CN104890005B - Spherical space based under-actuated robot wrist mechanism - Google Patents
Spherical space based under-actuated robot wrist mechanism Download PDFInfo
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- CN104890005B CN104890005B CN201510352469.6A CN201510352469A CN104890005B CN 104890005 B CN104890005 B CN 104890005B CN 201510352469 A CN201510352469 A CN 201510352469A CN 104890005 B CN104890005 B CN 104890005B
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Abstract
The invention relates to a spherical space based under-actuated robot wrist mechanism. The spherical space based under-actuated robot wrist mechanism comprises an executing connector and an arm frame, wherein the executing connector is provided with a spherical cavity, and an upper adjustable round plate and a lower adjustable round plate are arranged at the central position of the spherical cavity and are fixedly connected with the arm frame through bolts. Three power frames can be fixed to different bolt holes of the adjustable round plate as required, a power source is installed at the ends of two power frames of the three power frames respectively, the power source is connected with one rolling wheel shaft through a haw clutch, and a rolling wheel is installed on each rolling wheel shaft and is in rolling contact with the inner wall of the spherical space of the executing connector. The end of another power frame is directly provided with a rolling wheel and is in rolling contact with the inner wall of the spherical space of the executing connector. Due to the fact that the rolling wheels of the spherical space based under-actuated robot wrist mechanism is purely in rolling contact with the executing connector, and no gap exists between the rolling wheels and the executing connector, so that errors are smaller, no return error exists, and accuracy is high.
Description
Technical field
The present invention relates to a kind of under-actuated robot wrist mechanism based on diameter of Spherical Volume.
Background technology
Similar to the mankind, the function of robot generally requires to be realized by robotic arm manipulation, and wrist is then contact handss
Arm and the important device of paw, its design is one of key technology of robot.For conventional robot wrist, due to one
Degree of freedom needs a power source (as motor etc.), and the quality of power source often accounts for the major part of joint gross mass, so often
Robot wrist's class device of rule is significantly disadvantageous in that: device, by the way of driving completely, causes mechanical mechanism relatively
Complexity, volume is larger, and quality is larger, relatively costly.
Underactuatuated drive then refers to that power source is less than the mechanism of degree of freedom in system, and lack of driven robot is a kind of containing deficient drive
The robot of motivation structure, has small volume due to it, the features such as lightweight, low cost, energy consumption are low, motility is high, therefore causes
The extensive concern of scholars, becomes the new focus of robot field's research.Exactly under this background, the present invention proposes one
Plant the under-actuated robot wrist based on diameter of Spherical Volume, its mechanism is simple, lightweight, has a good application prospect.
Content of the invention
The present invention directly adds underactuatuated drive inside execution connector, eliminates the power source of external complex,
Save cost and quality, improve precision simultaneously.For reaching above-mentioned purpose, the present invention adopts the following technical scheme that a kind of base
Under-actuated robot wrist mechanism in diameter of Spherical Volume includes, one execution connector and an arm support it is characterised in that: described
Execution connector has a spherical hollow space, has the adjustable plectane of upper and lower two panels to pass through bolt in this spherical hollow space center solid with arm support
Fixed connection；Three power racks can be fixed in different bolts hole in adjustable plectane as needed, two in this three power racks
Respectively equipped with a power source, power source connects a roller shaft through a jaw clutch, on roller shaft for individual power rack end
Respectively fill a roller, this roller is in rolling contact with the inwall of execution connector spherical hollow space；Another power rack end directly fills
There is a roller, this roller is in rolling contact with the inwall of execution connector spherical hollow space.As shown in fig. 1, at a, b two, structure is complete
Entirely consistent, at c, structure is with respect to no motor, the axis of three rollers and the centre of sphere palpus determination one executing connector at a, b two
Plane d, and three rollers can pass through regulation power rack in plane d between the fixed position regulation roller on adjustable plectane
Angle.
As shown in figure 1, roller 1,2 is the roller that dynamic source drives, its angular displacement is respectively, then roller 1,2
Angular velocity be respectively angular displacement first derivative、, roller 3 is the roller that passive delivery drives, and its angular displacement is,
It is carried out the angular displacement of connector, thenIt is carried out the angular velocity of connector, r is roller radius, r is execution connector radius,It is mechanism's angle,It is carried out the angle of connector pivot center and the execution connector centre of sphere and roller barycenter line, at this
It is 120 ° in mechanism, roller can be by formula with the speed executing execution connector at connector contact point at a, b two:
Obtain, in above formula (1), (2) becauseAngle is continually changing, so being non-integrable,
The i.e. constraint to speed, constitutes drive lacking travel mechanism.(1) formula ratio (2) Shi Ke get:
So β angle can be obtained, i.e. the rotating shaft of execution connector just can determine that, and with driving rolls input angular velocity
Change and change.
The present invention compared with prior art, has and obviously projects substantive distinguishing features and marked improvement as follows: because
Be roller and the execution connector of this under-actuated robot wrist mechanism based on diameter of Spherical Volume be that pure rolling contacts, roller with hold
, so error is less, there is not hysterisis error, high precision in gapless between row connector yet.
This under-actuated robot wrist mechanism based on diameter of Spherical Volume can be by adjusting power rack on adjustable plectane
Fixed position adjusts the angle between roller, and during regulation, the axis of roller must determine a plane with structure with the execution connector centre of sphere
Become underactuatuated drive.When this is applied in robot wrist mechanism based on the under-actuated robot wrist mechanism of diameter of Spherical Volume,
The angular velocity of roller at a, b two can be adjusted by power source, by speed at a, b two roller and execution connector contact point
Different driving executes the movement that connector does Three Degree Of Freedom in space, the i.e. motion of robot wrist.For based on diameter of Spherical Volume
Under-actuated robot wrist mechanism, the axis of three in this programme roller is with the execution connector centre of sphere at grade
Structure is unique, because when adopting a roller or two rollers, mechanism cannot realize.
Brief description
The under-actuated robot wrist mechanism principle figure based on diameter of Spherical Volume for the Fig. 1；
The under-actuated robot wrist mechanism half sectional view based on diameter of Spherical Volume for the Fig. 2；
The f of Fig. 3 Fig. 2 is to partial view；
The n direction view of Fig. 4 Fig. 2；
Fig. 5 roller shaft and power source bindiny mechanism schematic diagram, in figure (a) is longitudinal sectional view, and (b) is e-e in figure (a)
Place's sectional view；
The structural representation of Fig. 6 is adjustable plectane, in figure (a) is front view, and (b) is sectional view at g-g in figure (a).
Specific embodiment
The present invention be preferable to carry out case combine detailed description as follows:
Case study on implementation one:
Referring to Fig. 1-Fig. 6, this is included based on the under-actuated robot wrist mechanism of diameter of Spherical Volume: an execution connector
(1) and one arm support (8).It is characterized in that: described execution connector (1) has a spherical hollow space, at this spherical hollow space center
Place has the adjustable plectane of upper and lower two panels (2) to be fixedly connected with arm support (8) by bolt；Three power racks (3) can be fixed as needed
In different bolt hole in adjustable plectane (2), two power rack (3) ends in this three power racks (3) are respectively equipped with one
Power source (4), power source (4) connects a roller shaft (7) through a jaw clutch (5), and roller shaft (7) is above each to fill one
Roller (6), this roller (6) is in rolling contact with the inwall of execution connector (1) spherical hollow space；Another power rack (3) end is straight
Tipping has a roller (6), and roller (6) is in rolling contact with the inwall of execution connector (1) spherical hollow space.A, b Liang Chu mechanism
Completely the same, at c, mechanism is with respect to passive delivery (4) at a, b two, the axis of three rollers (6) and the ball executing connector (1)
The heart must determine plane d, and three rollers (6) can pass through to adjust power rack (3) on adjustable plectane (2) in plane d
Fixed position adjust the angle between roller (6).
Power source (4) is used for driving rolls (6) and rotates, the centre of sphere palpus of the axis of three rollers (6) and execution connector (1)
Determine plane d, and three rollers (6) can pass through to adjust power rack (3) consolidating on adjustable plectane (2) in plane d
Determine the angle between position adjustments roller (6).Because the mechanism of this under-actuated robot wrist mechanism based on diameter of Spherical Volume is special
Point, at a, roller (6) is equal with the speed of roller (6) with the speed of execution connector (1) at execution connector (1) contact point,
The speed of connector (1) and the speed phase of roller (6) is executed at same roller at b (6) and execution connector (1) contact point
Deng the speed of execution connector (1) at a, b two roller (6) and execution connector (1) contact point can be obtained, because holding
The axis that row connector (1) rotates is continually changing, that is, execute axis and execution connector (1) ball that connector (1) rotates
The angle of the heart and roller (6) barycenter line is continually changing, so, constitute drive lacking travel mechanism.
Because this roller (6) of under-actuated robot wrist mechanism based on diameter of Spherical Volume and execution connector (1) are pure
It is in rolling contact, gapless between roller (6) and execution connector (1), so error is less, also there is not hysterisis error, precision
High.
This under-actuated robot wrist mechanism based on diameter of Spherical Volume can be by adjusting power rack (3) in adjustable plectane
(2) fixed position on adjusts the angle between roller (6), will ensure three power racks (3) corresponding roller (6) during regulation
Axis with execution connector (1) the centre of sphere on same plane d, to constitute drive lacking travel mechanism.When this is based on diameter of Spherical Volume
Under-actuated robot wrist mechanism when being applied in robot mechanism, roller at a, b two can be adjusted by power source (4)
(6) angular velocity, by a, b two roller (6) and the different driving execution connector executing speed at connector (1) contact point
(1) do the movement of Three Degree Of Freedom in space, i.e. the motion of robot wrist.Simultaneously for the lack of driven based on diameter of Spherical Volume
Device human wrist mechanism, mechanism is at grade for the axis of three in this programme roller (6) and execution connector (1) centre of sphere
Uniquely, because when adopting one or two roller (6), mechanism cannot realize.
Claims (2)
1. a kind of under-actuated robot wrist mechanism based on diameter of Spherical Volume, comprising: execution connector (1) and an arm support
(8) it is characterised in that: described execution connector (1) has a spherical hollow space, has the upper and lower two panels can in this spherical hollow space center
Plectane (2) is adjusted to be fixedly connected with arm support (8) by bolt；Three power racks (3) can be fixed in adjustable plectane (2) as needed
In different bolts hole, two power rack (3) ends in this three power racks (3) are respectively equipped with a power source (4), power source
(4) connect a roller shaft (7) through a jaw clutch (5), roller shaft (7) is above each to fill a roller (6), this roller
(6) it is in rolling contact with the inwall of execution connector (1) spherical hollow space；Another power rack (3) end is directly equipped with a roller
(6) and this roller (6) with execution connector (1) spherical hollow space inwall be in rolling contact.
2. the under-actuated robot wrist mechanism based on diameter of Spherical Volume according to claim 1 is it is characterised in that this owes to drive
Mobile robot Wrist mechanism can be adjusted between roller (6) in the fixed position on adjustable plectane (2) by adjusting power rack (3)
Angle, the centre of sphere of the axis of corresponding roller (3) at three power racks (3) three and execution connector (1) will be ensured during regulation
At grade, form the constraint to speed at roller (3) and execution connector (1) contact point at a, b two, that is, the company of execution
The rotating shaft of junctor (1) just can determine that, and the change with driving rolls (3) input angular velocity and change, with constitute drive lacking shifting
Motivation structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510352469.6A CN104890005B (en) | 2015-06-24 | 2015-06-24 | Spherical space based under-actuated robot wrist mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510352469.6A CN104890005B (en) | 2015-06-24 | 2015-06-24 | Spherical space based under-actuated robot wrist mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104890005A CN104890005A (en) | 2015-09-09 |
| CN104890005B true CN104890005B (en) | 2017-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510352469.6A Expired - Fee Related CN104890005B (en) | 2015-06-24 | 2015-06-24 | Spherical space based under-actuated robot wrist mechanism |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058415A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist spherical hinge mechanism of three-degree-of-freedom underactuated robot |
| CN105058417A (en) * | 2015-09-14 | 2015-11-18 | 苏州达力客自动化科技有限公司 | Wrist sliding guide ring device of three-degree-of-freedom underactuated robot |
| CN106741262B (en) * | 2016-12-22 | 2018-10-12 | 深圳市智能机器人研究院 | A kind of ball shape robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2794773Y (en) * | 2005-04-05 | 2006-07-12 | 西安电子科技大学 | Omnidirectional rolling ball shape robot structure |
| CN201305049Y (en) * | 2008-12-13 | 2009-09-09 | 孔凡让 | Spherical robot device |
| KR101031037B1 (en) * | 2009-01-12 | 2011-04-25 | 주식회사 로보멕 | Articulation Mechanism for Robot |
| CN201825146U (en) * | 2010-05-31 | 2011-05-11 | 燕山大学 | Bounce spherical robot equipped with stabilized bench |
| CN102554914A (en) * | 2012-01-06 | 2012-07-11 | 上海大学 | Novel three-degrees-of-freedom under-actuated mechanism |
| CN103231745B (en) * | 2013-04-28 | 2016-06-29 | 上海大学 | Mixed synchronization band five is adopted to drive ball shape robot |
| CN104097706B (en) * | 2014-04-14 | 2016-10-26 | 上海大学 | Mecanum wheel driving type movable spherical robot |
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