CN1868566A - System and method of gymnastic robot - Google Patents
System and method of gymnastic robot Download PDFInfo
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- CN1868566A CN1868566A CN 200510011788 CN200510011788A CN1868566A CN 1868566 A CN1868566 A CN 1868566A CN 200510011788 CN200510011788 CN 200510011788 CN 200510011788 A CN200510011788 A CN 200510011788A CN 1868566 A CN1868566 A CN 1868566A
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Abstract
A gymnastic robot able to simulate the gymnastic actions is composed of legs, trunk, arms, supporting frame, motor, shoulder angle sensor, horizontal bar and wrist angle sensor.
Description
Technical field
The present invention relates to a kind of gymnastic robot system, belong to a kind of lack of driven robot, particularly a kind of gymnastic robot system and method.
Background technology
Gymnastic robot (Acrobot) is to grab the free cradle head of thick stick wrist and a shoulder by two connecting rods, one to drive the joint and constitute on topological structure, and two connecting rods move in the same plane of vertical.Belong to a kind of typical under-actuated robot robot system (Under-actuated robotic system), promptly drive and close the number of degrees of freedom, that joint number is less than system.The main feature of system is simple in structure, be convenient to carry out whole dynamic analysis and test, and the relation between driving moment and two the connecting rod states is very complicated, is convenient to investigate theoretically the validity of some nonlinear control methods such as methods such as optimum control, robust control, Self Adaptive Control and Based Intelligent Control.On using, can control gymnastic robot by above-mentioned control algolithm and realize gymnastic movement such as imitative gymnast's handstand balance, swinging handstand, big revolution.Both can be used as the display platform of a kind of physical culture robot, be developed as a kind of amusement robot then, can also be as a kind of teaching experiment platform.
Aspect the structural design of gymnastic robot, with complete machine driven people marked difference is arranged, this motion mainly due to two connecting rods can only be finished by being installed in disarthrial motor-driven, and the motion of two connecting rods is coupled.And motor had both been realized the driving effect, needed again to move together with connecting rod, as the load that self drives.
Therefore, a kind of thinking is that motor is installed on the fixed support of gymnastic robot, by kinds of drive such as belts driving moment is delivered on second joint shaft again.Can alleviate motor-driven load on the one hand, make the overall permanence parameter approaching on the other hand, be convenient to realize motion control with desirable model.As Spong (M.W.Spong.The swing up control problem for the Acrobot.IEEE Control Systems Magazine.1995, Vol.15, No.1:49-55.) the gymnastic robot system with big appearance and size of design, comprise each two connecting rod of 1 meter long, motor-driven is by belt transmission to the second joint motions.Bortoff (S.A.Bortoff.Advanced nonlinearrobotic control using digital signal processing.IEEE Transactions on IndustrialElectronics.1994, Vol.41 No.1:32-39) has also adopted kindred organization.Said mechanism only is made of two connecting rods and two joints, and the difference with the gymnast is very big in shape.People such as Ono (K.Ono, K.Yamamoto, and A.Imadu.Control of giant swing motion of atwo-link underactuated horizontal bar robot.IEEE/RSJ InternationalConference on Intelligent Robots and Systems.2000, Vol.3:1676-1683) She Ji a kind of gymnastic robot has comprised two arms and shank, on the profile near human body.But on the whole, still bigger with the monnolithic case of the gymnastic robot of this mentality of designing with gymnastics sportsman difference, and also too complicated transmission mechanism has increased size, weight and the driving error of total system.
Another thinking is to adopt the mode of joint motor direct-drive, and major advantage is a designs simplification.People such as Potsaid (B.Potsaid, and J.T.Wen.Edubot:a reconfigurable kit forcontrol education.I.mechanical design.IEEE International Conference onControl Applications, 2000:50-55) increased reducing gear for motor, improve driving moment, design a kind of gymnastic robot.But the quality of reducing gear has increased the load that gymnastic robot has been put, and the motor and speed reducer structure is installed in a side of connecting rod, the system symmetry of making is damaged, and real system parameter and ideal model differ greatly, and above characteristics have strengthened the difficulty that realizes motion control.
Summary of the invention
Purpose of the present invention overcomes above-mentioned defective exactly, take all factors into consideration the architectural characteristic and the drive characteristic of gymnastic robot, it is true to nature to design a kind of profile, symmetrical configuration, with the approaching gymnastic robot system of theoretical model parameter, and help realizing the motion control of gymnastic robot by control algolithm.
The object of the present invention is achieved like this, designed gymnastic robot system comprises: comprise arm and trunk and grab the free cradle head of thick stick wrist and by shoulder motor-driven joint, and corresponding supporting mechanism, by controlling the motion mode that can realize handstand balance, the swinging handstand balance of gymnastic robot and turn round multiple imitative gymnast greatly.
Gymnastic robot is by leg (1), trunk (2), arm (3), support (4), motor (5), shoulder angular transducer (6), horizontal bar (7), wrist angular transducer (8) is formed, motor, the shoulder angular transducer, arm and the horizontal bar formation arm segment that is fixed together, and between horizontal bar and the support rolling bearing is installed, arm segment can freely be rotated around the horizontal bar axis, the wrist angular transducer links to each other with horizontal bar, be installed on the supporting mechanism, be used to measure the angle that wrist rotates, and can calculate angular speed, leg and the trunk formation torso portion that is fixed together by the time diffusion of angle, and between the output shaft of motor and shoulder angular transducer rolling bearing is installed, make the torso portion can be around this axis, under the driving of motor, rotate, in like manner, the shoulder angular transducer be used between measurement arm part and the torso portion relative angle and calculate angular speed.
Horizontal bar and arm are fixed together, and rotate with respect to support around the horizontal bar axle center, adopt hollow shaft, and the lead of motor and encoder is passed from the axle center, can not limit the slewing area of arm.
System architecture is simple, wherein arm, trunk and shank are convenient to modularized design, can construct gymnastic robot system by various combination with different dynamic characteristic, make things convenient for the design of control algolithm, realize multiple imitative gymnast's such as handstand balance, swinging handstand balance and big revolution motion mode easily.
The design of gymnastic robot frame for movement realizes left-right symmetry easily, and key is the installation site of drive motors and angular transducer.Concrete design such as Fig. 1 show, adopt the motor with double output shaft, and the sensor and the motor of shoulder rotational angle are fixed together, and are placed in the middle of two arms, can make motor and encoder minimum to the symmetry influence of whole system like this.Between the both sides output shaft of motor and encoder and the torso portion rolling bearing is installed, under the driving of motor, can drives torso portion and rotate around the shoulder axis.The other end and the horizontal bar of two arms are fixed together, and can rotate with respect to support around the horizontal bar axle center.Between horizontal bar and the support rolling bearing is installed.The sensor of wrist rotational angle links to each other with horizontal bar, is installed on the supporting mechanism, is used to measure the angle that wrist rotates, and can calculates angular speed by the time diffusion of angle.The wrist angular transducer does not move with gymnastic robot, to the not influence of dynamics of system.Horizontal bar adopts hollow shaft, and the lead of motor and encoder is passed from the axle center, can not limit the slewing area of arm.
Be the arm segment of gymnastic robot above, linking together with shank and trunk to constitute whole system.Shank and trunk are fixed together, and are connected with the output shaft of motor, move under the rotary action of axle.Gymnastic robot by the structural representation in the sagging position of the freedom realization swinging handstand process as shown in Figure 2.
Structural parameters such as the size of two connecting rods of gymnastic robot and quality have determined the dynamics of system, also have influence on the complexity that real-time control realizes.The method for designing that we adopt is simple in structure, the easy dismounting of each several part.Therefore, can adopt modular method, at arm, trunk and shank each several part, aspect size and material, all adopt several different schemes that manufacture and design, go out to have the gymnastic robot system of different dynamic characteristic by composite construction, make things convenient for the design of control algolithm, make the gymnastic movement such as balance, swinging handstand and big revolution that can realize standing upside down of gymnastic robot system.Wherein, the friction of cradle head can't be eliminated, and on the one hand in that the smaller material of selection coefficient of friction on the structural member of relative motion is arranged, on the other hand by the modular combination design, the influence of friction can be kept to minimum.
Above method for designing has taken into full account the symmetry of total system, and the dynamics of real system is matched with desirable model, has reduced the difficulty of motion control arithmetic design.Similar on the profile to human body, can realize real gymnastic demonstration.The gymnastic robot system that is developed, help the fusion and the research of cross disciplines such as physical culture, control, bionics on the one hand, combine, use for reference mutually with the athletic action feature of gymnastics, can be used as teaching experiment platform on the other hand, be used to verify various advanced control algorithms.
Description of drawings
Fig. 1 is the three-dimensional structure schematic diagram that is in the gymnastic robot of handstand equilbrium position.
Fig. 2 is the schematic diagram of the swinging handstand balance exercise mode of gymnastic robot.
The specific embodiment
Fig. 1, gymnastic robot be by leg 1, trunk 2, and arm 3, support 4, motor 5, shoulder angular transducer 6, horizontal bar 7, wrist angular transducer 8 is formed.
Motor, shoulder angular transducer, arm and horizontal bar are fixed together, and are equivalent to first connecting rod in the topological structure.One end (horizontal bar) of first connecting rod, and rolling bearing is installed between the support, first connecting rod can freely be rotated around the horizontal bar axis.The wrist angular transducer links to each other with horizontal bar, is installed on the supporting mechanism, is used to measure the angle that wrist rotates, and can calculates angular speed by the time diffusion of angle.
Leg and trunk are fixed together, and do not have relative motion between the two, are equivalent to second connecting rod in the topological structure.The other end of first connecting rod (motor and shoulder angular transducer output shaft), and an end of second connecting rod is equipped with rolling bearing between (near an end of trunk), and leg and torso portion can be rotated under the output axis of motor and shoulder angular transducer, driving at motor.The angle that relatively rotates between two connecting rods is measured by the shoulder angular transducer, and can calculate angular speed by time diffusion.
Fig. 2, the three-dimensional structure schematic diagram of a kind of motion mode of gymnastic robot: swinging handstand balance exercise mode.Gymnastic robot is initially located in free sagging equilbrium position, and output torque or acceleration by the control motor can make leg and trunk rotate with certain speed around the shoulder axis, and arm segment is coupled in this motion, makes it produce the rotation of grabbing the thick stick axis around wrist.If the rotational angular velocity of shoulder and wrist is suitable, the gymnastic robot system has been put near the equilbrium position of standing upside down, and rotational angular velocity is approaching zero, and finally realizes the handstand balance play of whole system handstand on horizontal bar, and this moment, motor was in idle state.If the output torque deficiency of motor can not effectively realize the swinging handstand balance by once swinging, can realize by the method for swing repeatedly.
By the control of motor output, can also realize other motion modes of gymnastic robot: the handstand balance exercise promptly makes system stability on the handstand equilbrium position by control near the handstand equilbrium position; Big gyration, by control make system around the horizontal bar axis along the rotation of a direction consecutive periods.
Above motion mode can be with reference to the athletic method of operating of gymnastics in the control implementation process by gymnastic movement, and concrete result of implementation can feed back to the gymnast again, as the reference that improves gymnastic movement.The research of this respect helps physical culture, control, multi-disciplinary mixing together and reference such as bionical.
Claims (6)
1. gymnastic robot system, comprise arm and trunk and grab the free cradle head of thick stick wrist and, can realize handstand balance, the swinging handstand balance of gymnastic robot and turn round multiple imitative gymnast's motion mode greatly by control by shoulder motor-driven joint.
2. according to the gymnastic robot system of claim 1, it is characterized in that, gymnastic robot is by leg (1), trunk (2), arm (3), support (4), motor (5), shoulder angular transducer (6), horizontal bar (7), wrist angular transducer (8) is formed, motor, the shoulder angular transducer, arm and the horizontal bar formation arm segment that is fixed together, and between horizontal bar and the support rolling bearing is installed, arm segment can freely be rotated around the horizontal bar axis, the wrist angular transducer links to each other with horizontal bar, be installed on the supporting mechanism, be used to measure the angle that wrist rotates, and can calculate angular speed, leg and the trunk formation torso portion that is fixed together by the time diffusion of angle, and between the output shaft of motor and shoulder angular transducer rolling bearing is installed, make the torso portion can be around this axis, under the driving of motor, rotate, in like manner, the shoulder angular transducer be used between measurement arm part and the torso portion relative angle and calculate angular speed.
3. according to the gymnastic robot system of claim 1, it is characterized in that, employing has the motor of double output shaft, the sensor and the motor of shoulder rotational angle are fixed together, be placed in the middle of two arms, can make motor and encoder minimum like this, the kinetic model of system and ideal model are matched the symmetry influence of whole system.
4. according to the gymnastic robot system of claim 1, it is characterized in that horizontal bar and arm are fixed together, rotate with respect to support, adopt hollow shaft, the lead of motor and encoder is passed from the axle center, can not limit the slewing area of arm around the horizontal bar axle center.
5. according to the gymnastic robot system of claim 1, it is characterized in that, system architecture is simple, wherein arm, trunk and shank are convenient to modularized design, can construct gymnastic robot system by various combination with different dynamic characteristic, make things convenient for the design of control algolithm, realize multiple imitative gymnast's such as handstand balance, swinging handstand balance and big revolution motion mode easily.
6. the control method of a gymnastic robot, the control method of its swinging handstand balance is as follows: gymnastic robot is initially located in free sagging equilbrium position, output torque or acceleration by the control motor, leg and trunk are rotated with certain speed around the shoulder axis, arm segment is coupled in this motion, make it produce the rotation of grabbing the thick stick axis around wrist, if the rotational angular velocity of shoulder and wrist is suitable, the gymnastic robot system has been put near the equilbrium position of standing upside down, and rotational angular velocity is near zero, and finally realize the handstand balance play of whole system handstand on horizontal bar, this moment, motor was in idle state.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100117887A CN100493658C (en) | 2005-05-26 | 2005-05-26 | System and method of gymnastic robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100117887A CN100493658C (en) | 2005-05-26 | 2005-05-26 | System and method of gymnastic robot |
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| CN1868566A true CN1868566A (en) | 2006-11-29 |
| CN100493658C CN100493658C (en) | 2009-06-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN110142781A (en) * | 2019-06-10 | 2019-08-20 | 哈尔滨工业大学 | A kind of drive lacking gymnastic robot |
| CN111431331A (en) * | 2020-04-29 | 2020-07-17 | 聊城市孩室宝家俱有限公司 | Damping rotating shaft of micromotor |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4391064A (en) * | 1980-12-29 | 1983-07-05 | Willis Lakin | Acrobatic toy |
| DE3227318A1 (en) * | 1982-07-22 | 1984-01-26 | Wilhelm Ludwig Dr.-Ing. 2804 Lilienthal Bauer | Rocking swing model |
| US4934981A (en) * | 1989-07-27 | 1990-06-19 | Nathan Stulbach | Swinging toy |
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2005
- 2005-05-26 CN CNB2005100117887A patent/CN100493658C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101948011A (en) * | 2010-09-09 | 2011-01-19 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN101948011B (en) * | 2010-09-09 | 2013-06-26 | 北京航空航天大学 | Hexapod universal walking multifunctional moonshot robot |
| CN110142781A (en) * | 2019-06-10 | 2019-08-20 | 哈尔滨工业大学 | A kind of drive lacking gymnastic robot |
| CN111431331A (en) * | 2020-04-29 | 2020-07-17 | 聊城市孩室宝家俱有限公司 | Damping rotating shaft of micromotor |
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| CN100493658C (en) | 2009-06-03 |
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Granted publication date: 20090603 Termination date: 20170526 |