CN102841602A - Robot single-leg assembly control development performance test platform and method - Google Patents
Robot single-leg assembly control development performance test platform and method Download PDFInfo
- Publication number
- CN102841602A CN102841602A CN2012103553040A CN201210355304A CN102841602A CN 102841602 A CN102841602 A CN 102841602A CN 2012103553040 A CN2012103553040 A CN 2012103553040A CN 201210355304 A CN201210355304 A CN 201210355304A CN 102841602 A CN102841602 A CN 102841602A
- Authority
- CN
- China
- Prior art keywords
- robot
- bracing frame
- moves
- leg
- gate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a robot single-leg assembly control development performance test platform and method. The platform comprises a gantry three-coordinate mechanical arm assembly, a robot leg connection bracket, a Stewart platform, a six-dimensional force sensor, a robot single-leg assembly and a five-dimensional force measurement platform, wherein a servo controller and a displacement sensor are integrated in the Stewart platform; the Stewart platform is invertedly arranged on a base of the robot leg bracket; the five-dimensional force measurement platform is arranged at the center of the ground below the robot single-leg assembly; and the robot leg connection bracket is fixed on a Z-axis-direction mobile supporting frame assembly of the gantry three-coordinate mechanical arm assembly. The test platform is suitable for single-leg movement and quick gait control during bionic gait generation of a four-foot or multi-foot hydraulic driving robot as well as development and research on multiple control strategies for robot load distribution, control force distribution, single-leg force feedback control and 'discrete gait and continuous force control' attitude stabilization control.
Description
Technical field
The present invention relates to the testing apparatus of a kind of robot essential elements, relate in particular to a kind of robot list leg assembly control exploitation performance test platform and method.
Background technology
The leg biped robot is the NLS of a SP-highly branched chain, becomes when its parameter is strong.When dynamic walking, the quiet instability of robot, the terrain information that obtains exists uncertain.Unstability very easily when moving gait rapid movement, landform change and receive foreign impacts.How to realize that the attitude stabilization of robot under above-mentioned situation is the success or failure point of four-leg bionic robot development.To interactive moment property in robot-ground and the uncertain characteristics that are used for the computer vision information of reciprocation research; In conjunction with the adaptability requirement of robot to complex environment; The present invention proposes a kind of robot list leg assembly control exploitation performance test platform first; This test platform be applicable to the bionical gait of four-footed or polypody hydraulic-driven machine people generate in single leg motion and gait control fast, and the exploitation and the research of multinomial control strategies such as robot load distribution, control distributions, single leg strength FEEDBACK CONTROL, " discrete gait+continuous force is controlled " attitude stabilization control.
Chinese patent document CN102556197A discloses " a kind of polypody walking robot list leg experiment porch ", and this list leg experiment porch is made up of single leg experiment porch basic machine and single leg experiment porch control system.Single leg experiment porch basic machine comprises single leg experiment porch framework, walking robot list leg and experiment porch arrangement for adjusting height.Single leg experiment porch framework is made up of fixed support, sliding stand and sensor installing plate group.Experiment porch height manual adjustments.Two height sensors and a horizontal displacement sensors are installed on the experiment porch framework relative position of robot measurement leg and experiment porch framework.Force transducer is installed on the robot shank, is used to measure the acting force between walking robot list leg and the ground.The rotational angle of each joint servo motor of scrambler robot measurement leg.This list leg experiment porch can obtain the height of experiment porch, the height change curve of walking robot list leg buttocks in traveling process, the movement velocity of walking robot list leg.Can obtain the acting force between robot list leg and the ground; Because each joint servo motor power output of robot does not have respective sensor to measure; So this experiment porch can only be realized the research of robot location's control strategy, and do the debugging research of the impedance Control on basis with position control system based on the vola force feedback.This experiment porch can not be realized the simulation to landform, can not be used to study the exploitation and the research of multinomial control strategies such as robot load distribution, control distribution, " discrete gait+continuous force control " attitude stabilization control.
When Chinese patent document CN202188963U disclosed " a kind of legged type robot locomotor activity test unit " use, through controlling the rotation of each motor, bracing frame can be made pitching deflection and roll deflection simultaneously.Rotating mechanism is fixed on the bracing frame, also can make pitching deflection and roll deflection, realizes the simulation to full landform.This legged type robot locomotor activity test unit only is applicable to the terrain simulation of robot overall test.The mutual of robot and ground can not be directly portrayed, robot list leg test can not be used for.
Summary of the invention
The object of the invention is exactly in order to address the above problem; To interactive moment property in robot-ground and the uncertain characteristics that are used for the computer vision information of reciprocation research; In conjunction with the adaptability requirement of robot to complex environment; A kind of robot list leg assembly control exploitation performance test platform and method are provided; This test platform be applicable to the bionical gait of four-footed or polypody hydraulic-driven machine people generate in single leg motion and gait control fast, and the exploitation and the research of multinomial control strategies such as robot load distribution, control distributions, single leg strength FEEDBACK CONTROL, " discrete gait+continuous force is controlled " attitude stabilization control.
To achieve these goals, the present invention adopts following technical scheme:
A kind of robot list leg assembly control exploitation performance test platform comprises that a gate-type three-dimensional machinery arm assembly, a robot leg connect support, a Stewart platform, a six-dimension force sensor, five dimension force plate/platforms; Said gate-type three-dimensional machinery arm assembly comprises gate-type bracing frame column, gate-type bracing frame crossbeam, gate-type bracing frame first base, gate-type bracing frame second base, gate-type bracing frame first journal stirrup, gate-type bracing frame second journal stirrup; Said gate-type three-dimensional machinery arm assembly is arranged on the X-direction line slideway; Said robot leg connection support is arranged on the gate-type bracing frame crossbeam of gate-type three-dimensional machinery arm assembly; Said Stewart platform is inverted and is installed on the base of robot leg support; Said six-dimension force sensor is installed between Stewart platform lower surface and the robot list leg assembly, and robot list leg assembly below be to install five on the ground at center to tie up force plate/platforms.
The inner integrated servo controller of said Stewart platform, displacement transducer; Said Stewart platform can provide the space six-freedom motion, and said robot leg connects support and moves on the bracing frame assembly through the Z-direction that robot leg connection support is fixed on gate-type three-dimensional machinery arm assembly.
Said gate-type three-dimensional machinery arm assembly comprises that an X-direction moves the bracing frame assembly; A Y direction moves the bracing frame assembly, and a Z-direction moves the bracing frame assembly, first servomotor; Second servomotor; The 3rd servomotor, the 4th servomotor, said first, second, third, fourth servomotor all are to carry mounting flange, inner integrated encoder; First servomotor is fixed on gate-type bracing frame second journal stirrup that is connected with gate-type bracing frame second base; The 4th servomotor is fixed on gate-type bracing frame first journal stirrup that is connected with gate-type bracing frame first base; Gate-type bracing frame first base is fixed on two X-direction moving sliders, and second base is fixed on two other X-direction moving slider.Each base connects through screw with two corresponding slide blocks.
Said X-direction moves the bracing frame assembly and comprises that two X-directions move the bracing frame base, two X-direction line slideways, four X-direction moving sliders, two straight-tooth gears, two spur racks; It is parallel that two X-directions that said X-direction moves the bracing frame assembly move the bracing frame base; Be separately fixed on the ground; Two X-direction line slideways are separately fixed at two X-directions and move on the bracing frame base; Two X-direction moving sliders that cooperate are with it arranged on the every X-direction line slideway; Two spur racks are parallel with two X-direction line slideways respectively, also are fixed on X-direction and move on the bracing frame base, link to each other with the 4th servomotor with first servomotor respectively with the straight-tooth gear of tooth bar engagement.
Said Y direction moves the bracing frame assembly and comprises gate-type bracing frame first base; Be provided for supporting gate-type bracing frame first journal stirrup of first servomotor on gate-type bracing frame first base, gate-type bracing frame second base is provided for supporting gate-type bracing frame second journal stirrup of the 4th servomotor on gate-type bracing frame second base; Two gate-type bracing frame columns; Two gate-type bracing frame crossbeams, a Y direction moves shaft coupling, and a Y direction moves leading screw; Four Y direction moving sliders, two X-direction line slideways; Said two Y direction line slideways are separately fixed on two gate-type bracing frame crossbeams, and two Y direction moving sliders that cooperate are with it arranged on the every line slideway; Second servomotor is installed on the gate-type bracing frame column through ring flange.Y direction moves leading screw and moves shaft coupling with second servomotor through Y direction and be connected, and passes to be fixed on Z-direction and to move the corresponding nut of Y direction leading screw on the bracing frame base.
Said Z-direction moves the bracing frame assembly and comprises; A Z-direction moves the bracing frame base, two Z-direction line slideways, four Z-direction moving sliders; One the 3rd servomotor bracing frame; A Z-direction moves shaft coupling, a Z-direction leading screw, the nut that the Y direction leading screw is corresponding; Said Z-direction moves that moving slider is connected through screw on bracing frame base and four Y directions; Two Z-direction line slideways are fixed on Z-direction and move on the bracing frame base, and two Z-direction moving sliders are arranged on the every Z-direction line slideway; The 3rd servomotor is fixed on the 3rd servomotor bracing frame through ring flange; Z-direction moves leading screw and moves shaft coupling with the 3rd servomotor through Z-direction and be connected, and passes the corresponding nut of Z-direction leading screw that is fixed on robot leg cradle back up pad.Robot leg connects the cradle back up pad and is fixed on four Z-direction moving sliders.
Said robot leg connects support and comprises, a robot leg connects bracket base, and a robot leg connects the cradle back up pad, the nut that the Z-direction leading screw is corresponding; Said robot leg connection bracket base is connected the cradle back up pad with robot leg vertical.
Said robot list leg assembly comprises, the buttocks of a robot leg link, a robot list leg, a robot thigh, a robot shank, a buttocks hydraulic servo driver, a thigh hydraulic servo driver, a shank hydraulic servo driver; Be connected through buttocks hydraulic servo driver between the buttocks of said robot list leg link and robot list leg; Be connected through thigh hydraulic servo driver between the buttocks of said robot list leg and the robot thigh, connect through shank hydraulic servo driver between said robot thigh and the robot shank.
Said hydraulic servo driver comprises, a piston rod, a force transducer, a linear movement pick-up, an electrohydraulic servo valve, a hydraulic cylinder; On the said linear movement pick-up hydraulic cylinder is set, electrohydraulic servo valve is set on the hydraulic cylinder, connect through piston rod between hydraulic cylinder and the force transducer.
The method of testing that said robot list leg assembly control exploitation performance test platform is adopted is that the output shaft of gate-type three-dimensional machinery arm assembly first servomotor and the 4th servomotor drives coupled straight-tooth gear respectively and is fixed on X-direction and moves spur rack engaged transmission on the bracing frame base; Wherein, First servomotor and the 4th servomotor are synchronous; Servomotor scrambler metrical information passes to servo controller, forms robot list leg assembly, X-direction motion closed-loop control.
When first servomotor was asynchronous with the 4th servomotor, gate-type bracing frame crossbeam received shearing force, and experiment porch is stressed unreasonable.The Y direction that drives the second servomotor output shaft moves shaft coupling, the rotation of Y direction leading screw; The Z-direction that drives the nut corresponding with the Y direction leading screw moves bracing frame assembly, robot leg connection support, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Y direction.The second servomotor scrambler metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control.
The Z-direction that drives the 3rd servomotor output shaft moves shaft coupling, the rotation of Z-direction leading screw, and the nut corresponding with the Z-direction leading screw drives robot leg link, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Z-direction.The 3rd servomotor scrambler metrical information passes to servo controller, forms the robot leg assembly, Z-direction motion closed-loop control.
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly, the movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to the robot leg assembly via Stewart platform, six-dimension force sensor.
Stewart platform simulation robot trunk is distributed to the posture information of robot list leg assembly; Pass to the robot leg assembly via six-dimension force sensor; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Stewart platform displacement sensor information, each servo-driver displacement sensor information of robot leg and five dimension force plate/platform metrical informations feed back to servo-control system; Carry out location-based impedance Control, the perhaps debugging of PD control strategy research.
Stewart platform simulation robot trunk is distributed to the power and the attitude information of robot list leg assembly; Pass to robot list leg assembly via six-dimension force sensor; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Six-dimension force sensor metrical information, each servo-driver force sensor measuring information of robot leg and five dimension force plate/platform metrical informations feed back to servo-control system, carry out the power control based on model.Perhaps combine Stewart platform displacement sensor information, servo-driver displacement sensor information is carried out the research that control is mixed in the power position.
Advantage of the present invention:
(1) the robot list leg assembly control exploitation performance test platform that proposes of the present invention utilizes the motion of four driven by servomotor gate-type three-dimensionals machinery arms, the motion of dummy robot's trunk, and this movable information passed to the robot leg assembly.
(2) the robot list leg assembly control exploitation performance test platform of the present invention's proposition does not directly make up ground, but passes through the control of trunk pose, terrestrial information has been dissolved in the control of robot list leg assembly.
(3) according to different test objective design control strategies; Realize four-footed or multi-foot robot bionic gait generate in single leg motion and gait control test fast, and tests such as robot load distribution, control distributions, single leg strength FEEDBACK CONTROL, " discrete gait+continuous force is controlled " attitude stabilization control.For the robot bionic gait planning, dynamically the research of control, hydraulic pressure leg legged type robot kinematics and mechanical property evaluation method provides research technique.
Description of drawings
Fig. 1 is a robot list leg assembly control exploitation performance test platform synoptic diagram;
Fig. 2 is a gate-type three-dimensional machinery arm assembly synoptic diagram;
Fig. 3 moves bracing frame assembly synoptic diagram for gate-type three-dimensional machinery arm X-direction;
Fig. 4 moves bracing frame assembly synoptic diagram for gate-type three-dimensional machinery arm Y direction;
Fig. 5 moves bracing frame assembly synoptic diagram for gate-type three-dimensional machinery arm Z-direction;
Fig. 6 is a robot leg bracing frame synoptic diagram;
Fig. 7 is a robot list leg assembly synoptic diagram;
Fig. 8 is a robot of the present invention list leg assembly hydraulic servo oil cylinder synoptic diagram.
Among the figure: 1. gate-type three-dimensional machinery arm assembly, 2. robot leg connects support, 3.Stewart platform, 4. six-dimension force sensor, 5. robot list leg assembly; 6. five tie up force plate/platforms, the 7.X direction of principal axis moves the bracing frame assembly, 8. first servomotor, 9. second servomotor, 10. the 3rd servomotor; 11.Z direction of principal axis moves the bracing frame assembly, the 12.Y direction of principal axis moves the bracing frame assembly, 13. the 4th servomotors, and the 14.X direction of principal axis moves the bracing frame base, 15.X direction of principal axis line slideway; 16.X the direction of principal axis moving slider, 17. straight-tooth gears, 18. spur racks, 19. gate-type bracing frames, first journal stirrup, 20. gate-type bracing frames, first base; 21. gate-type bracing frame second base, 22. gate-type bracing frames, second journal stirrup, 23. gate-type bracing frame columns, the 24.Y direction of principal axis moves shaft coupling; 25.Y to mobile leading screw, 26.Y direction of principal axis moving slider, 27. gate-type bracing frame crossbeams, 28.Y direction of principal axis line slideway; 29.Z the direction of principal axis line slideway, 30.Z direction of principal axis moving slider, 31. the 3rd servomotor bracing frames, the 32.Z direction of principal axis moves shaft coupling; 33.Z direction of principal axis moves leading screw, the nut that 34.Y direction of principal axis leading screw is corresponding, and the 35.Z direction of principal axis moves the bracing frame base, and 36. robot legs connect bracket base; 37. robot leg connects the cradle back up pad, the nut 39. shank hydraulic servo drivers that 38.Z direction of principal axis leading screw is corresponding, 40. thigh hydraulic servo drivers, 41. buttocks hydraulic servo drivers; 42. robot list leg link, the buttocks of 43. robot list legs, 44. robot thighs, 45. robot shanks; 46. force transducer, 47. piston rods, 48. linear movement pick-ups, 49. electrohydraulic servo valves.50. hydraulic cylinder.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
A kind of robot list leg assembly control exploitation performance test platform comprises; Gate-type three-dimensional machinery arm assembly 1, robot leg connect support 2, Stewart platform 3 (inner integrated servo-driver, displacement transducer), six-dimension force sensor 4, robot list leg assembly 5, five dimension force plate/platforms 6.
Said gate-type three-dimensional machinery arm assembly 1 comprises that an X-direction moves 7, one Y directions of bracing frame assembly and moves bracing frame assembly 12; A Z-direction moves bracing frame assembly 11, the first servomotors 8 (carrying mounting flange, inner integrated encoder); Second servomotor 9 (carries mounting flange; Inner integrated encoder), the 3rd servomotor 10 (carrying mounting flange, inner integrated encoder); The 4th servomotor 13 (carrying mounting flange, inner integrated encoder).
Said X-direction moves bracing frame assembly 7 and comprises, two X-directions move 17, two spur racks 18 of 16, two straight-tooth gears of 15, four X-direction moving sliders of 14, two X-direction line slideways of bracing frame base.
Said Y direction moves bracing frame assembly 12 and comprises, gate-type bracing frame first base 20 is provided with gate-type bracing frame first journal stirrup 19 on gate-type bracing frame first base 20; Gate-type bracing frame second base 21 is provided with gate-type bracing frame second journal stirrup 22 on gate-type bracing frame second base 21, two columns 23 of gate-type bracing frame; 27, one Y directions of two gate-type bracing frame crossbeams move 24, one Y direction leading screws 25 of shaft coupling; 26, two Y direction line slideways 28 of four Y direction moving sliders.
Said Z-direction moves bracing frame assembly 11 and comprises; A Z-direction moves 29, four Z-direction moving sliders 30 of 35, two Z-direction line slideways of bracing frame base; One the 3rd servomotor bracing frame 31; A Z-direction moves 32, one Z-directions of shaft coupling and moves the corresponding nut 34 of 33, one Y direction leading screws of leading screw.
Said robot leg connects support 2 and comprises, a robot leg connects 36, one robot legs of bracket base and connects the corresponding nut 38 of 37, one Z-direction leading screws of cradle back up pad.
Said robot list leg assembly 5 comprises, the buttocks of robot leg list leg link 42, a robot list leg 43, robot thigh 44, robot shank 45, buttocks hydraulic servo driver 41, thigh hydraulic servo driver 40, a shank hydraulic servo driver 39.
Said hydraulic servo driver comprises, piston rod 47, force transducer 46,49, one hydraulic cylinders 50 of 48, one electrohydraulic servo valves of linear movement pick-up.
It is parallel that two X-directions of gate-type three-dimensional machinery arm 1 move bracing frame base 14, is separately fixed on the ground, and two X-direction line slideways 15 are separately fixed at two X-directions and move on the bracing frame base 14.Two X-direction moving sliders 16 that cooperate are with it arranged on the every X-direction line slideway 15.Two spur racks 18 are parallel with two X-direction line slideways 15 respectively, also are fixed on X-direction and move on the bracing frame base 14.Link to each other with the 4th servomotor 13 with first servomotor 8 respectively with the straight-tooth gear 17 of spur rack 18 engagements; First servomotor 8 is fixed on gate-type bracing frame second journal stirrup 22; The 4th servomotor 13 is fixed on gate-type bracing frame first journal stirrup 19; The X-direction of gate-type three-dimensional machinery arm assembly 1 moves bracing frame base 20 and is fixed on two X-direction moving sliders 16, and gate-type bracing frame second base 21 is fixed on two other X-direction moving slider 16 that X-direction moves.Each gate-type bracing frame base connects through screw with two corresponding moving sliders.
Two line slideways 28 of Y direction are separately fixed on two gate-type bracing frame crossbeams 27.Two Y direction moving sliders 26 that cooperate are with it arranged on the every Y direction line slideway 28.Second servomotor 9 is installed on the gate-type bracing frame column 23 through ring flange.Y direction moves leading screw 25 and moves shaft coupling 24 with second servomotor 9 through Y direction and be connected, and passes to be fixed on Z-direction and to move the corresponding nut 34 of Y direction leading screw on the bracing frame base 35.Z-direction moves bracing frame base 35 and four Z-direction moving sliders 30 and is connected through screw.Two Z-direction line slideways 29 are fixed on Z-direction and move on the bracing frame base 35, and two Z-direction moving sliders 30 are arranged on the every Z-direction line slideway 29.The 3rd servomotor 10 is fixed on the 3rd servomotor bracing frame 31 through ring flange.Z-direction moves leading screw 33 and moves shaft coupling 32 with the 3rd servomotor 10 through Z-direction and be connected, and passes to be fixed on the corresponding nut 38 of Z-direction leading screw that robot leg connects cradle back up pad 37.Robot leg connects cradle back up pad 37 and is fixed on four Z-direction moving sliders 30.Can provide Stewart platform 3 inversions of space six-freedom motion to be installed on the robot leg bracket base 36.Six-dimension force sensor 4 is installed between Stewart platform 3 upper surfaces and the robot list leg link 42.Robot list leg assembly 5 belows are that five dimension force plate/platforms 6 are installed on the ground at center.
When robot list leg assembly control exploitation performance test platform is worked; Gate-type three-dimensional machinery arm assembly 1 first servomotor 8 and the 4th servomotor 13 drive output shaft and drive coupled straight-tooth gear 17 respectively and be fixed on X-direction and move spur rack 18 engaged transmission on the bracing frame base 14; Wherein, First servomotor 8 and the 4th servomotor 13 are synchronous, and servomotor scrambler metrical information passes to servo controller, form the X-direction motion closed-loop control of robot list leg assembly 5.
When first servomotor 8 was asynchronous with the 4th servomotor 13, gate-type bracing frame crossbeam 27 received shearing force, and experiment porch is stressed unreasonable.Second servomotor, 9 output shafts drive Y direction moves shaft coupling 24, Y direction moves leading screw 25; The Z-direction that drives the nut 34 corresponding with the Y direction leading screw moves bracing frame assembly 11, robot leg connection support 2, Stewart platform 3, six-dimension force sensor 4, the single leg assembly 5 of machine, moves along Y direction.The second servomotor scrambler metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control.
The Z-direction that drives the 3rd servomotor 10 output shafts moves shaft coupling 32, Z-direction moves leading screw 33 and rotates, and moves the corresponding nut 38 of Z-direction leading screw that leading screw 33 cooperates with Z-direction and drives the single leg assembly of robot legs connection supports 2, Stewart platform 3, six-dimension force sensor 4, machine 5 and move along Z-direction.The scrambler metrical information of the 3rd servomotor 10 passes to servo controller, forms the Z-direction motion closed-loop control of robot leg assembly 5.
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly 1; The movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to robot list leg assembly 5 via Stewart platform 3, six-dimension force sensor 4.
Stewart platform 3 dummy robot's trunks are distributed to the posture information of robot list leg assembly 5; Pass to robot leg assembly 5 via six-dimension force sensor 4; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Linear movement pick-up 48 metrical informations of Stewart platform 3 displacement sensor information, each servo-driver of robot leg and five dimension force plate/platforms, 6 metrical informations feed back to servo-control system; Carry out location-based impedance Control, the perhaps debugging of PD control strategy research.
Stewart platform 3 dummy robot's trunks are distributed to the power and the attitude information of robot list leg assembly 5; Pass to robot leg assembly 5 via six-dimension force sensor 4; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Six-dimension force sensor metrical information 4, each servo-driver force transducer 46 metrical information of robot leg and five dimension force plate/platforms, 6 metrical informations feed back to servo-control system, carry out the power control based on model.Perhaps combine Stewart platform 3 displacement sensor information, servo-driver displacement transducer 48 metrical informations are carried out the research that control is mixed in the power position.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection domain of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (9)
1. a robot list leg assembly control exploitation performance test platform is characterized in that, comprises that a gate-type three-dimensional machinery arm assembly, a robot leg connect support, a Stewart platform, a six-dimension force sensor, five dimension force plate/platforms; Said robot leg connects support and is slidingly arranged on the gate-type three-dimensional machinery arm assembly; Said Stewart platform is inverted on the base lower surface that is installed in robot leg connection support; Said six-dimension force sensor is installed on the Stewart platform lower surface, be equipped with on the corresponding ground of six-dimension force sensor five the dimension force plate/platforms.
2. a kind of robot as claimed in claim 1 list leg assembly control exploitation performance test platform is characterized in that the inner integrated servo controller of said Stewart platform, displacement transducer; Said Stewart platform can provide the space six-freedom motion; Said gate-type three-dimensional machinery arm assembly comprises two gate-type bracing frame columns; Two gate-type bracing frame column tops link to each other through gate-type bracing frame crossbeam; Two gate-type bracing frame column lower ends are respectively arranged with gate-type bracing frame the one the second bases, are respectively arranged with first, second journal stirrup of gate-type bracing frame on first, second base of gate-type bracing frame.
3. a kind of robot as claimed in claim 2 list leg assembly control exploitation performance test platform; It is characterized in that; Said gate-type three-dimensional machinery arm assembly comprises that also two X-directions move the bracing frame assembly; A Y direction moves the bracing frame assembly, and a Z-direction moves the bracing frame assembly, and said two first, second bases of gate-type bracing frame slide respectively and are arranged at two X-directions and move on the bracing frame assembly; Said Y direction moves the bracing frame assembly and is arranged on the gate-type bracing frame crossbeam, and said Z-direction moves the bracing frame assembly and slides and to be arranged at Y direction and to move on the bracing frame assembly; The Z-direction that is arranged at of sliding said robot leg connection support moves on the bracing frame assembly.
4. a kind of robot as claimed in claim 3 list leg assembly control exploitation performance test platform; It is characterized in that; Said each X-direction moves the bracing frame assembly and includes an X-direction and move the bracing frame base, an X-direction line slideway, two X-direction moving sliders; A straight-tooth gear, a spur rack; Said two X-directions move the bracing frame base and laterally arrange; Be separately fixed on the ground; The X-direction that is fixed on the X-direction line slideway moves on the bracing frame base; Two X-direction moving sliders that cooperate are with it arranged on the every X-direction line slideway, and per two X-direction moving sliders correspondence respectively are fixedly installed on first, second base of gate-type bracing frame; Spur rack is parallel with the X-direction line slideway, also is fixed on X-direction and moves on the bracing frame base, links to each other with the 4th servomotor with first servomotor respectively with the straight-tooth gear of tooth bar engagement; First servomotor and the 4th servomotor are arranged at respectively on gate-type bracing frame the one the second journal stirrups.
5. a kind of robot as claimed in claim 3 list leg assembly control exploitation performance test platform; It is characterized in that; Said Y direction moves the bracing frame assembly and comprises that a Y direction that is arranged on the gate-type bracing frame crossbeam moves leading screw and two Y direction line slideways; A Y direction moves shaft coupling, four Y direction moving sliders, two Y direction line slideways; Said gate-type bracing frame crossbeam becomes hollow, and Y direction moves the center cavity that leading screw is positioned at gate-type bracing frame crossbeam, and two Y direction line slideways are set in parallel in respectively on the side up and down of gate-type bracing frame crossbeam; Two Y direction moving sliders that cooperate are with it arranged on the every line slideway, and the Y direction moving slider is fixedly installed in Z-direction and moves on the bracing frame; Second servomotor is installed on the gate-type bracing frame column through ring flange; Y direction moves leading screw and moves shaft coupling with second servomotor through Y direction and be connected, and Z-direction moves the nut of bracing frame through its bottom and is threaded onto Y direction and moves on the leading screw.
6. a kind of robot as claimed in claim 3 list leg assembly control exploitation performance test platform; It is characterized in that said Z-direction moves the bracing frame assembly and comprises that a Z-direction moves the bracing frame base, two Z-direction line slideways; Four Z-direction moving sliders; One the 3rd servomotor bracing frame, a Z-direction moves shaft coupling, and a Z-direction moves leading screw; Said Z-direction moves the bracing frame base and is connected through screw with four Y direction moving sliders; Two Z-direction line slideways are fixed on Z-direction and move on the bracing frame base, have two Z-direction moving sliders, Z-direction moving slider to be fixedly installed in robot leg on the every Z-direction line slideway and connect on the support; The 3rd servomotor is fixed on the 3rd servomotor bracing frame through ring flange, and the 3rd servomotor bracing frame is fixed in Z-direction and moves on the bracing frame base; Z-direction moves leading screw and moves shaft coupling with the 3rd servomotor through Z-direction and be connected, and robot leg connects nut that support is provided with through its bottom and is threaded onto Z-direction and moves on the leading screw.
7. a kind of robot as claimed in claim 6 list leg assembly control exploitation performance test platform is characterized in that said robot leg connects support and comprises that a robot leg connects bracket base, and a robot leg connects the cradle back up pad; Said robot leg connects bracket base and is connected with robot leg that the cradle back up pad is vertical to be connected; Said robot leg connects the cradle back up pad back side and is provided with one and can be threaded onto Z-direction and moves the nut on the leading screw, and the Z-direction moving slider that can move along the Z-direction line slideway.
8. the method for testing that a kind of robot as claimed in claim 1 list leg assembly control exploitation performance test platform is adopted; It is characterized in that; When robot list leg assembly control exploitation performance test platform is worked; The output shaft of gate-type three-dimensional machinery arm assembly first servomotor and the 4th servomotor drives coupled straight-tooth gear respectively and is fixed on X-direction and moves spur rack engaged transmission on the bracing frame base; Wherein, first servomotor and the 4th servomotor are synchronous, and first, second, third, fourth servomotor all is to carry mounting flange, inner integrated encoder; The scrambler metrical information of said servomotor passes to servo controller, forms robot list leg assembly X-direction motion closed-loop control;
When first servomotor was asynchronous with the 4th servomotor, gate-type bracing frame crossbeam received shearing force, and experiment porch is stressed unreasonable; The Y direction that drives the second servomotor output shaft moves shaft coupling, Y direction moves the leading screw rotation; The Z-direction that drives the nut corresponding with the Y direction leading screw moves bracing frame assembly, robot leg connection support, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Y direction; The second servomotor scrambler metrical information passes to servo controller, forms robot leg assembly Y direction motion closed-loop control;
The Z-direction that drives the 3rd servomotor output shaft moves shaft coupling, Z-direction moves the leading screw rotation; The nut corresponding with the Z-direction leading screw drives robot leg link, Stewart platform, six-dimension force sensor, the single leg assembly of machine, moves along Z-direction; The 3rd servomotor scrambler metrical information passes to servo controller, forms the robot leg assembly, Z-direction motion closed-loop control;
The motion of the motion simulation multi-foot robot trunk of gate-type three-dimensional machinery arm assembly, the movable information of multi-foot robot trunk has fed back terrestrial information indirectly, and the movable information of trunk passes to the robot leg assembly via Stewart platform, six-dimension force sensor.
9. a kind of robot as claimed in claim 8 list leg assembly control exploitation performance test methods is characterized in that,
Stewart platform simulation robot trunk is distributed to the posture information of robot list leg assembly; Pass to the robot leg assembly via six-dimension force sensor; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Stewart platform displacement sensor information, each servo-driver displacement sensor information of robot leg and five dimension force plate/platform metrical informations feed back to servo-control system; Carry out location-based impedance Control, the perhaps debugging of PD control strategy research;
Stewart platform simulation robot trunk is distributed to the power and the attitude information of robot list leg assembly; Pass to robot list leg assembly via six-dimension force sensor; Each joint servo driver of robot leg is according to the control strategy motion that is provided with in advance; Six-dimension force sensor metrical information, each servo-driver force sensor measuring information of robot leg and five dimension force plate/platform metrical informations feed back to servo-control system, carry out the power control based on model; Perhaps combine Stewart platform displacement sensor information, servo-driver displacement sensor information is carried out the research that control is mixed in the power position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210355304.0A CN102841602B (en) | 2012-09-21 | 2012-09-21 | Robot single-leg assembly control development performance test platform and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210355304.0A CN102841602B (en) | 2012-09-21 | 2012-09-21 | Robot single-leg assembly control development performance test platform and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102841602A true CN102841602A (en) | 2012-12-26 |
| CN102841602B CN102841602B (en) | 2014-07-16 |
Family
ID=47369070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210355304.0A Expired - Fee Related CN102841602B (en) | 2012-09-21 | 2012-09-21 | Robot single-leg assembly control development performance test platform and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102841602B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529324A (en) * | 2013-10-17 | 2014-01-22 | 上海杉德金卡信息***科技有限公司 | Three-dimensional mechanical arm card-clamping test instrument |
| CN103885446A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Doubleleg strength test experimental platform of foot type walking robot |
| CN103941582A (en) * | 2014-03-25 | 2014-07-23 | 中国人民解放军国防科学技术大学 | Hydraulically-driven type bionic single-leg double-loop control method |
| CN104882061A (en) * | 2015-06-17 | 2015-09-02 | 上海大学 | Land experiment system applied in two-degree-of-freedom mobile robot module |
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
| CN106112955A (en) * | 2016-07-14 | 2016-11-16 | 安庆里外里工业产品设计有限公司 | A kind of construction transfer robot based on Stewart parallel institution |
| CN106768938A (en) * | 2016-12-12 | 2017-05-31 | 北京航空航天大学 | A kind of legged mobile robot list leg performance test experiment porch |
| CN107813088A (en) * | 2016-05-23 | 2018-03-20 | 吴杰 | Welding industry robot high precision mobile platform and method of work |
| EP3388042A1 (en) * | 2017-04-10 | 2018-10-17 | Toyota Jidosha Kabushiki Kaisha | Evaluation apparatus and evaluation method |
| CN108731962A (en) * | 2018-06-01 | 2018-11-02 | 吉林大学 | Form of Bionics Mechanical Legs test platform |
| CN109186977A (en) * | 2018-09-10 | 2019-01-11 | 内蒙古第机械集团股份有限公司 | A kind of layer-stepping Three Degree Of Freedom testing stand for legged type robot list leg |
| CN111398816A (en) * | 2020-04-24 | 2020-07-10 | 泉州装备制造研究所 | Online testing device for motor system of legged robot |
| WO2020220165A1 (en) * | 2019-04-28 | 2020-11-05 | 白保忠 | Mutual feedback automatic control device for dual fluid load, driving method therefor, and foot type mobile machine |
| CN112297058A (en) * | 2020-10-21 | 2021-02-02 | 之江实验室 | A multipurpose test platform that is used for sufficient formula robot single leg of leg |
| CN112706190A (en) * | 2020-11-29 | 2021-04-27 | 华融普瑞(北京)科技有限公司 | Bionic foot type robot leg and foot load live simulation test method |
| CN112706191A (en) * | 2020-11-29 | 2021-04-27 | 华融普瑞(北京)科技有限公司 | Method for testing live load simulation of legs and feet of four-foot robot |
| CN113092155A (en) * | 2021-05-19 | 2021-07-09 | 中国北方车辆研究所 | Single-leg experiment bench for foot type robot |
| CN113721649A (en) * | 2021-09-03 | 2021-11-30 | 中国北方车辆研究所 | Virtual leg-based multi-support leg force distribution method for quadruped robot |
| CN114434490A (en) * | 2020-11-03 | 2022-05-06 | 北京配天技术有限公司 | Testing arrangement of arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102486250A (en) * | 2010-12-03 | 2012-06-06 | 西安金和光学科技有限公司 | Attitude adjustment platform with six degrees of freedom |
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN202815586U (en) * | 2012-09-21 | 2013-03-20 | 山东大学 | Robot single leg assembly control development performance testing platform |
-
2012
- 2012-09-21 CN CN201210355304.0A patent/CN102841602B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102486250A (en) * | 2010-12-03 | 2012-06-06 | 西安金和光学科技有限公司 | Attitude adjustment platform with six degrees of freedom |
| CN102556197A (en) * | 2011-12-29 | 2012-07-11 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| CN202815586U (en) * | 2012-09-21 | 2013-03-20 | 山东大学 | Robot single leg assembly control development performance testing platform |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529324A (en) * | 2013-10-17 | 2014-01-22 | 上海杉德金卡信息***科技有限公司 | Three-dimensional mechanical arm card-clamping test instrument |
| CN103885446A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Doubleleg strength test experimental platform of foot type walking robot |
| CN103941582A (en) * | 2014-03-25 | 2014-07-23 | 中国人民解放军国防科学技术大学 | Hydraulically-driven type bionic single-leg double-loop control method |
| CN103941582B (en) * | 2014-03-25 | 2016-08-17 | 中国人民解放军国防科学技术大学 | The bionical single lower limb double loop control of type hydraulic actuator |
| CN104882061A (en) * | 2015-06-17 | 2015-09-02 | 上海大学 | Land experiment system applied in two-degree-of-freedom mobile robot module |
| CN104882061B (en) * | 2015-06-17 | 2017-07-25 | 上海大学 | Land experimental system applied to two-freedom mobile robot module |
| CN105652896A (en) * | 2015-12-22 | 2016-06-08 | 哈尔滨工业大学 | Rotary table for foot type robot movement experiment |
| 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 |
| CN107813088A (en) * | 2016-05-23 | 2018-03-20 | 吴杰 | Welding industry robot high precision mobile platform and method of work |
| CN108080831A (en) * | 2016-05-23 | 2018-05-29 | 吴杰 | A kind of novel welding industrial robot high precision mobile platform |
| CN106112955A (en) * | 2016-07-14 | 2016-11-16 | 安庆里外里工业产品设计有限公司 | A kind of construction transfer robot based on Stewart parallel institution |
| CN106768938A (en) * | 2016-12-12 | 2017-05-31 | 北京航空航天大学 | A kind of legged mobile robot list leg performance test experiment porch |
| CN108852754A (en) * | 2017-04-10 | 2018-11-23 | 丰田自动车株式会社 | Assessment equipment and appraisal procedure |
| EP3388042A1 (en) * | 2017-04-10 | 2018-10-17 | Toyota Jidosha Kabushiki Kaisha | Evaluation apparatus and evaluation method |
| US10660548B2 (en) | 2017-04-10 | 2020-05-26 | Toyota Jidosha Kabushiki Kaisha | Evaluation apparatus and evaluation method |
| CN108852754B (en) * | 2017-04-10 | 2021-09-21 | 丰田自动车株式会社 | Evaluation apparatus and evaluation method |
| CN108731962A (en) * | 2018-06-01 | 2018-11-02 | 吉林大学 | Form of Bionics Mechanical Legs test platform |
| CN109186977A (en) * | 2018-09-10 | 2019-01-11 | 内蒙古第机械集团股份有限公司 | A kind of layer-stepping Three Degree Of Freedom testing stand for legged type robot list leg |
| CN109186977B (en) * | 2018-09-10 | 2020-07-21 | 内蒙古第一机械集团股份有限公司 | Layered three-degree-of-freedom test bed for single leg of foot type robot |
| WO2020220165A1 (en) * | 2019-04-28 | 2020-11-05 | 白保忠 | Mutual feedback automatic control device for dual fluid load, driving method therefor, and foot type mobile machine |
| CN111398816A (en) * | 2020-04-24 | 2020-07-10 | 泉州装备制造研究所 | Online testing device for motor system of legged robot |
| CN111398816B (en) * | 2020-04-24 | 2024-03-29 | 泉州装备制造研究所 | Online testing device of motor system for leg-foot robot |
| CN112297058A (en) * | 2020-10-21 | 2021-02-02 | 之江实验室 | A multipurpose test platform that is used for sufficient formula robot single leg of leg |
| CN114434490A (en) * | 2020-11-03 | 2022-05-06 | 北京配天技术有限公司 | Testing arrangement of arm |
| CN114434490B (en) * | 2020-11-03 | 2024-06-07 | 北京配天技术有限公司 | Testing device of mechanical arm |
| CN112706190A (en) * | 2020-11-29 | 2021-04-27 | 华融普瑞(北京)科技有限公司 | Bionic foot type robot leg and foot load live simulation test method |
| CN112706191A (en) * | 2020-11-29 | 2021-04-27 | 华融普瑞(北京)科技有限公司 | Method for testing live load simulation of legs and feet of four-foot robot |
| CN113092155A (en) * | 2021-05-19 | 2021-07-09 | 中国北方车辆研究所 | Single-leg experiment bench for foot type robot |
| CN113721649A (en) * | 2021-09-03 | 2021-11-30 | 中国北方车辆研究所 | Virtual leg-based multi-support leg force distribution method for quadruped robot |
| CN113721649B (en) * | 2021-09-03 | 2023-06-02 | 中国北方车辆研究所 | Multi-support leg force distribution method for four-foot robot based on virtual legs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102841602B (en) | 2014-07-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102841602B (en) | Robot single-leg assembly control development performance test platform and method | |
| CN202815586U (en) | Robot single leg assembly control development performance testing platform | |
| CN106426120B (en) | A kind of heavy load planer-type robot | |
| CN106112332B (en) | A kind of vehicle bodywork soldering welding robot | |
| CN102556197B (en) | Single leg experimental platform for multi-foot walking robot | |
| CN205394043U (en) | Four degree of freedom milling fixtures | |
| CN205333280U (en) | Automobile seat bumping and creeping test stand | |
| CN102840959B (en) | Single-leg impact control experiment platform for robot | |
| CN107139165A (en) | The Six-freedom-degree space docking mechanism of series-parallel connection | |
| CN100579719C (en) | Multi-axes synchronous hybrid device | |
| CN105021364A (en) | Six degree of freedom automobile seat vibration test bench | |
| CN102091933A (en) | Ship block assembly quick alignment device and method | |
| CN102642204A (en) | Alternating-current servo direct drive type series-parallel composite robot | |
| CN214394197U (en) | Mechanical arm structure for engineering construction robot | |
| CN103698099A (en) | Five-freedom-degree automobile seat vibration test table | |
| CN107825417B (en) | Five-axis series-parallel robot composed of four-degree-of-freedom series-parallel mechanism | |
| CN102554687A (en) | Crossbeam balance device of numerical-control single-column moving vertical milling lathe | |
| CN106238994B (en) | Shot-blasting machine case weld machine people's assembly | |
| CN109987245B (en) | Loading and unloading platform capable of being quickly docked with airplane | |
| CN201637583U (en) | Static pressure test bed on top of vehicle door | |
| CN201944498U (en) | Three-axle moving machine seat | |
| CN103345858B (en) | Series-parallel mechanism platform device with six degrees of freedom for stability training of walking robot | |
| CN105050762B (en) | Weld seam method and system | |
| CN206046390U (en) | A kind of point gum machine | |
| CN205898178U (en) | Configuration of environment sensing and test are with intelligent electric motor car test bench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 Termination date: 20170921 |