WO2020215385A1 - 绳索驱动柔性机器人的运动学测试系统 - Google Patents
绳索驱动柔性机器人的运动学测试系统 Download PDFInfo
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- WO2020215385A1 WO2020215385A1 PCT/CN2019/086332 CN2019086332W WO2020215385A1 WO 2020215385 A1 WO2020215385 A1 WO 2020215385A1 CN 2019086332 W CN2019086332 W CN 2019086332W WO 2020215385 A1 WO2020215385 A1 WO 2020215385A1
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- rope
- kinematics
- module
- flexible
- hole
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Definitions
- the invention belongs to the technical field of robots, and particularly relates to a kinematics testing system of a rope-driven flexible robot.
- an embodiment of the present invention provides a kinematics test system for a rope-driven flexible robot, which can test the relationship between the movement of the flexible arm of the rope-driven flexible robot and the displacement of the driving rope.
- the technical solution adopted by the embodiment of the present invention to solve the above-mentioned technical problems is to provide a kinematics test system for a rope-driven flexible robot, which includes a flexible arm module, the flexible arm module includes a plurality of flexible arms, located in two adjacent The joints between the flexible arms and the driving ropes passing through a number of the flexible arms, the joints are connected with an angle measuring unit, and the angle measuring unit can detect the rotation angle of the joint; a movement module, the movement module can drive The flexible arm module moves; a test module, the test module includes a counterweight and a displacement measuring unit, the counterweight is connected to the driving rope, and the displacement measuring unit can measure the displacement of the driving rope.
- the test module further includes a sliding connection
- the sliding connection includes a sliding rail and a follower sliding block slidably arranged on the sliding guide, the follower sliding block and The driving rope is fixedly connected.
- the displacement measuring unit is connected to the follower slider to obtain the displacement of the driving rope by detecting the displacement of the follower slider.
- limit blocks are provided at both ends of the sliding guide rail.
- the test module further includes a front fixed pulley and a rear fixed pulley, the front fixed pulley is located between the sliding connection and the flexible arm module, and the rear fixed pulley is located on the Between the sliding connecting piece and the counterweight, the front fixed pulley, the sliding connecting piece and the rear fixed pulley are located on the same straight line.
- the flexible arm module is provided with a plurality of the driving ropes
- the test module includes a measuring unit equal to the number of the driving ropes
- the measuring unit includes the sliding connector, the The front fixed pulley, the rear fixed pulley and the counterweight.
- a first shaft hole and a second shaft hole are provided at the junction of two adjacent flexible arms, and the first shaft hole and the second shaft hole are perpendicular to each other.
- the joint includes a center block provided with a first through hole coaxial with the first shaft hole and a second shaft coaxial with the second shaft hole.
- Two through holes, the first through hole and the first shaft hole are connected by a long rotating pin, and the second through hole and the second shaft hole are connected by a pair of short rotating pins.
- the end surface of the short rotation pin is provided with a circular arc groove, and the circular arc groove can be attached to the side surface of the long rotation pin.
- the middle part of the long pivot pin is provided with a middle hole
- the short pivot pin is provided with a connecting hole arranged along the axial direction
- a pair of the connecting holes of the short pivot pin the The middle holes are arranged coaxially
- a pair of the connecting holes and the middle holes are connected by screws.
- the long rotating pin and the short rotating pin are respectively connected to the angle measuring unit.
- the ends of the several flexible arm modules are provided with guide wheels, and the driving rope extends to the test module through the guide wheels.
- the motion module includes a three-axis mobile platform and a ball head rod, the ball head rod is slidably arranged on the three-axis mobile platform, the flexible arm module and the ball head The rod is hingedly connected.
- an optical platform is further included, and the motion module and the test module are installed on the optical platform.
- the kinematics test system of the rope-driven flexible robot of the present invention includes a motion module, a flexible arm module, and a test module.
- the motion module drives the flexible arm module to simulate the motion of the flexible arm module
- the test module detects the movement of the rope when the flexible arm moves. Displacement change, the angle measurement unit is set on the flexible arm module to detect the rotation angle of the joint, and then the relationship between the driving rope displacement change and the joint rotation angle is obtained, and the movement of the rope-driven flexible robot is corrected using the obtained data .
- FIG. 1 is a schematic diagram of the overall structure of a kinematics testing system of a rope-driven flexible arm robot according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of the structure of a test module according to an embodiment of the present invention.
- Fig. 3 is a schematic structural diagram of a measurement unit of the test module in Fig. 2;
- FIG. 4 is a schematic structural diagram of a flexible arm module according to an embodiment of the present invention.
- Figure 5 is a schematic diagram of the structure of the joint in Figure 4.
- Figure 6 is a schematic diagram of the split structure of Figure 5;
- Fig. 7 is a schematic structural diagram of a motion module according to an embodiment of the present invention.
- an embodiment of the present invention provides a rope-driven kinematics test system of a flexible robot, including a test module 100, a flexible arm module 200, and a motion module 300.
- the motion module 300 drives the flexible arm module 200 to move, simulating the flexible arm
- the test module 100 detects the displacement of the driving rope 210 when the flexible arm module 200 moves
- the angle measurement unit detects the rotation angle at the joints of the flexible arm module 200.
- the obtained rotation angle data is compared with the driving rope.
- the displacement data is compared with the data calculated through kinematics, and finally the actual movement of the rope-driven flexible robot is corrected.
- Rope-driven flexible robots mostly have multiple degrees of freedom, such as movement in the left and right, front and back, and up and down directions, as well as the rotation of yaw, pitch, and roll.
- the rope-driven flexible robot is set by the number of driving ropes and multiple drives The coordination of the ropes realizes movement with multiple degrees of freedom.
- the test module 100 in order to measure the movement data of each driving rope, as shown in FIGS. 1 and 2, is provided with several measurement units, and each measurement unit detects the movement data of one driving rope 210.
- the rope-driven flexible robot is selected as a 6-DOF robot, there are 6 corresponding driving ropes 210, and 6 measuring units are set to measure the movement data of the driving rope 210.
- the measuring unit includes a sliding connection, which is connected to the driving rope 210, and the sliding connection includes a sliding guide 110 and a follower sliding block 111 slidably arranged on the sliding guide 110, the follower sliding block 111 and The driving rope 210 is connected, and it moves together on the sliding guide 110 along with the movement of the driving rope 210.
- the following sliding block 111 is provided with a wire trough 112, and the driving rope 210 slides through the follower through the wire trough 112
- Block 111, the side wall and/or bottom surface of the wire passing groove 112 are fixedly connected with the part of the driving rope 210 passing through the following sliding block 111, so that the following sliding block 111 moves along with the driving rope 210 at the same time.
- the displacement measuring unit 120 is connected to the following sliding block 111, and the displacement measuring unit 120 can detect the displacement of the following sliding block 111, and then characterizing the displacement change of the driving rope 210.
- the displacement measurement unit 120 is preferably an encoder, and the reading head of the encoder is connected to the following sliding block 111. While the following sliding block 111 slides, it drives the reading head of the encoder to move, thereby feedback of the following sliding The position of the block 111 after the movement further obtains the displacement change of the driving rope 210.
- the two ends of the sliding guide rail 110 are provided with limit blocks 113.
- the limit blocks 113 define the two limit positions of the follower slider 111 to prevent the follower slider 111 from sliding out of the range of the sliding guide 110. For this reason, the sliding The guide rail 110 is provided with a sufficient length, so that the length between the two limit blocks 113 is sufficient to simulate the displacement of the driving rope when the rope drives the flexible robot to move.
- the length between the two limit blocks 113 in the multiple measurement units can be set to be the same, or the length between the two limit blocks 113 in the multiple measurement units can be set to be different.
- the measuring unit also includes a front fixed pulley 130 and a rear fixed pulley 140.
- the front fixed pulley 130 is located between the flexible arm module and the sliding connection piece
- the rear fixed pulley 140 is located behind the sliding connection
- the pulleys 140 are located on the same straight line, and the drive rope 210 extending from the flexible arm module 200 passes through the front fixed pulley 130, the sliding connection piece, and the rear fixed pulley 140 in turn.
- a counterweight 150 is connected to the end of the drive rope 210, and passes through the counterweight.
- the block 150 is located in the tension of the driving rope 210 and simulates the external force received by the corresponding driving rope 210.
- the weight of the plurality of counterweights 150 may be the same or different.
- the flexible arm module 200 includes a number of flexible arms 220, and adjacent flexible arms 220 are connected by joints 230.
- the driving rope 210 passes through the plurality of flexible arms 220 and extends to the test module 100.
- the driving rope 210 is pulled Tension or relaxation drives the movement of several flexible arms 220, thereby generating movement in various degrees of freedom.
- a first shaft hole 221 and a second shaft hole 222 are provided at the junction of two adjacent flexible arms 220.
- the first shaft hole 221 and the second shaft hole 222 are perpendicular to each other, and the joint 230 passes through the first shaft hole.
- the shaft hole 221 and the second shaft hole 222 are hingedly connected to two adjacent flexible arms 220 so that the joint 230 can rotate around the axis of the first shaft hole 221 and the axis of the second shaft hole 222.
- the joint 230 includes a central block 231.
- the central block 231 is provided with a first through hole 232 and a second through hole 233.
- the first through hole 232 and the first shaft hole 221 are arranged coaxially, and the second through hole
- the hole 233 and the second shaft hole 222 are arranged coaxially.
- the joint 230 also includes a long rotating pin 234 and a pair of short rotating pins 235.
- the first through hole 232 and the first shaft hole 221 are connected by a long rotating pin 234, that is, a long rotating pin.
- the pin 234 passes through the first shaft hole 221 and the first through hole 232 so that the central block 231 can rotate around the axis of the long rotating pin 234.
- the second through hole 233 and the second shaft hole 222 are connected by a pair of short rotating pins 235, A pair of short rotation pins 235 are respectively inserted from both ends of the second shaft hole 222 and extend to the side surfaces of the long rotation pin 234 respectively.
- the end of the short rotating pin 235 is provided with a circular arc groove 236, and the contour of the circular arc groove 236 matches the shape of the side surface of the long rotating pin 234.
- the circular arc is attached to the side surface of the long rotation pin 234.
- a middle hole 237 is provided in the middle of the long rotating pin 234.
- the short rotating pin 235 penetrates the connecting hole 238 of the short rotating pin 235 in the axial direction, and passes through the connecting hole 238 of the short rotating pin 235 through the screw 239, and penetrates the long rotating pin 235.
- the middle hole 237 of the rotating pin 234 connects the long rotating pin 234 with the pair of short rotating pins 235 to ensure the stability and smoothness of the joint 230 movement.
- the movement of the flexible arm module 200 is mainly reflected in the rotation of the joint 230 to feed back the rotation angle of the joint 230.
- the long rotation pin 234 and the short rotation pin 235 are respectively connected with an angle measurement unit, and the field rotation pin 234 and short rotation are detected by the angle measurement unit.
- the rotation angle data of the pin 235 is mainly reflected in the rotation of the joint 230 to feed back the rotation angle of the joint 230.
- the angle measurement unit includes a magnetic ring 240 and a circuit control board 241.
- the magnetic ring 240 is electrically connected to the circuit control board 241.
- a shaft shoulder is provided at the ends of the long rotating pin 234 and the short rotating pin 235.
- the magnetic ring 240 The shaft shoulder is mounted on the long rotation pin 234 and the short rotation pin 235, and the circuit control board 241 is fixed on the joint 230 by screws.
- the flexible arm 220 adopts a modular design.
- a pair of ear seats 223 distributed at 180 degrees are provided at the end of the flexible arm 220, and a pair of ear seats 223 are provided with coaxial openings, which are the first shaft holes. 221 or the second shaft hole 222, two adjacent flexible arms 220 are installed 90 degrees apart, so that a first shaft hole 221 and a second shaft hole 220 are formed between the two flexible arms 220.
- the end of the flexible arm module 200 is provided with a base 250, and a guide wheel 251 is provided on the base 250.
- the number of the guide wheels 251 corresponds to the number of the driving rope 210.
- the guide wheels 251 are used to test the extension of the driving rope 210. The direction of the module 100 is guided.
- the motion module 300 includes a three-axis moving platform and a ball head 310.
- the three-axis moving platform can provide movement in three degrees of freedom, left and right, up and down, and forward and backward.
- the ball head 310 is slidably arranged to move in three axes.
- the ball joint rod 310 is hingedly connected with the flexible arm module 200, and is used to provide rotation in three degrees of freedom of roll, pitch, and yaw.
- the three-axis mobile platform includes a bottom support plate 320, a vertical support plate 321, and a horizontal support plate 322.
- the bottom support plate 320 is equipped with a first slide rail 323, and the vertical support plate 321 is slidably mounted on the first slide rail 323.
- the vertical support plate 321 is provided with a second slide rail 324
- the horizontal support plate 322 is slidably mounted on the second slide rail 324
- the horizontal support plate 322 is provided with a third slide rail 325
- the ball head 310 is slidably mounted. Installed on the third slide rail 325, the first slide rail 323, the second slide rail 324, and the third slide rail 325 are perpendicular to each other.
- an optical platform 400 is further included.
- the optical platform 400 provides a flat installation plane, and the motion module 300 and the test module 100 are installed on the optical platform 400.
- the above is the structure of the kinematics test system of the rope-driven robot according to the embodiment of the present invention.
- the weight of each counterweight is preselected, and the motion module is used to drive the movement of the flexible arm module.
- the displacement measurement unit and the angle The measuring unit detects the displacement change of the driving rope and the rotation angle of the joint, establishes the corresponding relationship between them, and compares the obtained data with the relationship between the joint and the driving rope in the kinematics of the rope-driven flexible robot And verification, so as to optimize the kinematics characteristics of the rope-driven flexible robot.
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Abstract
Description
Claims (14)
- 绳索驱动柔性机器人的运动学测试系统,其特征在于,包括柔性臂模块,所述柔性臂模块包括若干柔性臂、位于相邻两个所述柔性臂之间的关节以及穿过所述柔性臂的驱动绳索,所述关节连接有角度测量单元,所述角度测量单元能够检测所述关节的转动角度;运动模块,所述运动模块能够带动所述柔性臂模块运动;测试模块,所述测试模块包括配重块以及位移测量单元,所述配重块与所述驱动绳索连接,所述位移测量单元能够测量所述驱动绳索的位移量。
- 根据权利要求1所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述测试模块还包括滑动连接件,所述滑动连接件包括滑动导轨以及可滑动地设置于所述滑动导轨上的随动滑动块,所述随动滑动块与所述驱动绳索固定连接。
- 根据权利要求2所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述位移测量单元与所述随动滑块连接,以通过检测所述随动滑块的位移量得到所述驱动绳索的位移量。
- 根据权利要求3所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述滑动导轨的两端设有限位块。
- 根据权利要求4所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述测试模块还包括前定滑轮、后定滑轮,所述前定滑轮位于所述滑动连接件与所述柔性臂模块之间,所述后定滑轮位于所述滑动连接件与所述配重块之间,所述前定滑轮、所述滑动连接件与所述后定滑轮位于同一直线上。
- 根据权利要求5所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述柔性臂模块设有若干所述驱动绳索,所述测试模块包括与所述驱动绳索数量相等的测量单元,所述测量单元包括所述滑动连接件、所述前定滑轮、所述后定滑轮以及所述配重块。
- 根据权利要求1所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,相邻两个所述柔性臂的连接处设有第一轴孔、第二轴孔,所述第一轴孔与所述第二轴孔相互垂直。
- 根据权利要求7所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述关节包括中心块,所述中心块上设有与所述第一轴孔同轴线的第一通孔以及与所述第二轴孔同轴线的第二通孔,所述第一通孔与所述第一轴孔通过长转动销连接,所述第二通孔与所述第二轴孔通过一对短转动销连接。
- 根据权利要求8所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述短转动销的端面设有圆弧槽,所述圆弧槽能够与所述长转动销的侧表面贴合。
- 根据权利要求8所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述长转动销的中部设有中间孔,所述短转动销设有沿轴线方向设置的连接孔,一对所述短转动销的所述连接孔、所述中间孔同轴线设置,一对所述连接孔、所述中间孔通过螺钉连接。
- 根据权利要求10所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述长转动销、所述短转动销分别与所述角度测量单元连接。
- 根据权利要求1所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,若干所述柔性臂模块的末端设有导向轮,所述驱动绳索通过所述导向轮延伸至所述测试模块。
- 根据权利要求1所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,所述运动模块包括三轴移动平台以及球头杆,所述球头杆可滑动地设置于所述三轴移动平台上,所述柔性臂模块与所述球头杆铰接连接。
- 根据权利要求1至13中任一项所述的绳索驱动柔性机器人的运动学测试系统,其特征在于,还包括光学平台,所述运动模块与所述测试模块安装于所述光学平台上。
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CN201910345197.5A CN109955235B (zh) | 2019-04-26 | 2019-04-26 | 绳索驱动柔性机器人的运动学测试系统 |
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CN111993398A (zh) * | 2020-08-11 | 2020-11-27 | 哈尔滨工业大学(深圳) | 一种用于闭环绳驱柔性机械臂的测试装置 |
CN112917469B (zh) * | 2021-02-01 | 2022-08-05 | 哈尔滨工业大学(深圳) | 无外部传感器的绳驱柔性机械臂的末端力感知方法及装置 |
CN112917468B (zh) * | 2021-02-01 | 2022-08-05 | 哈尔滨工业大学(深圳) | 绳驱柔性机械臂的末端力感知方法及装置 |
CN113386118B (zh) * | 2021-06-23 | 2023-05-23 | 哈尔滨工业大学(深圳) | 用于绳驱机械臂实现电机转角到绳长正弦映射的驱动模块 |
CN114633252B (zh) * | 2022-03-21 | 2023-09-08 | 米科特医疗科技(苏州)有限公司 | 一种绳驱动关节预紧力调节装置 |
CN114714342B (zh) * | 2022-04-24 | 2024-01-30 | 哈尔滨工业大学(深圳) | 一种绳驱柔性臂驱动绳迟滞形变测定装置及其补偿控制方法 |
CN114918975B (zh) * | 2022-05-18 | 2023-05-23 | 哈尔滨工业大学(深圳) | 一种基于绳驱连续型机器人的高精度实验平台 |
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