CN1429692A - Series-parallel man-shaped robot - Google Patents
Series-parallel man-shaped robot Download PDFInfo
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- CN1429692A CN1429692A CN 03102865 CN03102865A CN1429692A CN 1429692 A CN1429692 A CN 1429692A CN 03102865 CN03102865 CN 03102865 CN 03102865 A CN03102865 A CN 03102865A CN 1429692 A CN1429692 A CN 1429692A
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Abstract
A man-shaped robot with serial and parallel structures features technically that its neck, shouder, waist, innominate and wrist are made of 3 degrees-of-freedom spherical parallel mechanism, and its head, arms, upper body, innominate, legs and hands are serially connected by 3 degrees-of-freedom spherical parallel mechanism. Its advantages are high-balanced control function, wide movement range of hand, and high local load-bearing capacity.
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, and its four limbs are slidingtype, and structure is the leading screw that translator is housed in big arm (thigh) cavity, overlapping the slide block that has slide block connecting rod on the leading screw, slide block connecting rod is connecting forearm (shank); Its four limbs are the intersection four-bar, structure connects forearm (shank) for the motor that is fixed on the big arm (thigh) 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, be fixed on the axle of motor (21) on the lower platform (22), (23) and (24) branches such as one end of three branches, the other end along branches such as circumference be hinged on the upper mounting plate (17).
But its both arms slidingtype of connection in series-parallel anthropomorphic robot, 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, improved 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 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 slidingtype, both legs are for intersecting four-bar connection in series-parallel anthropomorphic robot as shown in Figure 1, its head (16) is connected with trunk upper body (14) by the neck (15) of three-degree-of-freedom spherical parallel mechanism, the two ends, upper body are two three-degree-of-freedom spherical parallel mechanisms (1) by shoulder respectively, (13) both arms (2) of serial connection slidingtype, (12) and wrist (5), (8), the bottom of trunk upper body affixed the waist of three-degree-of-freedom spherical parallel mechanism (11), waist with by two three-degree-of-freedom spherical parallel mechanisms (3), (10) hip of Gou Chenging is in series, crotch's intersection four-bar both legs (4) of connecting, (9), both legs and foot (6), (7) 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, be fixed on the axle of motor (21) on the lower platform (22), (23) and (24) branches such as one end of three branches, the other end along branches such as circumference be hinged on the upper mounting plate (17).
Its upper limbs structure is affixed motor (29) on as shown in Figure 3 in the cavity of big arm (28), 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 is fixed in the lower end in the 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 big arm passes through bearing pin (32) hinge with forearm.
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 of axle (48) of motor, connecting rod (48) other end is 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 be by bearing pin (46) hinge, 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 " of " U " shape connecting rod (54) shape 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) openend respectively, one end of another root axle of cross axle and curved rod (49) are hinged, its other end is unsettled, and curved rod (49) other end 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).
Embodiment 2:
Both arms are for intersecting four-bar, both legs be slidingtype connection in series-parallel anthropomorphic robot as shown in Figure 6, its head (71) is connected with trunk upper body (69) by the neck (70) of three-degree-of-freedom spherical parallel mechanism, the two ends, upper body are respectively by two three-degree-of-freedom spherical parallel mechanisms (56), the both arms (57) of shoulder serial connection intersection four-bar (68), (67) and wrist (60), (63), the bottom of trunk upper body affixed the waist of three-degree-of-freedom spherical parallel mechanism (66), waist with by two three-degree-of-freedom spherical parallel mechanisms (58), (65) hip of Gou Chenging is 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, be fixed on the axle of motor (21) on the lower platform (22), (23) and (24) branches such as one end of three branches, 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) cavity 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 big arm passes through bearing pin (76) hinge with forearm.
Its lower limb structure as shown in Figure 8, in the cavity of thigh (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 is fixed in the lower end in the cavity, slide block and slide block connecting rod (84) are hinged by bearing pin (92), the other end that the other end of slide block connecting rod and an end are fixed in the connecting rod (85) on the shank (86) is hinged by bearing pin (90), thigh and shank be by bearing pin (89) hinge, 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 " of " U " shape connecting rod (54) shape 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) openend respectively, one end of another root axle of cross axle and hinged its other end of curved rod (49) are then unsettled, and curved rod (49) other end 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 (4)
1, a kind of connection in series-parallel anthropomorphic robot, trunk, four limbs and foot by health are formed, and its four limbs are slidingtype, and structure is the leading screw that translator is housed in big arm (thigh) cavity, overlapping the slide block that has slide block connecting rod on the leading screw, slide block connecting rod is connecting forearm (shank); Its four limbs are the intersection four-bar, structure connects forearm (shank) for the motor that is fixed on the big arm (thigh) 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) and (20) respectively in twos, be fixed on the axle of motor (21) on the lower platform (22), (23) and (24) 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 slidingtypes, and both legs are to intersect four-bar.
4, according to claim 1 or 2 said connection in series-parallel anthropomorphic robots, it is characterized in that: its both arms are to intersect four-bar, and both legs are slidingtypes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| 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 true CN1429692A (en) | 2003-07-16 |
| CN1254350C 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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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601792A (en) * | 2012-03-29 | 2012-07-25 | 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 |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| 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 |
| WO2018233469A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Spherical parallel mechanism |
| CN113331946A (en) * | 2021-05-25 | 2021-09-03 | 上海大学 | Series-parallel connection pelvis fracture reduction robot |
-
2003
- 2003-01-26 CN CN 03102865 patent/CN1254350C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102601792A (en) * | 2012-03-29 | 2012-07-25 | 苏州市思玛特电力科技有限公司 | Humanoid robot remotely driven and controlled by rope |
| 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 |
| CN104985585A (en) * | 2015-05-12 | 2015-10-21 | 北京理工大学 | Bionic waist mechanism of humanoid robot and with telescoping driving devices |
| CN105364916A (en) * | 2015-12-17 | 2016-03-02 | 成都英博格科技有限公司 | Robot structure |
| CN105364916B (en) * | 2015-12-17 | 2017-06-09 | 成都英博格科技有限公司 | Robot architecture |
| WO2018233469A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Spherical parallel mechanism |
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| 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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