JP2003172418A - Parallel mechanism robot arm (3) - Google Patents

Parallel mechanism robot arm (3)

Info

Publication number
JP2003172418A
JP2003172418A JP2001373775A JP2001373775A JP2003172418A JP 2003172418 A JP2003172418 A JP 2003172418A JP 2001373775 A JP2001373775 A JP 2001373775A JP 2001373775 A JP2001373775 A JP 2001373775A JP 2003172418 A JP2003172418 A JP 2003172418A
Authority
JP
Japan
Prior art keywords
ball
expansion
fixed
movable member
contraction
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.)
Pending
Application number
JP2001373775A
Other languages
Japanese (ja)
Inventor
Koji Kondo
幸治 近藤
Original Assignee
Koji Kondo
幸治 近藤
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 Koji Kondo, 幸治 近藤 filed Critical Koji Kondo
Priority to JP2001373775A priority Critical patent/JP2003172418A/en
Publication of JP2003172418A publication Critical patent/JP2003172418A/en
Application status is Pending legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/304Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'

Abstract

(57) [Summary] (with correction) [PROBLEMS] To provide a robot arm structurally similar to a human arm or foot while maintaining rigidity, which is an advantage of a parallel mechanism. A Stuart platform, which is a typical example of a parallel mechanism, supports a movable member with a plurality of expansion and contraction mechanisms connected at both ends by ball-and-even joints. The movable member is positioned by expanding and contracting a plurality of expansion mechanisms. This apparatus also positions the movable member 5 by the expansion and contraction of the expansion and contraction mechanism, but includes a connecting rod 4 having a fixed length in addition to the expansion and contraction mechanism 7. The fixed length connecting rod 4 is fixed to the movable member 5, and the base member 1 is connected to the ball-and-even joint 2.
By connecting through, the fixed length connecting rod 4 becomes a bone,
The ball-and-even joint 2 connected to the fixed-length connecting rod 4 corresponds to a joint, and the expansion and contraction mechanism 7 corresponds to a muscle, and can perform an operation close to a human arm or foot.

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a mechanism of a robot arm. 2. Description of the Related Art As a mechanism of a conventional robot arm, a vertical articulated joint and a horizontal articulated joint are well known, but since these support a movable member from one direction, their rigidity is low. In order to compensate for this, there is a disadvantage that the robot arm becomes large and the operating speed is reduced due to an increase in mass. On the other hand, a parallel mechanism typified by a Stewart platform has an advantage that it has a high rigidity structurally because a movable member is supported by a plurality of fulcrums, and can reduce the weight of a robot arm, thereby easily realizing high speed and high accuracy. have. However, even if an attempt is made to apply a parallel mechanism to the arms and legs of a humanoid robot that is currently being actively researched, there is a drawback that it is difficult to perform the same operation as a human because the structure is greatly different. [0004] It is an object of the present invention to provide a robot arm structurally similar to a human arm or foot while maintaining rigidity, which is an advantage of a parallel mechanism. As shown in FIG. 3, a Stuart platform as a representative of the parallel mechanism supports a movable member by a plurality of expansion and contraction mechanisms connected at both ends by ball-and-even joints. The movable member is positioned by expanding and contracting a plurality of expansion mechanisms. In the present invention, the movable member is positioned by the expansion and contraction of the expansion and contraction mechanism. As shown in FIG. 1, a fixed length connecting rod is added in addition to the expansion and contraction mechanism. The fixed-length connecting rod is fixed to the movable member and connected to the base member via a ball-and-even joint, so that the fixed-length connecting rod is a bone, and the ball-and-even joint connected to the fixed-length connecting rod is a joint. The expansion and contraction mechanism corresponds to a muscle, and can perform an operation close to a human arm or foot. Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the accompanying drawings. FIG. 1 is an overall perspective view of an embodiment based on claim 1, and FIG. 2 is an overall perspective view of an embodiment based on claim 2. FIG. 3 is a perspective view of the Stuart platform. FIG. 4 is an explanatory diagram of a method for positioning the device in an inverse kinematic manner according to claim 1. First, the arrangement of each element will be described. In FIG. 1, one end of one ball-and-even joint 2 and three ball-and-even joints 3 are fixed to a base member 1. One end of the connecting rod 4 is fixed to the other end of the ball-and-even joint 2. The other end of the connecting rod 4 and the movable member 5 are fixed. One end of each of the three ball-and-even joints 6 is fixed to the movable member 5. Both ends of the three telescopic mechanisms 6 are fixed to the other end of one ball-to-even joint 6 and the other end of one ball-to-even joint 3 respectively. With the above arrangement, the spatial position and posture of the movable member 5 are determined by the amount of expansion and contraction of the three expansion and contraction mechanisms. This apparatus has three degrees of freedom mechanically when viewed from the movable member. This is described below. The movable member has six degrees of freedom when nothing is constrained, but by being connected by the connecting rod of the present apparatus, the movable member is centered on the rotation center of the ball-and-even joint fixed to one end of the connecting rod. Be bound. For this reason, since the spatial position of any point of the movable member is limited to a spherical surface centered on the rotation center of the ball-and-even joint fixed to one end of the connecting rod,
It has two degrees of freedom. Further, since the spatial orientation of the movable member is only rotation about a straight line connecting the center of rotation of the joint and an arbitrary point of the movable member, the movable member has one degree of freedom. There are three degrees of freedom in total. Next, an inverse kinematic positioning method will be described below with reference to FIG. The base member has a stationary coordinate system XYZ. The origin is set to the point O, and is set at the rotation center of the spherical pair-even joint 2. The X-axis and the Y-axis of the stationary coordinate system are set to be orthogonal to each other on the base surface of the base member, and the remaining Z-axis is set to the right-handed system in a direction orthogonal to the above two axes. On the other hand, a movable member has a moving coordinate system xyz, and its origin is defined as a point P. The direction from point O to point P is the z-axis, and the y-axis is perpendicular to the z-axis. x axis is z axis and y axis
Take the right-handed direction perpendicular to the axis. The distance between point P and point O is L
far. As a method for expressing the relationship between these two coordinate systems, a general method such as roll, pitch and yaw angle is used. Specifically, it is turned in the direction of the right-hand screw around the X axis of the stationary coordinate system by the roll angle α, turned in the direction of the right-hand screw around the new Y axis by the pitch angle β, and is turned around the new Z axis. It is assumed that turning in the direction of the right-handed screw by the yaw angle γ makes it parallel to the dynamic coordinate system xyz. When these three angles αβγ are determined, P
Derive the position of the point. First, x, y, of the dynamic coordinate system xyz
Let the direction unit vectors of the z-axis be I, J, and K, respectively, and let the X, Y, and Z components of the stationary coordinate system of the vector I be I, respectively.
x, Iy, Iz, X, Y, Z of the stationary coordinate system of the vector J
It is known that if the components are Jx, Jy, and Jz, and the X, Y, and Z components of the stationary coordinate system of the vector K are Kx, Ky, and Kz, respectively, the following equation is established. Ix = cos (γ) × cos (β) 1 Iy = cos (γ) × sin (β) × sin (α) + sin (γ) × cos (α) 2 Iz = −cos (γ) × sin ( β) × cos (α) + sin (γ) × sin (α) 3 Jx = −sin (γ) × cos (β) 4 Jy = −sin (γ) × sin (β) × sin (α) + cos (γ) × cos (α) 5 Jz = sin (γ) × sin (β) × cos (α) + cos (γ) × sin (α) 6 Kx = sin (β) 7 Ky = −cos ( β) × sin (α) 8 Kz = cos (β) × cos (α) 9 The point P, which is the origin of the dynamic coordinate system xyz, has a length L in the direction of the vector K. is there. Therefore, a vector from the point O to the point P is defined as a P vector, and its X, Y,
Assuming that the Z components are Px, Py, and Pz, respectively, they are represented by α and β as in the following equation. Px = L × Kx = L × sin (β) 10 Py = L × Ky = −L × cos (β) × sin (α) 11 Pz = L × Kz = L × cos (β) × cos (α Next, when the angles of the three angles αβγ are determined, the amount of expansion / contraction to be taken by the three expansion / contraction mechanisms is derived. FIG.
As described above, the rotation center of the ball-and-even joint 3 connected to a certain expansion / contraction mechanism 7 is defined as point R, and the rotation center of the ball-and-even joint 6 connected to the same expansion / contraction mechanism 7 is defined as point Q. Point R is a stationary coordinate system, the X component is Rx, the Y component is Ry, and the Z component is R.
Let z be a known quantity. The point Q is a moving coordinate system and the x component is Qx, y
The component is a known quantity of Qy and the z component is a known quantity of Qz. Q from point P
Assuming that a vector to a point is an S vector when viewed from the stationary coordinate system, it is obvious that the following equation is established. S = Qx × I + Qy × J + Qz × K (13) If the vector from the origin O to the point Q in the stationary coordinate system is T, the following equation is established. T = S + P... 14 From the above equations 1 to 14, the T vector is represented by α, β and γ. That is, since the coordinates of the point Q viewed from the stationary coordinate system are obtained, the amount of expansion and contraction of the expansion and contraction mechanism 7 is determined from the known distance to the point R. The amount of expansion and contraction of the remaining two expansion mechanisms 7 is determined in the same manner. Although the embodiment of the present invention is generally as described above, the present invention is not limited to this embodiment, and various changes can be made within the scope of the claims. According to the present invention, a robot arm structurally similar to a human arm or foot can be realized while maintaining rigidity, which is an advantage of a parallel mechanism. As a result, a humanoid robot having arms and legs that are lightweight and can operate at high speed becomes possible.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an embodiment of the device according to claim 1; FIG. 2 is a perspective view of an embodiment of the device according to claim 2; FIG. 3 is a perspective view of a Stuart platform. FIG. 4 is an explanatory view of an inverse kinematic positioning method of the device according to claim 1; [Description of Signs] 1 Base member 2 Ball-to-even joint 3 Ball-to-even joint 4 Connecting rod 5 Movable member 6 Ball-to-even joint 7 Telescopic mechanism

Claims (1)

  1. Claims: 1. A base member 1, one ball-and-even joint 2 having one end fixed to the base member 1, and three ball-and-even joints 3 having one end fixed to the base member 1. One connecting rod 4 having one end fixed to the other end of the ball-and-even joint 2
    A movable member 5 fixed to the other end of the connecting rod 4; three ball-and-even joints 6 fixed at one end to the movable member 5;
    The other end of each one ball-and-even joint 6 and three telescopic mechanisms 7 whose both ends are fixed to the other end of one ball-and-even joint 3 and which can expand and contract the distance between both ends by power; An apparatus characterized in that the spatial position of the movable member (5) can be positioned at an arbitrary position on a spherical surface having a constant radius centered on the rotation center of the ball-and-even joint (2) by the amount of expansion / contraction of the three expansion / contraction mechanisms (7). 2. An apparatus in which a plurality of the present apparatuses according to claim 1 are arranged, and a movable member 5 of an arbitrary present apparatus and a base member 1 of another present apparatus are fixed or integrally formed.
JP2001373775A 2001-12-07 2001-12-07 Parallel mechanism robot arm (3) Pending JP2003172418A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2001373775A JP2003172418A (en) 2001-12-07 2001-12-07 Parallel mechanism robot arm (3)

Publications (1)

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JP2003172418A true JP2003172418A (en) 2003-06-20

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Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006039730A2 (en) * 2004-10-11 2006-04-20 Franz Ehrenleitner Parallel kinematic device
WO2007092973A1 (en) * 2006-02-16 2007-08-23 Franz Ehrenleitner Kinematic element
CN100345665C (en) * 2003-12-25 2007-10-31 电子科技大学 Precisely micro-operated robot structure
JP2010023201A (en) * 2008-07-22 2010-02-04 Shinmaywa Industries Ltd Parallel link mechanism, and manipulator provided with parallel link mechanism
CN101623866B (en) 2009-08-05 2011-01-05 燕山大学 Five-freedom dual-driving parallel mechanism
JP2011528622A (en) * 2008-05-29 2011-11-24 ベイア Humanoid robot implementing a spherical hinge with articulated actuators
CN102357880A (en) * 2011-09-22 2012-02-22 广西大学 Nine-motion-degree robot mechanism
CN102431029A (en) * 2011-12-28 2012-05-02 广西大学 Spatial seven-mobility robot mechanism
CN102513991A (en) * 2011-12-28 2012-06-27 广西大学 Seven-range of motion carrying manipulator
CN102513992A (en) * 2011-12-28 2012-06-27 广西大学 Eight-range of motion carrying robot mechanism
CN102513993A (en) * 2011-12-28 2012-06-27 广西大学 Seven-range of motion carrying robot
CN102514001A (en) * 2011-12-28 2012-06-27 广西大学 Spatial eight-degrees-of-freedom welding robot mechanism
CN102513998A (en) * 2011-12-28 2012-06-27 广西大学 Space five-range of motion drilling robot mechanism
CN102513990A (en) * 2011-12-28 2012-06-27 广西大学 Space six-range of motion robot mechanism
CN102514000A (en) * 2011-12-28 2012-06-27 广西大学 Six-motion stacking robot
CN102513999A (en) * 2011-12-28 2012-06-27 广西大学 Hybrid assembling robot
CN102601785A (en) * 2012-03-28 2012-07-25 广西大学 Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains
CN102990645A (en) * 2012-12-04 2013-03-27 汕头大学 Bionic proboscis robot
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN103144095A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric decoupling parallel mechanism with two rotations and one movement
CN103144096A (en) * 2013-03-13 2013-06-12 燕山大学 Overconstraint-free asymmetric parallel mechanism with two rotations and one movement
CN103302510A (en) * 2013-07-03 2013-09-18 上海交通大学 Parallel mechanism with two floatable staggered spindles
CN103971754A (en) * 2013-08-23 2014-08-06 浙江亿太诺气动科技有限公司 Pneumatic muscle and cylinder mixed driving parallel platform
CN104029217A (en) * 2014-06-17 2014-09-10 东北大学 Pneumatic-muscled bionic joint based on universal-joint parallel mechanism
CN104057464A (en) * 2013-03-22 2014-09-24 财团法人精密机械研究发展中心 Joint device applied to parallel manipulator
WO2015001417A1 (en) * 2013-07-03 2015-01-08 Stichting Continuïteit Beijert Engineering Apparatus and method for inspecting pins on a probe card
CN104647027A (en) * 2014-12-19 2015-05-27 上海交通大学 Vertical intelligent high-pressure rotor assembly device with elastic structure
JP2015534910A (en) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Articulated arm
JP2015534909A (en) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Hexapod system
CN105643230A (en) * 2016-03-14 2016-06-08 北京工业大学 Multiple-degree-of-freedom valve industrial assembly platform
CN105936044A (en) * 2016-06-02 2016-09-14 燕山大学 Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism
CN106002956A (en) * 2016-07-14 2016-10-12 燕山大学 Over-constrained self-balancing three-degree-of-freedom parallel-connection platform
CN106335048A (en) * 2016-10-25 2017-01-18 北京航空航天大学 Novel six-degree-of-freedom hybrid mechanism applied to force feedback equipment
DE102017103387A1 (en) 2016-02-23 2017-08-24 Jtekt Corporation Robot arm
JPWO2018074101A1 (en) * 2016-10-20 2018-10-18 三菱電機株式会社 3-rotation-freedom connection mechanism, robot, robot arm and robot hand

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100345665C (en) * 2003-12-25 2007-10-31 电子科技大学 Precisely micro-operated robot structure
WO2006039730A2 (en) * 2004-10-11 2006-04-20 Franz Ehrenleitner Parallel kinematic device
WO2006039730A3 (en) * 2004-10-11 2006-08-03 Franz Ehrenleitner Parallel kinematic device
WO2007092973A1 (en) * 2006-02-16 2007-08-23 Franz Ehrenleitner Kinematic element
JP2011528622A (en) * 2008-05-29 2011-11-24 ベイア Humanoid robot implementing a spherical hinge with articulated actuators
JP2010023201A (en) * 2008-07-22 2010-02-04 Shinmaywa Industries Ltd Parallel link mechanism, and manipulator provided with parallel link mechanism
CN101623866B (en) 2009-08-05 2011-01-05 燕山大学 Five-freedom dual-driving parallel mechanism
CN102357880A (en) * 2011-09-22 2012-02-22 广西大学 Nine-motion-degree robot mechanism
CN102513991A (en) * 2011-12-28 2012-06-27 广西大学 Seven-range of motion carrying manipulator
CN102431029A (en) * 2011-12-28 2012-05-02 广西大学 Spatial seven-mobility robot mechanism
CN102513992A (en) * 2011-12-28 2012-06-27 广西大学 Eight-range of motion carrying robot mechanism
CN102513993A (en) * 2011-12-28 2012-06-27 广西大学 Seven-range of motion carrying robot
CN102514001A (en) * 2011-12-28 2012-06-27 广西大学 Spatial eight-degrees-of-freedom welding robot mechanism
CN102513998A (en) * 2011-12-28 2012-06-27 广西大学 Space five-range of motion drilling robot mechanism
CN102513990A (en) * 2011-12-28 2012-06-27 广西大学 Space six-range of motion robot mechanism
CN102514000A (en) * 2011-12-28 2012-06-27 广西大学 Six-motion stacking robot
CN102513999A (en) * 2011-12-28 2012-06-27 广西大学 Hybrid assembling robot
CN102601785A (en) * 2012-03-28 2012-07-25 广西大学 Six-degree-of-freedom parallel mechanism with RPRPR closed-loop subchains
JP2015534910A (en) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Articulated arm
US9919434B1 (en) 2012-11-14 2018-03-20 Commissariat A L'energie Atomique Et Aux Energies Alternatives Articulated arm
JP2015534909A (en) * 2012-11-14 2015-12-07 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ Hexapod system
CN102990645A (en) * 2012-12-04 2013-03-27 汕头大学 Bionic proboscis robot
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN103144096A (en) * 2013-03-13 2013-06-12 燕山大学 Overconstraint-free asymmetric parallel mechanism with two rotations and one movement
CN103144095A (en) * 2013-03-13 2013-06-12 燕山大学 Asymmetric decoupling parallel mechanism with two rotations and one movement
CN104057464B (en) * 2013-03-22 2016-02-03 财团法人精密机械研究发展中心 Be applied to the joint arrangement of parallel connection type mechanical hand
CN104057464A (en) * 2013-03-22 2014-09-24 财团法人精密机械研究发展中心 Joint device applied to parallel manipulator
WO2015001417A1 (en) * 2013-07-03 2015-01-08 Stichting Continuïteit Beijert Engineering Apparatus and method for inspecting pins on a probe card
CN103302510A (en) * 2013-07-03 2013-09-18 上海交通大学 Parallel mechanism with two floatable staggered spindles
US9417308B2 (en) 2013-07-03 2016-08-16 Stichting Continuiteit Beijert Engineering Apparatus and method for inspecting pins on a probe card
CN103971754A (en) * 2013-08-23 2014-08-06 浙江亿太诺气动科技有限公司 Pneumatic muscle and cylinder mixed driving parallel platform
CN104029217A (en) * 2014-06-17 2014-09-10 东北大学 Pneumatic-muscled bionic joint based on universal-joint parallel mechanism
CN104647027A (en) * 2014-12-19 2015-05-27 上海交通大学 Vertical intelligent high-pressure rotor assembly device with elastic structure
DE102017103387A1 (en) 2016-02-23 2017-08-24 Jtekt Corporation Robot arm
CN105643230A (en) * 2016-03-14 2016-06-08 北京工业大学 Multiple-degree-of-freedom valve industrial assembly platform
CN105643230B (en) * 2016-03-14 2018-03-09 北京工业大学 A kind of multiple degrees of freedom valve industry mounting plate
CN105936044A (en) * 2016-06-02 2016-09-14 燕山大学 Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism
CN106002956A (en) * 2016-07-14 2016-10-12 燕山大学 Over-constrained self-balancing three-degree-of-freedom parallel-connection platform
JPWO2018074101A1 (en) * 2016-10-20 2018-10-18 三菱電機株式会社 3-rotation-freedom connection mechanism, robot, robot arm and robot hand
CN106335048A (en) * 2016-10-25 2017-01-18 北京航空航天大学 Novel six-degree-of-freedom hybrid mechanism applied to force feedback equipment

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