CN102494910B - Performance testing apparatus suitable for flexible legged robot - Google Patents
Performance testing apparatus suitable for flexible legged robot Download PDFInfo
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- CN102494910B CN102494910B CN 201110390568 CN201110390568A CN102494910B CN 102494910 B CN102494910 B CN 102494910B CN 201110390568 CN201110390568 CN 201110390568 CN 201110390568 A CN201110390568 A CN 201110390568A CN 102494910 B CN102494910 B CN 102494910B
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Abstract
The invention discloses a performance testing apparatus suitable for a flexible legged robot. The apparatus comprises a motion transmission assembly (2), a rotation support assembly (3), a substrate (4), a support frame (6), and an image collector (5). The image collector (5) is installed on the support frame (6) that is installed a left end plate surface of the substrate (4); the rotation support assembly (3) is installed on a right end plate surface; connection between a right end of a hollow connection rod (21) of the motion transmission assembly (2) and a connecting rod (35G) of a T-shaped rack (35) of the rotation support assembly (3) is realized by cooperation of pins and pin holes; and a flange (23) of the motion transmission assembly (2) is connected with a robot body (12) of a flexible legged robot (1). According to the performance testing apparatus designed in the invention, three kinematic pairs are applied to realize decoupling of the mechanism; and performance measurementon the flexible legged robot (1) during a running motion process can be carried out conveniently.
Description
Technical field
The present invention relates to a kind of performance testing device that is applicable to flexible legged mobile robot.This performance testing device is with the motion of flexible legged mobile robot restriction in the plane, records the performance index such as jump height, running speed, energy efficiency of robot indirectly by three passive revolute pairs and high-speed camera head.
Background technology
The performance testing device of flexible legged mobile robot for improvement run (or jump) robot architecture, improve its energy efficiency and speed significant.
Flexible legged mobile robot refers to compliant mechanism (or unit) is introduced in the robot shank structure, utilize in flexible leg end and ground or the substrate contacts process, the elastic deformation that flexible leg produces stores strain energy, in the characteristic that liftoff instant discharges, realizes galloping fast.Therefore, this robot possesses certain obstacle climbing ability and higher energy efficiency.Thereby be widely used in field such as rescue and military surveillance after interspace detection, the calamity.Therefore, performance index such as the running speed of flexible legged mobile robot, jump height, energy efficiency are assessed have the important engineering meaning, be necessary to design a kind of proving installation and come these indexs of quantitative measurment.Based on this, the present invention proposes a kind of device for the above-mentioned performance index of the flexible robot leg of test.
Summary of the invention
The purpose of this invention is to provide a kind of performance testing device that is applicable to flexible legged mobile robot, this device is based on the resulting various parameters of flexible robot leg dynamic analysis model, design a kind of physical construction for checking this dynamic analysis model accuracy and test machine people performance, provide reference directly perceived for the design of flexible robot leg.Performance testing device of the present invention is only by (or the jump) test of running of the single flexible leg to flexible legged mobile robot, by the kinematic pair parameter (α that gathers, β, γ) merge structural parameters such as the shape that obtains the flexible legged mobile robot that will design, cross section parameter, material with image acquisition information to Effect on Performance, the model machine of having avoided traditional employing to design carries out performance test.
The present invention is a kind of performance testing device that is applicable to flexible legged mobile robot, and this device includes motion transmitting assembly 2, rotation supporting component 3, substrate 4, bracing frame 6 and image acquisition device 5; Image acquisition device 5 is installed on the bracing frame 6, and bracing frame 6 is installed on the first member plate face of substrate 4, and rotation supporting component 3 is installed on the right end plate face of substrate 4; The right-hand member of the hollow connecting link 21 of motion transmitting assembly 2 is realized being connected with the cooperation of pin-and-hole by pin with the connecting rod 35G of the T shape frame 35 of rotation supporting component 3; The flange 23 of motion transmitting assembly 2 is connected with the robot body 12 of flexible legged mobile robot 1.In order to make image acquisition device 5 can note (or jump) process of running of flexible legged mobile robot 1 fully, image acquisition device 5 guarantees on same connecting rod center line when mounted with motion transmitting assembly 2.
When the experimenter is raised to test height with flexible legged mobile robot 1, discharge flexible legged mobile robot 1 then; The experimenter opens flexible legged mobile robot 1 power switch and makes steering wheel 11 enter duty when discharging, and the motion of steering wheel 11 has driven flexible leg 13 swings; At this moment, flexible legged mobile robot 1 flexible leg end 14 under the effect of gravity collides with substrate 4 (perhaps ground), in collision process, flexible leg 13 compressed generation elastic deformations, and along with the stored strain energy that increases gradually of deflection also increases thereupon; Because the automatic recovery property of flexible leg 13, the stored elastic potential energy of flexible leg 13 is by abrupt release, generation is run (the perhaps jumping) motion of flexible legged mobile robot 1, thereby drive hollow connecting link 21, pitch axis 38 and turning axle 31 motions, so the motion of above-mentioned three parts is by three scrambler records.The performance testing device of the present invention's design is used the decoupling zero that three kinematic pairs are realized mechanism, is conducive to the performance measurement of flexible legged mobile robot 1 when running (perhaps jumping) motion; Flexible legged mobile robot 1 elastic potential energy by the abrupt release condition under, generation is run (perhaps jump) motion, this motion is gathered by first angular encoder 22, second angular encoder 33 and third angle degree scrambler 36 respectively, what described first angular encoder 22 was gathered is the angle that the first kinematic pair 1A rotates, what described second angular encoder 33 was gathered is the angle that the 3rd kinematic pair 1C rotates, and what described third angle degree scrambler 36 was gathered is the angle that the second kinematic pair 1B rotates; The motion of flexible legged mobile robot 1 will be reflected in the form of angular displacement on three angular encoders of performance testing device of the present invention.
A kind of performance testing device of flexible legged mobile robot that is applicable to of the present invention has following advantage: (1) replaces ball pivot with three orthogonal revolute pairs of rotation center, can obtain the kinematic parameter of decoupling zero each other easily, i.e. data such as the pitching of robot, jump height, pace; (2) directly three scramblers are arranged with corresponding rotating shaft conllinear, guaranteed the accurate collection of movement angle; (3) hollow connecting link (being constraining rod) is selected hollow glass fibre tubing for use, has reduced experimental provision self effectively to robot dynamics's Effect on Performance; Simple in structure, cost is low; (4) introduced the distortion that the high-speed camera head comes flexible leg in robot measurement and the collision on the ground process, rigidity and the energy storage characteristic of the flexible leg of convenient research.Because in this experimental provision, be connected by flange between robot and the proving installation, be easy to change.Therefore, can be applicable to the performance test of other robot of the type, have certain versatility.
Description of drawings
Fig. 1 is the structural drawing of the flexible legged mobile robot performance testing device of the present invention.
Figure 1A is the vertical view of the flexible legged mobile robot performance testing device of the present invention.
Fig. 2 is the structural drawing of motion transmitting assembly of the present invention.
Fig. 2 A is the cut-open view of flange in the motion transmitting assembly of the present invention.
Fig. 2 B is the assembling synoptic diagram of Coupling Shaft and bearing in the motion transmitting assembly of the present invention.
Fig. 3 is the structural drawing that the present invention rotates supporting component.
Fig. 3 A is the exploded view that the present invention rotates supporting component.
Fig. 4 is the kinematic relation synoptic diagram of the flexible legged mobile robot performance testing device of the present invention.
Number among the figure: 1. flexible robot leg; 11. steering wheel; 12. robot body; 13. flexible leg; 14. flexible leg end; 1A. first kinematic pair; 1B. second kinematic pair; 1C. the 3rd kinematic pair; 2. motion transmitting assembly; 21. hollow connecting link; 21A. central through hole; 21B.A pin-and-hole; 21C.B pin-and-hole; 21D.C pin-and-hole; 21E.D pin-and-hole; 21F.C pin; 21G.D pin; 22. first angular encoder; 23. flange; 23A. right boss; 23B. left boss; 23C. flange through hole; 23D. right bearing chamber; 23E. left bearing chamber; 24. Coupling Shaft; 24A. the shaft shoulder; 24B.E pin-and-hole; 24C.F pin-and-hole; 24D. thread segment; 25. third angle contact ball bearing; 26. the 4th angular contact ball bearing; 27. set nut; 3. rotation supporting component; 31. turning axle; 31A. first angular contact ball bearing; 31B. second angular contact ball bearing; 31C.E through hole; 32. sleeve; 32A. the 3rd bearing (ball) cover; 32B. pedestal; 33. second angular encoder; 34.U shape frame; 34A.A support arm; 34B.B support arm; 34C.B through hole; 34D.C through hole; 34E.D through hole; 34F. base plate; 35.T shape frame; 35A.A pin; 35B.B pin; 35C.A through hole; 35D.G pin-and-hole; 35E.H pin-and-hole; 35F.J pin-and-hole; 35G. connecting rod; 35H.T shape stand; 36. third angle degree scrambler; 37A. clutch shaft bearing end cap; 37B. second bearing (ball) cover; 38. pitch axis; 38A.A deep groove ball bearing; 38B.B deep groove ball bearing; 38C.E pin; 39. slotted nut; 39A. split pin; 4. substrate; 5. image acquisition device; 6. bracing frame.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1, Figure 1A, the present invention is a kind of performance testing device that is applicable to flexible legged mobile robot, and this device includes motion transmitting assembly 2, rotation supporting component 3, substrate 4, bracing frame 6 and image acquisition device 5; Image acquisition device 5 is installed on the bracing frame 6, and bracing frame 6 is installed on the first member plate face of substrate 4, and rotation supporting component 3 is installed on the right end plate face of substrate 4; The right-hand member of the hollow connecting link 21 of motion transmitting assembly 2 is realized being connected with the cooperation of pin-and-hole by pin with the connecting rod 35G of the T shape frame 35 of rotation supporting component 3; The flange 23 of motion transmitting assembly 2 is connected with the robot body 12 of flexible legged mobile robot 1.In order to make image acquisition device 5 can note (or jump) process of running of flexible legged mobile robot 1 fully, image acquisition device 5 guarantees on same connecting rod center line when mounted with motion transmitting assembly 2.
The shell-shaped deformation of flexible leg 13 when in the present invention, described image acquisition device 5 collides with substrate 4 for the flexible legged mobile robot 1 of collection (or jump) process of running at substrate 4; The flexible leg terminal 14 of flexible legged mobile robot 1 contacts with substrate 4.Image acquisition device 5 can be high-speed camera (as the Phantom V9.1 of Vision Research company or the GIGAVIEW of SVSI company or the FASTCAM-X 1280PCI high-speed camera of PHOTRON company).Bracing frame 6 can be 055CXPRO3 carbon fiber tripod or the golden clock tripod Sherpa 888R of manfrotto company.
(1) the motion transmitting assembly 2
Shown in Fig. 2, Fig. 2 A, Fig. 2 B, motion transmitting assembly 2 includes hollow connecting link 21, scrambler 22, flange 23, Coupling Shaft 24, A angular contact ball bearing 25, B angular contact ball bearing 26 and set nut 27; Described scrambler 22 is used for the hollow connecting link 21 of record and is carrying out the running during (or jump) performance test of flexible legged mobile robot 1, and steering wheel 11 rotates and drives the angle that hollow connecting link 21 turns over.
Hollow connecting link 21 is hollow long rod structure, and through hole 21A centered by its center, the right-hand member of its body of rod are provided with A pin-and-hole 21B, B pin-and-hole 21C, and the left end of its body of rod is provided with C pin-and-hole 21D, D pin-and-hole 21E; The right-hand member of hollow connecting link 21 is installed on the connecting rod 35G of T shape frame 35 of rotary support member 3, namely in the connecting rod 35G centering through hole 21A, is placed with in the A pin-and-hole 21B on hollow connecting link 21 right-hand members in A pin 35A, the B pin-and-hole 21C and is placed with B pin 35B; The right-hand member of hollow connecting link 21 has been realized and being connected of the T shape frame 35 of rotary support member 3 by pin and the cooperation of pin-and-hole, because T shape frame 35 is around pitch axis 38 motions, so when the flexible leg 13 of flexible legged mobile robot 1 was run (or jump) process at substrate 4 in, hollow connecting link 21 had been realized upper and lower motion and around the swing of T shape frame 35.The left end of hollow connecting link 21 is installed on the right-hand member of Coupling Shaft 24, and by C pin 21F is installed in C pin-and-hole 21D, D pin 21G is installed in D pin-and-hole 21E, and the left end of realizing hollow connecting link 21 is fixedlyed connected with the right-hand member of Coupling Shaft 24.
One end of flange 23 is right boss 23A, and the other end of flange 23 is left boss 23B, and the center of flange 23 is flange through hole 23C; Be provided with in the described flange through hole 23C for the right bearing chamber 23D that places A angular contact ball bearing 25, for the left bearing chamber 23E that places B angular contact ball bearing 26; The left boss 23B of flange 23 and 12 fixed installations of the robot body of flexible legged mobile robot 1.
Coupling Shaft 24 is provided with shaft shoulder 24A, thread segment 24D, E pin-and-hole 24B, F pin-and-hole 24C, and shaft shoulder 24A is divided into two ends, the left and right sides with Coupling Shaft 24, and namely the right-hand member of Coupling Shaft 24 is provided with E pin-and-hole 24B, F pin-and-hole 24C, and the left end end of Coupling Shaft 24 is provided with thread segment 24D; Described shaft shoulder 24A is used for the right-hand member of Coupling Shaft 24 and the radial location of hollow connecting link 21; Described thread segment 24D goes up thread bush and is connected to set nut 27; Be socketed with A angular contact ball bearing 25, B angular contact ball bearing 26 on the left end of described shaft shoulder 24A; Place C pin 21F in the described E pin-and-hole 24B; Place D pin 21G in the described F pin-and-hole 24C.
The assembly relation of motion transmitting assembly 2 is: earlier A angular contact ball bearing 25, B angular contact ball bearing 26 are installed in the flange through hole 23C of flange 23; Right end cap 23A at flange 23 installs scrambler 22 then; Install set nut 27 after then the thread end of Coupling Shaft 24 being passed scrambler 22, A angular contact ball bearing 25, B angular contact ball bearing 26 in turn; The right-hand member of last Coupling Shaft 24 is realized being connected of hollow connecting link 21 left ends by pin with the cooperation of pin-and-hole.
(2) rotation supporting component 3
Shown in Fig. 3, Fig. 3 A, rotation supporting component 3 includes second angular encoder 33, third angle degree scrambler 36, turning axle 31, sleeve 32, pedestal 32B, U-shaped frame 34, T shape frame 35, pitch axis 38, slotted nut 39; T shape frame 35 is installed on the U-shaped frame 34, the motion of T shape frame 35 drives pitch axis 38 motions, pitch axis 38 motion angle are by third angle degree scrambler 36 records, the rotation of U-shaped frame 34 has driven turning axle 31 and has done rotation on the circumferencial direction, and the angle that turning axle 31 turns over is by second angular encoder 33 records.
One end of T shape frame 35 is T shape stand 35H, and the other end is connecting rod 35G; Described T shape stand 35H is provided with A through hole 35C, J pin-and-hole 35F, and A through hole 35C is used for pitch axis 38 and passes, and passes J pin-and-hole 35F with E pin 38A and realize pitch axis 38 is fixed with T shape stand 35H; Described connecting rod 35G is provided with G pin-and-hole 35D, H pin-and-hole 35E, and G pin-and-hole 35D is used for A pin 35A and passes, and H pin-and-hole 35E is used for B pin 35B and passes.Connecting rod 35G realizes fixing with the right-hand member of hollow connecting link 21 by pin and cooperating of pin-and-hole.
The end, upper end of turning axle 31 is thread end, and described thread end is provided with E through hole 31C, and described E through hole 31C is used for split pin 39A and passes, and fixedlys connected with slotted nut 39 in realization turning axle 31 upper ends; Be socketed with the first angular contact ball bearing 31A, the second angular contact ball bearing 31B on the turning axle 31, being socketed with bearing has turning axle 31 to place in the sleeve 32, the upper end of sleeve 32 is equipped with the 3rd bearing (ball) cover 32A, the lower end of sleeve 32 is installed on the pedestal 32B, and pedestal 32B is fixed on the right end plate face of substrate 4.The top of the 3rd bearing (ball) cover 32A is equipped with second angular encoder, 33, the second angular encoders 33 and is used for the angle that record turning axle 31 turns over.
Referring to Fig. 1, Figure 1A, shown in Figure 4, a kind of performance testing device that is applicable to flexible legged mobile robot of the present invention's design, when original state, image acquisition device 5 and motion transmitting assembly 2 remain on the connecting rod center line; The experimenter is raised to test height H with flexible legged mobile robot 1
T(H
T=H+Lsin β), discharge flexible legged mobile robot 1 then; The experimenter opens flexible legged mobile robot 1 power switch and makes steering wheel 11 enter duty when discharging, and the motion of steering wheel 11 has driven flexible leg 13 swings; At this moment, flexible legged mobile robot 1 flexible leg end 14 under the effect of gravity collides with substrate 4 (perhaps ground), in collision process, flexible leg 13 compressed generation elastic deformations, and along with the stored strain energy that increases gradually of deflection also increases thereupon; Because the automatic recovery property of flexible leg 13, the stored elastic potential energy of flexible leg 13 is by abrupt release, generation is run (the perhaps jumping) motion of flexible legged mobile robot 1, thereby drive hollow connecting link 21, pitch axis 38 and turning axle 31 motions, the relative motion of hollow connecting link 21 1 ends and flange 23 (flexible legged mobile robot 1 is installed on the performance testing device of the present invention's design by flange 23) forms the first kinematic pair 1A, the relative motion of hollow connecting link 21 other ends and pitch axis 38 forms the second kinematic pair 1B, and pitch axis 38 forms the 3rd kinematic pair 1C with the relative motion of turning axle 31; The performance testing device of the present invention's design is used the decoupling zero that three kinematic pairs are realized mechanism, is conducive to the performance measurement of flexible legged mobile robot 1 when running (perhaps jumping) motion; Flexible legged mobile robot 1 elastic potential energy by the abrupt release condition under, generation is run (perhaps jump) motion, this motion is respectively by first angular encoder 22, second angular encoder 33 and third angle degree scrambler 36 are gathered, described first angular encoder 22 is gathered is that (the first corner α also is that flexible legged mobile robot 1 is around the hollow connecting link 21 passive angles that turn over to the first kinematic pair 1A angle [alpha] of rotating, α=0～360 °), described second angular encoder 33 is gathered is the angle γ that rotates of the 3rd kinematic pair 1C (method of three turning angles γ also is flexible legged mobile robot 1 angle that turning axle 31 passive swings turn over when running (perhaps jumping) motion), described third angle degree scrambler 36 is gathered is that (the second corner β also is that flexible legged mobile robot 1 is when running (perhaps jumping) motion to the angle beta that rotates of the second kinematic pair 1B, hollow connecting link 21 lifts, descend to drive the pitch axis 38 passive angles that turn over, β=0～180 °); The motion of flexible legged mobile robot 1 will be reflected in the form of angular displacement on three angular encoders of performance testing device of the present invention.
Referring to Fig. 1, shown in Figure 4, the a kind of of the present invention's design is applicable to that flexible legged mobile robot performance testing device has three rotational freedoms: namely first rotational freedom refers to that turning axle 31 rotates around the Z axle, and the angle of rotating also is the angle γ (γ is angle of circumference) that the 3rd kinematic pair 1C rotates; Second rotational freedom refers to that pitch axis 38 rotates around X-axis, and the angle of rotating also is the angle beta that rotates of the second kinematic pair 1B (β=0～180 °); Three-rotational-freedom refers to that hollow connecting link 21 rotates around Y-axis, and the angle of rotating also is the first kinematic pair 1A angle [alpha] of rotating (α=0～360 °).In order to make flexible robot leg realize plane motion as far as possible approx so that corresponding with parameters such as the running speed of theoretical analysis model, jump heights, then the height H of the length L of hollow connecting link 21 and turning axle 31 satisfies L 〉=5H.
Performance testing device of the present invention is only by (or the jump) test of running of the single flexible leg to flexible legged mobile robot, by the kinematic pair parameter (α that gathers, β, γ) merge structural parameters such as the shape that obtains the flexible legged mobile robot that will design, cross section parameter, material with image acquisition information to Effect on Performance, the model machine of having avoided traditional employing to design carries out performance test.
Claims (7)
1. performance testing device that is applicable to flexible legged mobile robot is characterized in that: this device includes motion transmitting assembly (2), rotation supporting component (3), substrate (4), bracing frame (6) and image acquisition device (5);
Motion transmitting assembly (2) includes hollow connecting link (21), scrambler (22), flange (23), Coupling Shaft (24), A angular contact ball bearing (25), B angular contact ball bearing (26) and set nut (27);
Hollow connecting link (21) is hollow long rod structure, and through hole centered by its center (21A), the right-hand member of its body of rod are provided with A pin-and-hole (21B), B pin-and-hole (21C), and the left end of its body of rod is provided with C pin-and-hole (21D), D pin-and-hole (21E); The right-hand member of hollow connecting link (21) is installed on the connecting rod (35G) of T shape frame (35) of rotary support member (3), is placed with in the A pin-and-hole (21B) on hollow connecting link (21) right-hand member in A pin (35A), the B pin-and-hole (21C) and is placed with B pin (35B); The left end of hollow connecting link (21) is installed on the right-hand member of Coupling Shaft (24), and by C pin (21F) is installed in C pin-and-hole (21D), D pin (21G) is installed in D pin-and-hole (21E), and the left end of realizing hollow connecting link (21) is fixedlyed connected with the right-hand member of Coupling Shaft (24);
One end of flange (23) is right boss (23A), and the other end of flange (23) is left boss (23B), and the center of flange (23) is flange through hole (23C); Be provided with in the described flange through hole (23C) for being provided with in the right bearing chamber (23D) of placing A angular contact ball bearing (25), the described flange through hole (23C) for the left bearing chamber (23E) of placing B angular contact ball bearing (26); The left boss (23B) of flange (23) and the fixed installation of the robot body (12) of flexible legged mobile robot (1);
Coupling Shaft (24) is provided with the shaft shoulder (24A), thread segment (24D), E pin-and-hole (24B), F pin-and-hole (24C), the shaft shoulder (24A) is divided into two ends, the left and right sides with Coupling Shaft (24), the right-hand member that is Coupling Shaft (24) is provided with E pin-and-hole (24B), F pin-and-hole (24C), and the left end end of Coupling Shaft (24) is provided with thread segment (24D); The described shaft shoulder (24A) is used for the right-hand member of Coupling Shaft (24) and the radial location of hollow connecting link (21); Described thread segment (24D) is gone up thread bush and is connected to set nut (27); Be socketed with A angular contact ball bearing (25), B angular contact ball bearing (26) on the left end of the described shaft shoulder (24A); Place C pin (21F) in the described E pin-and-hole (24B); Place D pin (21G) in the described F pin-and-hole (24C);
Rotation supporting component (3) includes second angular encoder (33), third angle degree scrambler (36), turning axle (31), sleeve (32), pedestal (32B), U-shaped frame (34), T shape frame (35), pitch axis (38), slotted nut (39); T shape frame (35) is installed on the U-shaped frame (34), the motion of T shape frame (35) drives pitch axis (38) motion, pitch axis (38) motion angle is by third angle degree scrambler (36) record, the rotation of U-shaped frame (34) has driven turning axle (31) and has done rotation on the circumferencial direction, and the angle that turning axle (31) turns over is by second angular encoder (33) record;
U-shaped frame (34) is provided with base plate (34F), A support arm (34A), B support arm (34B); Described base plate (34F) is provided with D through hole (34E), the thread end that this D through hole (34E) is used for turning axle (31) passes, and connect slotted nut (39) on the thread end, slotted nut (39) is realized fixed installation with the E through hole (31C) of turning axle (31) upper end by split pin (39A); Described A support arm (34A) is provided with B through hole (34C), and B through hole (34C) is used for placing A deep groove ball bearing (38A); Clutch shaft bearing end cap (37A) is installed in the outside of described A support arm (34A); Described B support arm (34B) is provided with C through hole (34D), and C through hole (34D) is used for placing B deep groove ball bearing (38B); Second bearing (ball) cover (37B) is installed in the outside of described B support arm (34B); Second bearing (ball) cover (37B) opposite side is installed third angle degree scrambler (36);
Pitch axis (38) is provided with axle bed, has through hole on the axle bed, and described through hole is used for E pin (38C) and passes, and is socketed with A deep groove ball bearing (38A) on the end of described axle bed, is socketed with B deep groove ball bearing (38B) on the other end of described axle bed; Pitch axis (38) is installed between the A support arm (34A) and B support arm (34B) of U-shaped frame (34);
One end of T shape frame (35) is T shape stand (35H), and the other end is connecting rod (35G); Described T shape stand (35H) is provided with A through hole (35C), J pin-and-hole (35F), and A through hole (35C) is used for pitch axis (38) and passes, and passes J pin-and-hole (35F) with E pin (38A) and realize pitch axis (38) and T shape stand (35H) fixing; Described connecting rod (35G) is provided with G pin-and-hole (35D), H pin-and-hole (35E), and G pin-and-hole (35D) is used for A pin (35A) and passes, and H pin-and-hole (35E) is used for B pin (35B) and passes; Connecting rod (35G) is realized fixing with the right-hand member of hollow connecting link (21) by pin and cooperating of pin-and-hole;
The end, upper end of turning axle 31 is thread end, and described thread end is provided with E through hole (31C), and described E through hole (31C) is used for split pin (39A) and passes, and fixedlys connected with slotted nut (39) in realization turning axle (31) upper end; Be socketed with first angular contact ball bearing (31A), second angular contact ball bearing (31B) on the turning axle (31), being socketed with bearing has turning axle (31) to place in the sleeve (32), the upper end of sleeve (32) is equipped with the 3rd bearing (ball) cover (32A), the lower end of sleeve (32) is installed on the pedestal (32B), and pedestal (32B) is fixed on the right end plate face of substrate (4); The top of the 3rd bearing (ball) cover (32A) is equipped with second angular encoder (33), and second angular encoder (33) is used for the angle that record turning axle (31) turns over;
Image acquisition device (5) is installed on the bracing frame (6), and bracing frame (6) is installed on the first member plate face of substrate (4), and rotation supporting component (3) is installed on the right end plate face of substrate (4); The right-hand member of the hollow connecting link (21) of motion transmitting assembly (2) is realized being connected with the cooperation of pin-and-hole by pin with the connecting rod (35G) of the T shape frame (35) of rotation supporting component (3); The flange (23) of motion transmitting assembly (2) is connected with the robot body (12) of flexible legged mobile robot (1); In order to make image acquisition device (5) can note the process of running of flexible legged mobile robot (1) fully, image acquisition device (5) guarantees on same connecting rod center line when mounted with motion transmitting assembly (2).
2. the performance testing device that is applicable to flexible legged mobile robot according to claim 1 is characterized in that: described image acquisition device (5) is used for gathering the shell-shaped deformation of flexible legged mobile robot (1) flexibility leg (13) when substrate (4) process of running collide with substrate (4); The flexible leg end (14) of flexible legged mobile robot (1) contacts with substrate (4).
3. the performance testing device that is applicable to flexible legged mobile robot according to claim 1, it is characterized in that: the experimenter is raised to test height H with flexible legged mobile robot (1)
T, discharge flexible legged mobile robot (1) then; The experimenter opens flexible legged mobile robot (1) power switch and makes steering wheel (11) enter duty when discharging, and the motion of steering wheel (11) has driven flexible leg (13) swing; At this moment, flexible legged mobile robot (1) flexible leg end (14) under the effect of gravity collides with substrate (4) (perhaps ground), in collision process, the compressed generation elastic deformation of flexible leg (13), and along with the stored strain energy that increases gradually of deflection also increases thereupon; Because the automatic recovery property of flexible leg (13), the stored elastic potential energy of flexible leg (13) is by abrupt release, and flexible legged mobile robot (1) moves the generation motion of running thereby drive hollow connecting link (21), pitch axis (38) and turning axle (31).
4. the performance testing device that is applicable to flexible legged mobile robot according to claim 1, it is characterized in that: the relative motion of hollow connecting link (21) one ends and flange (23) forms first kinematic pair (1A), the relative motion of hollow connecting link (21) other end and pitch axis (38) forms second kinematic pair (1B), and pitch axis (38) forms the 3rd kinematic pair (1C) with the relative motion of turning axle (31).
5. according to claim 1 or the 4 described performance testing devices that are applicable to flexible legged mobile robot, it is characterized in that: what described first angular encoder (22) was gathered is the angle [alpha] that first kinematic pair (1A) rotates, that described second angular encoder (33) is gathered is the angle γ that the 3rd kinematic pair 1C rotates, and what described third angle degree scrambler (36) was gathered is the angle beta that the second kinematic pair 1B rotates.
6. the performance testing device that is applicable to flexible legged mobile robot according to claim 1, it is characterized in that: the height H of the length L of hollow connecting link (21) and turning axle (31) satisfies L 〉=5H.
7. the performance testing device that is applicable to flexible legged mobile robot according to claim 1 is characterized in that: the test height H that flexible legged mobile robot (1) is lifted
TThe angle beta that turns over pitch axis (38) satisfies H
T=H+Lsin β.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110390568 CN102494910B (en) | 2011-11-30 | 2011-11-30 | Performance testing apparatus suitable for flexible legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110390568 CN102494910B (en) | 2011-11-30 | 2011-11-30 | Performance testing apparatus suitable for flexible legged robot |
Publications (2)
| Publication Number | Publication Date |
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| CN102494910A CN102494910A (en) | 2012-06-13 |
| CN102494910B true CN102494910B (en) | 2013-09-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107505112A (en) * | 2017-06-21 | 2017-12-22 | 吉利汽车研究院（宁波）有限公司 | A kind of flexible leg reverse impact caliberating device and method |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105652896B (en) * | 2015-12-22 | 2018-07-06 | 哈尔滨工业大学 | A kind of turntable for legged type robot exercise testing |
| CN106644501B (en) * | 2016-09-19 | 2020-07-24 | 浙江吉利控股集团有限公司 | Flexible leg launching adjusting mechanism |
| CN106584470A (en) * | 2016-11-08 | 2017-04-26 | 杭州国辰机器人科技有限公司 | Novel wrist structure for spraying demonstration mechanism |
| CN106826818B (en) * | 2017-01-12 | 2024-06-07 | 杭州国辰机器人科技有限公司 | Wrist mechanism of teaching equipment |
| CN106989909B (en) * | 2017-04-26 | 2019-03-29 | 中国人民解放军国防科学技术大学 | A kind of walking mechanism handling capacity test platform for mobile robot |
| CN109965949B (en) * | 2019-03-29 | 2024-02-13 | 南京航空航天大学 | Six-degree-of-freedom needling robot used in magnetic resonance imaging instrument |
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| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
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| EP1464454A1 (en) * | 2001-11-09 | 2004-10-06 | Honda Giken Kogyo Kabushiki Kaisha | Leg joint assist device for leg type movable robot |
| CN101927497A (en) * | 2010-07-30 | 2010-12-29 | 华南理工大学 | Rotating and swinging joint module of robot of single degree of freedom |
| CN102078228A (en) * | 2010-12-30 | 2011-06-01 | 霍启英 | Intelligent mechanical leg |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107505112A (en) * | 2017-06-21 | 2017-12-22 | 吉利汽车研究院（宁波）有限公司 | A kind of flexible leg reverse impact caliberating device and method |
| CN107505112B (en) * | 2017-06-21 | 2019-06-25 | 吉利汽车研究院（宁波）有限公司 | A kind of flexible leg reverse impact caliberating device and method |
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| CN102494910A (en) | 2012-06-13 |
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