WO2014171642A1 - Procédé pour former un mécanisme actionné de façon redondante et système de distribution de force d'actionneur - Google Patents

Procédé pour former un mécanisme actionné de façon redondante et système de distribution de force d'actionneur Download PDF

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Publication number
WO2014171642A1
WO2014171642A1 PCT/KR2014/002466 KR2014002466W WO2014171642A1 WO 2014171642 A1 WO2014171642 A1 WO 2014171642A1 KR 2014002466 W KR2014002466 W KR 2014002466W WO 2014171642 A1 WO2014171642 A1 WO 2014171642A1
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WIPO (PCT)
Prior art keywords
link
rotary
driver
energy
control device
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PCT/KR2014/002466
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English (en)
Korean (ko)
Inventor
김종원
정재일
이기욱
Original Assignee
서울대학교 산학협력단
국민대학교 산학협력단
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Priority claimed from KR1020140014456A external-priority patent/KR20140125712A/ko
Application filed by 서울대학교 산학협력단, 국민대학교 산학협력단 filed Critical 서울대학교 산학협력단
Publication of WO2014171642A1 publication Critical patent/WO2014171642A1/fr

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    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

Definitions

  • the present invention relates to a free-driven mechanism and a free-driven mechanism forming method, the free-driven mechanism according to the present invention, a support; A first link having one end connected to the support and the first rotary joint; A second link connected to the other end of the first link through a second rotary joint; At least one auxiliary link connected to the support and the second link; And a plurality of rotary drivers; wherein the auxiliary link includes a third link and a fourth link, and one end of the third link is connected through the support and a third rotational joint.
  • one end of the fourth link is connected to the second link through a fourth rotary joint, the other end of the third link and the other end of the fourth link are connected through a fifth rotary joint, and the rotary driver And disposed on at least three selected rotary joints of the first to fifth rotary joints to pivot one or more of the first to fourth links.
  • An object of the present invention the support; A first link having one end connected to the support and the first rotary joint; A second link connected to the other end of the first link through a second rotary joint; At least one auxiliary link connected to the support and the second link; And a plurality of rotation drivers, wherein the auxiliary link includes a third link and a fourth link, and one end of the third link is connected to the support through a third rotational joint.
  • One end of the third link is connected via the fourth rotary joint, the other end of the third link and the other end of the fourth link are connected via a fifth rotary joint, and the rotary driver is the first to the first It is to provide a freely driven mechanism, which is selectively disposed on some of the five rotary joints and is configured to pivot one or more of the first to fourth links.
  • a first link having one end connected to the support and the first rotary joint
  • a second link connected to the other end of the first link through a second rotary joint
  • At least one auxiliary link connected to the support and the second link
  • It includes a parallel mechanism including a plurality of rotary driver,
  • the secondary link comprises a third link and a fourth link
  • One end of the third link is connected to the support through a third rotational joint
  • One end of the fourth link is connected with the second link through a fourth rotational joint
  • the rotary driver is arranged at three or more rotary joints selected from the first to fifth rotary joints, so as to pivot one or more of the first to fourth links.
  • the number of the rotary joints in which the rotary driver is disposed is a predetermined number of the rotary joints in which the rotary driver is disposed
  • the force of the rotary driver is distributed such that the sum of the work of the plurality of rotary drivers in a particular work path is minimal.
  • a first serial mechanism mechanism comprising a support, a first link, and a second link connected to each other via a rotational joint;
  • One or more second serial mechanism mechanisms comprising a third link, one end of which is connected via a rotational joint to each other, and a fourth link;
  • the other end of the third link and the other end of the fourth link are respectively connected to the support and the second link via a rotational joint such that the one or more second serial mechanism mechanisms are connected in parallel to the first serial mechanism mechanism.
  • the number of the rotary joints in which the rotary driver is disposed is greater than the number of degrees of freedom realized by the parallel mechanism
  • the force of the rotary driver is distributed such that the sum of the work of the plurality of rotary drivers is minimal in a particular working path.
  • it comprises a control device for controlling the energy applied to each rotary driver.
  • control device distributes energy to each rotary driver with a minimum amount of energy applied to the freely driven mechanism within a defined movement path of the object.
  • control device distributes energy to each rotary driver such that the value of Equation 1 below is minimum.
  • control device distributes energy to each rotary driver such that the value of Equation 2 below is minimum.
  • control device distributes energy to each rotary driver such that the value of Equation 3 below is minimum.
  • control device distributes energy to each rotary driver such that the value of Equation 4 below is minimum.
  • control device distributes energy to each rotary driver such that the value of Equation 5 below is minimum.
  • control device distributes energy to each rotary driver such that the value of Equation 6 below is minimum.
  • a method comprising: forming a serial mechanism mechanism in which a support, a first link, and a second link are connected through a rotating joint;
  • auxiliary link Disposing at least one auxiliary link between the support and the second link, wherein the auxiliary link comprises a plurality of link portions, and arranging a rotary joint at a connection point of each link portion to form a parallel mechanism;
  • the number of rotary joints in which the rotary driver is disposed is configured to be larger than the number of degrees of freedom realized by the parallel mechanism.
  • the step of distributing the force of the rotary driver including,
  • the force of the rotary driver is distributed such that the sum of the work of the plurality of rotary drivers is minimal in a particular working path.
  • first serial mechanism mechanism comprising a support, a first link, and a second link connected to each other via a rotational joint;
  • Forming at least one second serial mechanism mechanism comprising a third link at one end connected via a rotational joint to each other and a fourth link;
  • the other end of the third link and the other end of the fourth link are respectively connected to the support and the second link through the rotation joint to connect the one or more second serial mechanism mechanisms in parallel to the first serial mechanism mechanism. Forming an instrument; And
  • the number of the rotary joints in which the rotary driver is disposed is greater than the number of degrees of freedom realized by the parallel mechanism
  • the force of the rotary driver is distributed such that the sum of the work of the plurality of rotary drivers is minimal in a particular working path.
  • the freely driven mechanism has a control device for controlling energy applied to each rotary driver,
  • control device applies energy to each rotary driver so that the value of Equation 7 below is minimum.
  • control device applies energy to each rotary driver such that the value of Equation 8 is minimized.
  • control device applies energy to each rotary driver such that the value of Equation 9 is minimized.
  • control device applies energy to each rotary driver such that the value of Equation 10 is minimized.
  • control device distributes energy to each rotary driver such that the value of Equation 11 is minimized.
  • control device distributes energy to each rotary driver such that the value of Equation 12 is minimized.
  • a first link having one end connected to the support and the first rotary joint
  • a second link connected to the other end of the first link through a second rotary joint
  • At least one main auxiliary link connected to both ends of the support and the second link
  • the rotary driver is disposed on one or more rotary joints of the first and second rotary joints to pivot one or more of the first and second links,
  • the main auxiliary link is one end is connected via the support and the third rotary joint, one end is connected through the second link and the fourth rotary joint, and the length is adjusted to include a linear driver.
  • the first sub auxiliary link is connected to a portion of the support and the other end is connected to a portion of the first link through a rotary joint, and
  • One end of which is connected to a portion of the first link and the other end of which includes at least one of a second sub auxiliary link connected to a portion of the second link and connected via a rotational joint,
  • the first sub auxiliary link and the second sub auxiliary link are configured to include a linear driver so that the length is adjusted.
  • the support
  • a first link having one end connected to the support and the first rotary joint
  • a second link connected to the other end of the first link through a second rotary joint
  • At least one auxiliary link connected to the support and the second link
  • It includes a plurality of rotary driver
  • the secondary link comprises a third link and a fourth link
  • One end of the third link is connected to the support through a third rotational joint
  • One end of the fourth link is connected with the second link through a fourth rotational joint
  • the rotary driver is disposed on at least two rotary joints selected from the first to fifth rotary joints to pivot one or more of the first to fourth links,
  • a first sub auxiliary link having one end connected to a part of the support and the other end connected to a part of the first link and connected through a rotary joint;
  • One end of which is connected to a portion of the first link and the other end of which includes at least one of a second sub auxiliary link connected to a portion of the second link and connected via a rotational joint,
  • first sub auxiliary link and the second sub auxiliary link are configured to be adjusted in length including a linear driver.
  • control device applies energy to each linear driver so that the value of Equation 13 is minimized.
  • control device applies energy to each linear driver such that the value of Equation 14 is minimized.
  • control device applies energy to each linear driver such that the value of Equation 15 is minimized.
  • control device applies energy to each linear driver such that the value of Equation 16 below is minimum.
  • the driver includes a rotary driver
  • the driver further comprises a linear driver
  • the free-drive can be achieved as the number of the rotating joints on which the rotary drive is disposed has more than the degree of freedom realized by the free-driven mechanism. Accordingly, even when the same work is performed, the work can be performed with small energy, thereby optimizing energy utilization efficiency.
  • the energy efficiency can be improved.
  • the load applied to the rotary joint and the rotary driver can be distributed, so that an excessive load is applied to some rotary joints and the rotary driver to Accidents leading to damage can be prevented.
  • the redundant drive mechanism according to the present invention can be provided with a control device for distributing current and corresponding torque to each rotary driver, so that optimum performance can be achieved.
  • control device has various energy distribution algorithms
  • the minimum energy consumption and the optimum energy efficiency are achieved according to the various cases, and each rotary driver is applied by applying an algorithm that can achieve the optimum operating performance.
  • You can distribute the power to Appropriate algorithms are applied according to various application situations in the operation of a redundant drive mechanism, not only to achieve the minimum overall power consumption, but also to achieve optimal energy efficiency and other operational performances. Algorithms can be applied to ensure optimal performance.
  • FIG. 1 is a conceptual diagram showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 2 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 3 is a conceptual diagram showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 4 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • 5 is a structural diagram showing an example of a serial mechanism.
  • FIG. 6 is a graph showing the force applied to each rotary driver of the tandem mechanism according to FIG. 5 and the angular velocity of each rotary driver.
  • FIG. 7 is a structural diagram showing an example of a clearance driving type mechanism.
  • FIG. 8 is a graph showing the force applied to each rotary driver and the angular velocity of each rotary driver of the redundant drive mechanism according to FIG. 7.
  • FIG. 9 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 10 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 11 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 12 is a conceptual diagram illustrating a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 13 is a conceptual diagram illustrating a spare drive mechanism according to an embodiment of the present invention.
  • FIG. 14 is a conceptual view showing a spare drive mechanism according to an embodiment of the present invention.
  • 15 is a conceptual diagram illustrating a spare drive mechanism according to an embodiment of the present invention.
  • 16 is a conceptual diagram illustrating an energy use form of a spare drive mechanism according to an embodiment of the present invention.
  • a first link having one end connected to the support and the first rotary joint
  • a second link connected to the other end of the first link through a second rotary joint
  • At least one auxiliary link connected to the support and the second link
  • It includes a parallel mechanism including a plurality of rotary driver,
  • the secondary link comprises a third link and a fourth link
  • One end of the third link is connected to the support through a third rotational joint
  • One end of the fourth link is connected with the second link through a fourth rotational joint
  • the rotary driver is arranged at three or more rotary joints selected from the first to fifth rotary joints, so as to pivot one or more of the first to fourth links.
  • spatially relative terms “bottom”, “top”, “side”, etc., as shown in the figures, may be used to easily describe the correlation of one member or component with another member or component.
  • Spatially relative terms should be understood to include terms that differ in orientation of the device in use or operation in addition to the directions shown in the figures, for example, when inverting the elements shown in the figures, other elements.
  • a member described as “top” of may be placed at the “bottom” of another member, thus, the exemplary term “top” may include both the up and down directions. And, accordingly, spatially relative terms may be interpreted according to orientation.
  • the free-driven mechanism 1 may be understood as a free-driven mechanism system including a system in which force is distributed to a rotational drive included in the free-driven mechanism in addition to a simple mechanism structure.
  • FIGS. 1 to 4 are conceptual diagrams showing a spare drive mechanism 1 according to an embodiment of the present invention.
  • a freely driven mechanism 1 includes a support 10; A first link 20 having one end connected to the support 10 and the first rotary joint 210; A second link 30 connected to the other end of the first link 20 through a second rotary joint 220; At least one auxiliary link (100) connected to the support (10) and the second link (30); And a plurality of rotation drivers (not shown), wherein the auxiliary link 100 includes a third link 40 and a fourth link 50, and one end of the third link 40
  • the support 10 and the third rotary joint 230 is connected, one end of the fourth link 50 is connected through the second link 30 and the fourth rotary joint 240,
  • the other end of the third link 40 and the other end of the fourth link 50 are connected through the fifth rotary joint 250, and the rotary driver is selective to some of the first to fifth rotary joints 250. And is configured to pivot one or more of the first to fourth links 50.
  • the support 10 is configured to connect the first link 20 and the third link 40 and may be part of a mechanical device.
  • the support 10 may be part of a predetermined arm or may be configured as a part of a predetermined manipulator.
  • One end of the first link 20 is connected to the support 10 through the first rotating joint 210, and the other end of the second link 30 is connected to the second link 30 through the second rotating joint 220.
  • Each link has a configuration such as a predetermined arm and may have a predetermined length.
  • Each of the rotary joints is a joint site where each link is connected to each other, but connected to rotate with respect to each other, the form is not limited.
  • the support 10, the first link 20, and the second link 30 may be sequentially connected in series through the rotation joint to form a predetermined serial mechanism mechanism.
  • One or more auxiliary links 100 are connected between the support 10 and the second link 30.
  • the auxiliary link 100 includes at least a third link 40 and a fourth link 50, and one end of the third link 40 is the support 10 and the third rotary joint 230.
  • one end of the fourth link 50 is connected through the second link 30 and the fourth rotational joint 240, and the other end of the third link 40 and the fourth end of the fourth link 50.
  • the other end of the link 50 may be connected through the fifth rotary joint 250.
  • the configuration of the auxiliary link 100 is not limited as described above, an embodiment in which the auxiliary link 100 is composed of several links and a rotary joint disposed between the links is possible.
  • the number of the auxiliary links 100 is not limited, in addition to the case where one auxiliary link 100 is connected between the support 10 and the second link 30, a plurality of auxiliary links 100 are connected.
  • Embodiments are also possible. For example, as shown in FIG. 2, two auxiliary links including the first auxiliary link 100 and the second auxiliary link 110 may be connected, but are not limited thereto.
  • the names such as the first to the fourth is not specific to the order, and only to refer to the predetermined component to distinguish, it is possible to mix or change.
  • the object W is illustrated as being connected to the second link, but is not limited thereto.
  • the object W may have any connection form and position.
  • auxiliary link 100 consisting of several links between the support 10 and the second link 30, the support 10, and the first to fourth links 20, 30, 40, 50 may constitute a parallel mechanism mechanism.
  • n is the number of links, including fixed links
  • the fixed link is a link that is grounded and unable to perform translation and rotational motion, and according to an embodiment, may correspond to the support 10.
  • Rotation drivers may be disposed in the respective rotation joints.
  • the rotary driver is selectively disposed on some of the first to fifth rotary joints 210, 220, 230, 240, 250, and may rotate one or more links of the first to fourth links 50.
  • the rotation driver may be a predetermined motor that achieves a rotational motion of the link, but is not limited thereto.
  • the number of the rotary joints in which the rotary driver is disposed is configured to be greater than the degree of freedom that the mechanism implements. That is, since the parallel mechanism according to the embodiment has two degrees of freedom, the number of rotation joints in which the rotation driver is disposed may be three or more. As described above, three or more rotary joints may be selected from the first to fifth rotary joints 210, 220, 230, 240, and 250 as the rotary joints on which the rotary driver is disposed.
  • FIG. 3 Is a free-driven mechanism (1) consisting of a plurality of rotating joints (R) configured to connect each other to form the vertices of the closed polygon (P), selectively to a part of the plurality of rotating joints (R). And a rotational driver arranged to be connected to the link L to induce rotation of the link L, wherein the number of the rotational joints R in which the rotation driver is disposed is greater than the degree of freedom realized by the parallel mechanism.
  • a parallel mechanism constituted it can be defined as a clearance drive type mechanism.
  • the polygon P is an obtuse angle between neighboring sides of the polygon P, and includes an irregular shape other than a general quadrangle and a pentagon. That is, for example, taking a pentagon among polygons, the term pentagon in the present invention is a concept including all figures consisting of five sides and five angles.
  • the form of the link L which comprises each side of the said polygon P is not limited to the case of a straight line, The form with a predetermined deformation
  • the shape of the polygon P may be a quadrangle or a pentagon, but is not limited thereto. That is, for example, when the first rotary joint 210 and the third rotary joint 230 positioned on the support 10 and the third rotary joint 230 are located at different positions as shown in FIG. 1 or 3, the polygon P is Although a pentagon may be formed, the polygon P may form a quadrangle when the first rotary joint 210 and the third rotary joint 230 are positioned in a horizontally overlapping position.
  • the free-driven mechanism 1 when the support 10 is viewed as one fixed link (L), the free-driven mechanism 1 according to the embodiment is five links (L) and the link is arranged in the form of a closed polygon (P). It is composed of a rotary joint (R) disposed between (L), it may have a configuration in which a rotary driver is disposed on the rotary joint (R).
  • auxiliary link 100 connecting the support 10 and the second link 30 can be plural, and thus a free-driven mechanism constituting the closed polygonal P shape.
  • (1) may be not only one but also plural. That is, as shown in FIG. 3, in the entire apparatus, the apparatus in the form of a closed polygonal P may constitute a part of the entire apparatus, and a form in which the closed polygonal P is combined is also possible.
  • the free-driven mechanism 1 includes a support 10, a first link 20, and a second link 30 connected to each other via a rotational joint.
  • a first tandem mechanism mechanism (A) comprising;
  • at least one second serial mechanism mechanism (B) comprising a third link (40), one end of which is connected to each other via a rotational joint, and a fourth link (50).
  • the other end of the fourth link 50 and the other end of the fourth link 50 are connected to the support 10 and the second link 30 via rotary joints, respectively, to the first serial mechanism mechanism A and the one or more second series.
  • a freely driven mechanism (1) in which a mechanism mechanism (B) is connected in parallel, comprising a rotary driver selectively disposed on a portion of the plurality of rotary joints, wherein the number of the rotary joints on which the rotary driver is disposed is the margin. It can be described as the free drive type mechanism 1 more than the number of degrees of freedom realized by the drive type mechanism 1.
  • the free-driven mechanism 1 is a free-driven mechanism 1 in which a series mechanism mechanism including several links and rotating joints is connected in parallel with each other.
  • the connection point is provided with a rotary joint
  • the rotary joint is provided with a rotary driver
  • the number of the rotary joint in which the rotary driver is disposed may have a configuration more than the number of degrees of freedom implemented by the free drive mechanism (1).
  • the freely driven mechanism 1 As the number of the rotational joints in which the rotary drive is disposed has more than the degree of freedom implemented by the freely driven mechanism 1, the free drive can be achieved. Accordingly, even when the same work is performed, the work can be performed with small energy, thereby optimizing energy utilization efficiency.
  • the predetermined object is moved. It is limited in its freedom. That is, a predetermined amount of energy must be uniformly applied to each rotary driver, and as the load is uniformly applied, there are also restrictions on the reliability and safety of the mechanism.
  • the energy efficiency can be improved.
  • the load applied to the rotary joint and the rotary driver can be distributed, so that an excessive load is applied to some rotary joints and the rotary driver to Accidents leading to damage can be prevented.
  • the finer and more precise work can be performed through the complex drive of the rotary drive, and according to the configuration of the free-driven mechanism 1, the working radius of the apparatus is reduced, thereby reducing the space required for the work and utilizing the space. Efficiency can be improved.
  • the freely driven mechanism according to the present invention can appropriately distribute the magnitude of the force distributed to the rotary driver, thereby reducing the amount of energy required in the predetermined work path.
  • each rotary driver may have a negative work in addition to the positive work within a predetermined work path, and unnecessary energy may be generated due to the collision between the positive work and the negative work.
  • FIG. 5 shows the structure of a serial mechanism
  • FIG. 6 shows the force and angular velocity applied to each rotary driver provided in the serial mechanism.
  • ⁇ 1 , ⁇ 2 denotes the force applied to the first and second rotary drivers, respectively
  • ⁇ 1 , ⁇ 2 denote the angular velocities of the first and second rotary drivers, respectively.
  • the total amount of work in which the absolute value is obtained by integrating the force and angular velocity applied to each rotary driver in time is 140 J, while the total amount of work received by the object is 100 J work. Can be. At this time, the energy corresponding to 40J, which is the difference between the total amount of work received by the object and the total amount of work done by the rotary driver, is consumed more than necessary.
  • FIG. 7 shows the structure of the relief drive mechanism
  • FIG. 8 shows the force and the angular velocity applied to each rotary driver provided in the relief drive mechanism.
  • ⁇ 1 , ⁇ 2 , ⁇ 3 represent the forces applied to the first to third rotary drivers, respectively
  • ⁇ 1 , ⁇ 2 , and ⁇ 3 represent the angular velocities of the first to third rotary drivers, respectively.
  • the angular velocity of each rotary drive has a fixed value
  • Proper combination and dispensing ensures that a minimum amount of energy is consumed within the defined work path.
  • the amount of work received by the object and the total amount of work performed by each rotary driver may match, but are not limited thereto.
  • the free-driven mechanism according to the present invention may combine torque applied to each rotary driver to reduce the collision of work as the free-driven mechanism has more rotary drives than the number of degrees of freedom implemented by the free-driven mechanism. This enables the reduction of energy consumed within a defined work path.
  • Fig. 9 is a view showing a clearance driving mechanism 1 according to another embodiment of the present invention.
  • a freely driven mechanism 1 includes a support 310; A first link 320 having one end connected to the support 310 and a first rotary joint 410; A second link 330 connected to the other end of the first link 320 through a second rotary joint 420; At least one main auxiliary link (510) connected at both ends with a portion of the support (310) and the second link (330); And a plurality of rotation drivers, wherein the rotation drivers are disposed at one or more rotation joints of the first rotation joint 410 and the second rotation joint 420 to be connected to the first link 320 and the second link 330.
  • the matters related to the support 310, the first link 320, the second link 330, the first rotary joint 410, and the second rotary joint 420 are the same as described above.
  • the desired serial mechanism mechanism 300 can be configured.
  • the main auxiliary link 510 has a linear driver so that the length is adjusted.
  • the main auxiliary link 510 comprises a linear driver, which can be configured like a cylinder with a piston, for example. According to the displacement of the piston, the length of the auxiliary link can be adjusted. As one end of the auxiliary link is connected to the support 310 and the other end is connected to a portion of the second link 330, the change in length of the main auxiliary link 510 displaces the second link 330. This causes the turning of the second link 330 and the first link 320 connected with the second link 330.
  • the freely driven mechanism 1 is connected in parallel with the serial mechanism mechanism and includes an auxiliary link, and the main auxiliary link 510 includes a linear driver to adjust the length through the length adjustment.
  • the free-driven mechanism 1 mechanism can be achieved.
  • the clearance driving mechanism 1 can achieve the clearance driving. Accordingly, even when the same work is performed, the work can be performed with small energy, thereby optimizing energy utilization efficiency.
  • it may include several auxiliary links according to the embodiment.
  • the main auxiliary link 510 when the auxiliary link that is connected to both ends of the support 310 and the second link 330 as described above is called the main auxiliary link 510, the support 310 as shown in FIG. And an auxiliary link connected to a part of the first link 320 at both ends thereof may be referred to as a first sub auxiliary link 520. As illustrated in FIG. 11, a part and a first link of the first link 320 may be formed. An auxiliary link connecting a portion of the second link 330 may be referred to as a second sub auxiliary link 530. In this case, as shown in FIG. 12, the main auxiliary link 510, the first sub auxiliary link 520, and the second sub auxiliary link 530 may be simultaneously provided, but is not limited thereto.
  • the main auxiliary link 510, the first sub auxiliary link 520, and the second sub auxiliary link 530 form the auxiliary link group 500.
  • the first sub auxiliary link 520 and the second sub auxiliary link 530 are provided with a linear driver, and the length thereof is adjusted.
  • the first sub auxiliary link 520 and the second sub auxiliary link 530 may include a piston and a cylinder.
  • first auxiliary link and / or the second auxiliary link are further provided in addition to the main auxiliary link 510, it is possible to more easily achieve energy efficiency according to the spare driving.
  • an additional link and a rotary driver and a linear driver provided therein may be further provided, but are not limited thereto.
  • FIG. 13 to 15 are diagrams showing a spare drive mechanism 1 according to another embodiment of the present invention.
  • the freely driven mechanism 1 includes: a support 10; A first link 20 having one end connected to the support 10 and the first rotary joint 210; A second link 30 connected to the other end of the first link 20 through a second rotary joint 220; At least one auxiliary link connected to both ends of the support 10 and the second link 30; And a plurality of rotary drivers, wherein the auxiliary link includes a third link 40 and a fourth link 50, and one end of the third link 40 is the support 10 and the third link.
  • one end of the fourth link 50 is connected via the second link 30 and the fourth rotary joint 240, the other of the third link (40)
  • the other end of the end and the fourth link 50 is connected via a fifth rotary joint 50
  • the rotary driver is disposed at one or more rotary joints selected from the first to fifth rotary joints 50, so that the first Pivot one or more of the first to fourth links 20, 30, 40, 50, between the support 10 and the first link 20, and between the first link 20 and the second link ( At least one of the 30) is provided with a sub auxiliary link 600, the sub auxiliary link 600 is configured to adjust the length including a linear driver.
  • the present embodiment includes at least one main auxiliary link 510 connected to both ends of the support 10 and the second link 30, and the main auxiliary link (
  • the 510 has a third link 40 and a fourth link 50 connected to each other via a rotational joint.
  • Sub auxiliary link 600 is provided, the sub auxiliary link 600 is configured to be adjusted in length including a linear driver.
  • the sub auxiliary link may include a first sub auxiliary link 620 connected between the support 10 and the first link 20, and a first connection between the first link 20 and the second link 30.
  • 2 includes a sub auxiliary link 630, either the first sub auxiliary link 620 and the second sub auxiliary link 630, or both may be provided together.
  • the energy efficiency improvement according to the marginal driving can be more easily achieved.
  • an additional link and a rotary driver and a linear driver provided therein may be further provided, but are not limited thereto.
  • the degree of freedom may be determined according to Kutzbach-Gruebler's law as shown in [Equation 1].
  • n is the number of links, including fixed links
  • the number of the rotary joints in which the rotary driver is disposed may be defined as a free drive type mechanism 1 as the free drive type mechanism 1 configured to have more degrees of freedom than that of the free drive type mechanism 1.
  • 16 is a view showing an energy consumption form of a spare drive mechanism according to an embodiment of the present invention.
  • the free-driven mechanism according to the present invention further includes a control device for controlling energy applied to each rotary driver and the linear driver, and through the control device, the energy consumption of the free-driven mechanism according to the present invention. Can be optimized.
  • the control device distributes energy to each rotary driver or linear driver, but distributes energy to each rotary driver such that the total amount of energy applied to the free-running mechanism within a predetermined path is minimized.
  • the energy distributed to the rotary driver and the linear driver may be, for example, electric energy through a current, but is not limited thereto.
  • electric energy through a current
  • hydraulic pressure and pneumatic energy may be utilized.
  • the current and the electric energy are representatively described as examples, but the present invention is not limited thereto.
  • the total electric energy applied to the entire drive mechanism is the total amount of energy applied for driving the drive mechanism, and can be represented by the amount of power applied by a predetermined power source, which is a part of the drive mechanism according to the present invention. It can be expressed as the energy consumption of.
  • the energy applied to the free-drive mechanism is the loss of electrical energy lost in the process of generating mechanical energy for each drive and the loss in the process of converting the mechanical energy of each drive into net energy used to increase the mechanical energy of the target.
  • Mechanical energy and net energy that substantially contributes to the increase in the mechanical energy of the object.
  • This net energy is expressed, for example, by the mechanical output of each servo motor used as a rotary driver and the mechanical output of each cylinder used as a linear driver.
  • f is the force of the linear driver Represents the moving speed of the linear actuator.
  • + means only showing a positive value.
  • the loss energy is the coil loss that occurs in each rotary and linear driver, the conduction loss that occurs in the driver used to control the driver, and the switching loss that occurs in the switch. switching loss).
  • the coil loss is a heat loss generated by a current flowing in a servo motor used as a rotary driver, or a heat loss generated in a linear driver, which can be expressed by the formula R S I 2 .
  • the conduction loss is a loss that occurs when current flows in the semiconductor in the IGBT circuit inside the servo driver used to control the rotary driver and the linear driver, which can be expressed by the formula c TA I + d TA I 2 . have.
  • Switching loss is a loss that occurs when the switch is turned on and off in a circuit including a semiconductor in an IGBT circuit existing in the servo driver, which can be expressed as K IGBT I.
  • the loss energy can be expressed as the sum of the coil loss, conduction loss, and switching loss described above.
  • the current is proportional to the torque and the force, which can be replaced as follows.
  • I is
  • the reason for replacing is because the current is always positive and proportional to the magnitude of the torque and force.
  • the total energy applied to the free-running mechanism is an electric energy, which is equal to the sum of mechanical energy and loss energy, and is represented by Equation 3 below.
  • control device provided in the redundant drive mechanism distributes current to each of the rotary drive and the linear drive, but the total amount of electrical energy applied to the clearance drive mechanism within a predetermined path is minimum. Distribute the current to each rotary driver so that
  • the current distributed to each rotary driver and the linear driver, and the corresponding torque are determined such that the total sum of the lost electric energy and the mechanical energy of each driver is minimized within a predetermined path. Accordingly, the respective torques are determined so that the values of the following equations 4 and 4-1 are minimized.
  • n means the number of drivers. That is, the control device may distribute the force to each rotary driver so that the total amount of power applied to the free-driven mechanism is minimized under conditions such as a predetermined path to optimize the energy efficiency of the free-driven mechanism according to the present invention. have.
  • control device may have an algorithm for optimizing the energy efficiency of the redundant drive mechanism according to the present invention in another form.
  • the last term in the above equation is the mechanical output of the rotary driver, and the control device may have an algorithm for minimizing the total loss power except the mechanical output.
  • control device can distribute the force to each of the rotary driver and the linear driver so that the values of the following equations 5 and 5-1 are minimum according to the following equation.
  • control device may have an algorithm for distributing the force for each driver such that the sum of the mechanical outputs of each rotary driver and the linear driver is minimal, wherein the control device is represented by Equation 6 and Forces can be distributed to the respective rotary and linear drivers so that the value of Equation 6-1 is minimal.
  • control device may have an algorithm such that the sum of the squares of the forces distributed to each rotary driver is minimized so that the sum of the squares of the forces of each rotary driver and the linear driver is minimum. At this time, the control device may distribute the force to each of the rotary driver and the linear driver so that the values of the following equations 7 and 7-1 are minimum.
  • control device may distribute the force to each of the rotary driver and the linear driver so that the values of Equations 8 and 9 are minimized.
  • equations 5, 6, 7, 8 and 9 are applied, and in the case of the linear drive, equations 5-1, 6-1, 7-1 are applied. That is, in the case of the linear driver, ⁇ is f, silver Is changed. Where f is the force of the linear driver, Represents the moving speed of the linear actuator.
  • the current distribution algorithm for the linear driver and the current distribution algorithm for the rotary driver may be simultaneously applied to a single drive mechanism.
  • a rotary driver and a linear driver are provided together, and equations 5, 6, 7, 8, and 9 are applied to the rotary drive, and equations 5-1, 6-1, and 7-1 for the linear drive.
  • This applied driven drive mechanism can be implemented.
  • the control device can distribute the force to the respective rotary and linear drivers.
  • the force can be distributed to the rotary driver such that Equation 10 or 11 below is minimal.
  • the force may be distributed to the linear driver so that the value of any one of the following Equations 12 to 15 is minimum.
  • the redundant drive mechanism includes a control device for distributing current and corresponding torque to each rotary driver and linear driver, so that a minimum energy consumption can be achieved within a predetermined path. .
  • the minimum energy consumption and the optimum energy efficiency are achieved according to the various cases, and other algorithms are applied to apply the power to each rotary driver. Can be distributed. That is, by applying the appropriate algorithm in accordance with various application situations in the operation of the redundant drive mechanism, not only to achieve the minimum of the total power consumption, but also to achieve the optimum energy efficiency and other operating performance This optimized algorithm can be applied to achieve optimal functionality.
  • the energy distribution algorithm of the spare drive mechanism according to the present invention can be applied to all types of spare drive mechanism other than the spare drive mechanism having a structure according to the above-described embodiment. That is, the energy distribution algorithm as described above can be applied to all types of spare drive mechanisms having a larger number of drivers than the degree of freedom of the mechanism.
  • each step of the forming method described below is not limited to being sequentially, and the order thereof may be arbitrary.
  • description about each component is as having demonstrated in embodiment which concerns on the said clearance drive type mechanism 1, description is abbreviate
  • a method of forming a free-driven mechanism includes: forming a serial mechanism mechanism in which a support 10, a first link 20, and a second link 30 are connected through a rotating joint; At least one auxiliary link 100 is disposed between the support 10 and the second link 30, wherein the auxiliary link 100 is composed of a plurality of link parts and a rotation joint is disposed at a connection point of each link part.
  • a clearance driven mechanism thereby forming a clearance driven mechanism;
  • the step of distributing the force of the rotary driver including, but the force of the rotary driver can be distributed so that the total sum of the work of the plurality of rotary driver in a specific working path is minimal.
  • the method for forming a free-driven mechanism includes a first serial mechanism mechanism including a support 10, a first link 20, and a second link 30 connected to each other via a rotational joint.
  • Selectively placing a rotary driver on a portion of the plurality of rotary joints; Including, the number of the rotational joint is disposed the rotary driver may be configured to be more than the number of degrees of freedom implemented by the free-driven mechanism.
  • the spare drive mechanism includes a control device for controlling a current applied to each rotary driver, wherein the control device is configured to supply a current to each rotary driver. And a current distribution step of distributing the current distribution step, wherein the current distribution step includes controlling the energy applied to the free-drive mechanism within the predetermined path of the target to be minimum.
  • the control device applies a current to each rotary driver so that the value of Equation 16 and / or Equation 16-1 is minimized.
  • the control device applies a current to each rotary driver so that the value of the following equation 17 and / or equation 17-1 is the minimum.
  • the control device applies a current to each rotary driver so that the value of the following equation 18 and / or equation 18-1 is minimum.
  • the control device applies a current to each rotary driver so that the value of the following equation 19 and / or equation 19-1 is the minimum.
  • the control device applies a current to each rotary driver so that the value of the following equation 20 or 21 is minimized.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

Selon la présente invention, un mécanisme actionné de façon redondante comporte : un support ; une première biellette dont une première extrémité est reliée au support par un premier joint à pivot ; une deuxième biellette reliée à l'autre extrémité de la première biellette par un deuxième joint à pivot ; au moins une biellette auxiliaire reliée au support et à la deuxième biellette ; une pluralité d'actionneurs rotatifs, la biellette auxiliaire comprenant une troisième biellette et une quatrième biellette, une première extrémité de la troisième biellette étant reliée au support par un troisième joint à pivot, et une première extrémité de la quatrième biellette étant reliée à la deuxième biellette par un quatrième joint à pivot, l'autre extrémité de la troisième biellette et l'autre extrémité de la quatrième biellette étant reliées par un cinquième joint à pivot, et les actionneurs rotatifs étant agencés au niveau d'au moins trois joints à pivot sélectionnés parmi les cinq premiers joints à pivot de telle sorte que les actionneurs rotatifs sont configurés pour faire tourner une ou plusieurs biellettes parmi les quatre premières biellettes.
PCT/KR2014/002466 2013-04-19 2014-03-24 Procédé pour former un mécanisme actionné de façon redondante et système de distribution de force d'actionneur WO2014171642A1 (fr)

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KR20130043822 2013-04-19
KR10-2013-0043822 2013-04-19
KR1020140014456A KR20140125712A (ko) 2013-04-19 2014-02-07 여유구동형 기구 형성 방법 및 구동기 힘 분배 시스템
KR10-2014-0014456 2014-02-07

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CN104552255A (zh) * 2014-12-23 2015-04-29 广西大学 一种多自由度可控机构式焊接机器人
CN105500360A (zh) * 2016-01-14 2016-04-20 广西大学 一种码垛机器人
CN106938461A (zh) * 2017-03-24 2017-07-11 广西大学 一种具有三种自由度变换的八连杆三构态变胞机构
CN110482262A (zh) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 装卸设备及装卸方法
CN110482268A (zh) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 装卸设备和货物装卸系统

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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN104552255A (zh) * 2014-12-23 2015-04-29 广西大学 一种多自由度可控机构式焊接机器人
CN104552255B (zh) * 2014-12-23 2016-06-15 广西大学 一种多自由度可控机构式焊接机器人
CN105500360A (zh) * 2016-01-14 2016-04-20 广西大学 一种码垛机器人
CN105500360B (zh) * 2016-01-14 2017-07-18 广西大学 一种码垛机器人
CN106938461A (zh) * 2017-03-24 2017-07-11 广西大学 一种具有三种自由度变换的八连杆三构态变胞机构
CN110482262A (zh) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 装卸设备及装卸方法
CN110482268A (zh) * 2018-12-12 2019-11-22 广东天酿智能装备有限公司 装卸设备和货物装卸系统
CN110482262B (zh) * 2018-12-12 2024-04-30 广东天酿智能装备有限公司 装卸设备及装卸方法

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