53 and motor 52 is connected, and motor 52 is fixed in the hole 45 on the shank 43, and the bottom surface of cross axle is fixed on the sole 51.
Both arms are for intersecting four-bar, both legs be slidingtype connection in series-parallel anthropomorphic robot as shown in Figure 6, its 71 neck 70 by three-degree-of-freedom spherical parallel mechanism are connected with trunk upper body 69, the two ends, upper body are respectively by two three-degree-of-freedom spherical parallel mechanisms 56, the both arms 57 of 68 shoulder serial connection intersection four-bar, 67 and wrist 60,63, the bottom of trunk upper body affixed the waist 66 of three-degree-of-freedom spherical parallel mechanism, waist with by two three-degree-of-freedom spherical parallel mechanisms 58,65 hips that constitute are in series, crotch's slidingtype both legs 59 of connecting, 64, both legs and foot 61,62 connect.
Three-degree-of-freedom spherical parallel mechanism as shown in Figure 2, it is that six roots of sensation arc rigidity connecting rod is hinged to three branches 18,19 and 20 respectively in twos, one end five equilibrium of three branches be fixed on the lower platform 22 motor 21,23 and 24 the axle on, the other end along branches such as circumference be hinged on the upper mounting plate 17.
Its upper limbs structure as shown in Figure 7, big arm 77 cavitys upper end affixed motor 79, affixed the end of connecting rod 72 of axle of motor, the other end of connecting rod 72 is hinged by bearing pin 80 with the intermediate connecting rod 78 that passes cavity, the other end that the other end of intermediate connecting rod and an end are fixed in the connecting rod 73 on the forearm 75 is hinged by bearing pin 74, and it is hinged that big arm and forearm pass through bearing pin 76.
Its lower limb structure as shown in Figure 8, in the cavity of big arm 83 upper end affixed motor 81, affixed the end that is with the leading screw 91 of slide block 82 of the axle of motor, the other end of leading screw affixed the lower end in cavity, slide block and slide block connecting rod 84 are hinged by bearing pin 92, the other end that the slide block connecting rod other end and an end are fixed in the connecting rod 85 on the shank 86 is hinged by bearing pin 90, and it is hinged that thigh and shank pass through bearing pin 89, the lower end of shank affixed two curved rods that have circular hole 87,88.
Foot structure is a five-rod as shown in Figure 5, outside at the bottom of " U " shape of " U " shape connecting rod 54 middle side part affixed motor 55 the axle, motor 55 is fixed in the hole 87 on the shank 86, under " U " shape connecting rod a cross axle 50 is arranged, axle two ends in this cross axle are hinged with " U " shape connecting rod 54 openends respectively, one end and the curved rod 49 of another root axle of cross axle are hinged, and its other end is unsettled, and curved rod 49 other ends and curved rod 53 are hinged; The axle of the other end of curved rod 53 and motor 52 is connected, and motor 52 is fixed in the hole 88 on the shank 86, and the bottom surface of cross axle is fixed on the sole 51.
Embodiment 3
Four limbs of the present invention be slidingtype connection in series-parallel anthropomorphic robot as shown in Figure 9, its connected mode is with embodiment 1,2, four limbs are sliding structure.
Embodiment 4
Four limbs of the present invention are for intersecting four-bar connection in series-parallel anthropomorphic robot as shown in figure 10, and its connected mode is with embodiment 1,2, and four limbs are for intersecting four-bar type structure.
Claims (6)
1, a kind of connection in series-parallel anthropomorphic robot, trunk, four limbs and foot by health are formed, both arms in its four limbs and both legs adopt one or both in sliding structure or the intersection four-bar type structure, described sliding structure is meant the leading screw that translator is housed in big arm or the thigh cavity, overlapping the slide block that has slide block connecting rod on the leading screw, slide block connecting rod is connecting forearm or shank; Described intersection four-bar type structure is meant that the motor that is fixed on big arm or the thigh connects forearm or shank by four connecting rods, it is characterized in that: neck, shoulder, waist, hip and wrist constitute by three-degree-of-freedom spherical parallel mechanism, and head, arm, trunk upper body, leg and hand all are connected in series by three-degree-of-freedom spherical parallel mechanism.
2, according to the said connection in series-parallel anthropomorphic robot of claim 1, it is characterized in that: three-degree-of-freedom spherical parallel mechanism is that six roots of sensation arc rigidity connecting rod is hinged to three branches (18,19,20) respectively in twos, be fixed on the axle of motor (21,23,24) on the lower platform (22) branches such as one end of three branches, the other end along branches such as circumference be hinged on the upper mounting plate (17).
3, according to claim 1 or 2 said connection in series-parallel anthropomorphic robots, it is characterized in that: its both arms are sliding structures, and both legs are intersection four-bar type structures.
4, according to claim 1 or 2 said connection in series-parallel anthropomorphic robots, it is characterized in that: its both arms are intersection four-bar type structures, and both legs are sliding structures.
5. according to claim 1 or 2 said connection in series-parallel anthropomorphic robots, it is characterized in that: its both arms and both legs all are intersection four-bar type structures.
6. according to claim 1 or 2 said connection in series-parallel anthropomorphic robots, it is characterized in that: its both arms and both legs all are sliding structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03102865 CN1254350C (en) | 2003-01-26 | 2003-01-26 | Series-parallel man-shaped robot |
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| CN 03102865 CN1254350C (en) | 2003-01-26 | 2003-01-26 | Series-parallel man-shaped robot |
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| CN1429692A CN1429692A (en) | 2003-07-16 |
| CN1254350C true CN1254350C (en) | 2006-05-03 |
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| CN 03102865 Expired - Fee Related CN1254350C (en) | 2003-01-26 | 2003-01-26 | Series-parallel man-shaped robot |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601792B (en) * | 2012-03-29 | 2014-10-29 | 苏州市思玛特电力科技有限公司 | Humanoid robot remotely driven and controlled by rope |
| CN103659818A (en) * | 2013-12-03 | 2014-03-26 | 西北农林科技大学 | 10-DOF floor exercise robot |
| CN104985585B (en) * | 2015-05-12 | 2017-06-16 | 北京理工大学 | A kind of bionical waist mechanism of the anthropomorphic robot of telescopic drive |
| CN105364916B (en) * | 2015-12-17 | 2017-06-09 | 成都英博格科技有限公司 | Robot architecture |
| CN107139164B (en) * | 2017-06-21 | 2023-03-10 | 东莞爱创机器人科技有限公司 | Spherical parallel mechanism |
| CN107595545B (en) * | 2017-09-08 | 2024-04-26 | 燕山大学 | Center-adjustable parallel hip joint rehabilitation robot |
| CN108478393A (en) * | 2018-05-27 | 2018-09-04 | 北京工业大学 | Contain submissive joint wearable neck recovering aid mechanism |
| CN108970134A (en) * | 2018-08-06 | 2018-12-11 | 佛山市三水区希望火炬教育科技有限公司 | A kind of wooden humanoid model of animation game of any combination movement |
| CN113331946A (en) * | 2021-05-25 | 2021-09-03 | 上海大学 | Series-parallel connection pelvis fracture reduction robot |
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