CN105619449B - A kind of zero drift spring gravity compensation method based on force feedback equipment - Google Patents
A kind of zero drift spring gravity compensation method based on force feedback equipment Download PDFInfo
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- CN105619449B CN105619449B CN201610028353.1A CN201610028353A CN105619449B CN 105619449 B CN105619449 B CN 105619449B CN 201610028353 A CN201610028353 A CN 201610028353A CN 105619449 B CN105619449 B CN 105619449B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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Abstract
A kind of zero drift spring gravity compensation method based on force feedback equipment, (1) the gravity compensation spring one end of large arm is connected to the spring on pedestal deceleration mechanism driven wheel and is fixedly mounted face, the other end by steel wire rope be connected by fixed pulley be connected on large arm deceleration mechanism driven wheel at large arm reverse extending line and driven wheel edge interface point；(2) the gravity compensation spring one end of forearm is connected to the spring on pedestal deceleration mechanism driven wheel and face is fixedly mounted, the other end is connected by steel wire rope to be connected to by fixed pulley at forearm deceleration mechanism driven wheel edge interface point.Present invention alleviates the inertia of the big arm mechanism of force feedback equipment either small arm mechanism, avoid steel wire rope and are interfered on certain positions with big arm mechanism or small arm mechanism.And fully consider the influence of the radius length and installation site of fixed pulley to gravity compensation, it was demonstrated that the spring gravity compensation method can realize complete gravity compensation to force feedback equipment.
Description
Technical field
The present invention relates to a kind of zero drift spring gravity compensation methodes of force feedback equipment.
Background technology
Force feedback equipment is often used spring-compensating gravity, the advantage is that：Spring-mass is light, will not be in force feedback equipment
It is upper to increase excessive weight and inertia, to influence the operating characteristics of force feedback equipment.In force feedback equipment, using spring into
There are many row gravitational compensation methods：Simple spring gravity compensation, the compensation of zero drift spring gravity and cam spring gravity are mended
It repays and some other spring gravity compensation ways.
So-called simple spring gravity compensation, refer to not by other ancillary equipments, such as：Steamboat, connecting rod, irregular cam
Deng using only spring to force feedback equipment progress gravity compensation.In the method, it is anti-to be connected to the required power compensated for spring one end
On the motion arm for presenting equipment, the other end is fixed on the fixing bracket of force feedback equipment, is mended to obtain complete spring gravity
It repays, spring rate K must be variable, and therefore, such spring is all nonlinear spring, cause to set in practical engineering application
Meter is difficult.In common engineer application, in order to reduce the complexity of spring design, Hookean spring is commonly used to replace nonlinear elasticity
Spring, the stiffness coefficient of Hookean spring gravity compensation amount required when being in different angle frequently with the connecting rod of required compensation gravity
Average value seek the mean rigidity coefficient of spring, be used in combination the stiffness coefficient of the mean rigidity coefficient as Hookean spring, from
And realize the gravity compensation of connecting rod.However, since spring and the force feedback equipment motion arm of required compensation are connected directly, easily cause
With connecting rod in the space of part mechanical interference occurs for spring.In order to avoid above-mentioned influence, Ahmad
Mashayekhi cleverly by spring be mounted on deceleration mechanism driven wheel on, rather than with the direct phase of force feedback equipment motion arm
Even, a kind of simple spring gravity compensation way of structure novel is devised (to refer to：VirSense:a novel haptic
device with fixed-base motors and a gravity compensation system,Industrial
Robot:An International Journal,2014,41(1):37~49.).But the design of Ahmad Mashayekhi
Method be it is artificial provide spring connecting point position, when designing spring gravity compensation, do not establish optimal spring gravity
Mathematical model is compensated, had not considered the optimal drift in the optimal tie point position of the spring of gravity compensation, spring and optimal flat
Even rigidity coefficient.In view of the above-mentioned problems, Li Chunquan etc. propose it is a kind of based on improving the force feedback equipment of simple particle algorithm most
Spring is mounted on the line gear reduction driven wheel of force feedback equipment large arm and forearm, fully by excellent spring gravity compensation method
The influence of tie point position, drift and the stiffness coefficient of spring to gravity compensation is considered, nonlinear restriction pass is established
The gravity compensation model of system introduces " stretching drift ratio ", as an optimization with " stretching drift ratio " by tie point position
Amount, the average fitness function of torque error as an optimization use the simple single-particle optimizing algorithm iteration optimization of improvement so that power is anti-
The arm mechanism of feedback equipment can obtain optimal spring gravity compensation.
In the compensation of simple spring gravity, although the above method can carry out gravity compensation, force feedback can not achieve
The complete spring gravity compensation of equipment, this is because spring free length is not zero, realizes complete gravity compensation, institute if necessary
The spring rate of design is necessarily non-linear.However, in Practical Project, institute is replaced actual non-thread using Hookean spring
Property spring rate.Therefore, it is that cannot carry out complete gravity compensation to force feedback equipment using simple linear spring.In order to make
Adequately compensating for for force feedback equipment is realized with Hookean spring, Rongfang Fan have used Hookean spring, fixed pulley and steel wire rope,
Fixed pulley is mounted on PHANToM Premium1.5 motion arms, steel wire rope one end is fixed on tangent with fixed pulley on motion arm
Afterwards, it is connected on the fixing bracket of force feedback equipment, devises a kind of gravity compensation mode of zero drift spring and (refer to：
Improvement of Dynamic Transparency of Haptic Device by Using Spring Balance
[C].Proceedings of the 2012IEEE International Conference on Robotics and
Biomimetics,2012:1075~1080.), when fixed pulley radius and fixed pulley fixed shaft length are equal to zero, this method
Complete gravity compensation can be obtained.In actual design, due to pulley radius and pulley fixed position length always very
It is difficult to guarantee all while being zero, the connection between pulley and steel wire rope in addition is constantly present friction, these have resulted in zero and have freely grown
The complete gravity compensation mode of degree spring also will produce compensation deviation.It is compensated compared to simple spring gravity, zero drift spring
Gravity compensation mode needs additionally to increase steel wire rope and fixed pulley, fixes and install the former complexity relatively.In addition, with simple bullet
Spring gravity compensation is the same, and pulley and steel wire rope also can be mutual dry between formation mechanism on certain positions with force feedback motion arm
It relates to, influences the working space of connecting rod.And in the method for above-mentioned Rongfang Fan, only to PHANToM Premium1.5
Middle single operation arm carries out gravity compensation.In fact, the zero drift spring weight in Rongfang Fan proposed method
In force compensating mode, fixed pulley and steel wire rope are separately mounted in the end to end large arm of force feedback equipment and forearm, due to
The relative position of large arm and forearm in operation constantly changes, at this point, this method can lose the gravity compensation of forearm
Effect.Furthermore the connecting rod, pulley and steel wire rope on forearm are mutually moved with large arm, accordingly, it is possible to can lead to the bullet in large arm
Spring and steel wire rope are interfered with forearm in some locations, it is also possible to which there are certain positions so that the spring in large arm is complete
Relaxation, is not achieved the effect of compensation.Therefore, series connection force feedback equipment behaviour is mounted on using Hookean spring, fixed pulley and steel wire rope
The such zero drift spring gravity compensation method made on arm is also existing defects.
Cam spring gravity compensation mode, which can also be realized, compensates the gravity of force feedback equipment.Omega force feedbacks
Equipment is using spring, steel wire rope and the cam that single irregular circumference is constituted is combined to carry out gravity compensation (specially to force feedback equipment
Profit number：US 8,188,843B2).Rongfang Fan, which are also used, is similar to Omega force feedback equipment cams in a kind of principle
The gravitational compensation method that spring is combined is used to carry out gravity compensation in PHANTOM Premium1.5 (to refer to：Improvement
of Dynamic Transparency of Haptic Device by Using Spring Balance[C]
.Proceedings of the 2012IEEE International Conference on Robotics and
Biomimetics,2012:1075~1080.).Cam spring gravity compensation mode also can be completely to the behaviour of force feedback equipment
Make arm and carry out gravity compensation, this is the great advantage of which.But there is also following problems for the compensation way：First, it carries out
Additional designs and machining cam are wanted when gravity compensation, and cam is installed to the transmission of the connecting rod of existing force feedback equipment
On axis, which increase the cost of design and installation and complexities；Secondly as the radius of cam be using angular displacement of the cam as
The function of independent variable, when force feedback equipment is in quick movement, connecting the steel wire rope of cam and spring will not be always held at together
One plane, this has resulted in spring and steel wire rope generates drawing gap, introduces delay volume, this backlash between gear is similar
Seemingly, it is easy so that spring and steel wire rope landing, can also reduce the stability of force feedback system.
Above-mentioned mentioned spring-compensating gravity mode, is mainly used for carrying out gravity compensation in force feedback equipment.In addition, also
There are many other spring gravity compensation ways, and in existing literature and patent, there is no uses in force feedback for these methods
In equipment.Although the mode of those spring gravities compensation has advantage, or they design complexity, it is not easy to realize and is retrofitted in
On existing force feedback equipment or it is designed by some specific mechanisms, to be set without force feedback equipment gravity compensation
The universal significance of meter.
In conclusion the characteristics of by analyzing all kinds of force feedback equipment spring gravity compensation methodes, we disclose one
Zero drift spring gravity compensation method of the kind based on force feedback equipment, by the spring of force feedback equipment gravity compensation and determines cunning
Wheel is separately mounted on the spring fixed installation face on the base mechanism driven wheel of force feedback equipment, spring one end connecting steel wire ropes
One end, the steel wire rope other end are connected at the deceleration mechanism of force feedback equipment；The spring other end connects an other steel wire
Rope one end, the steel wire rope other end are fixed on the spring fixed installation face on base mechanism driven wheel.The advantages of this method exists
In：Spring and fixed pulley are mounted on the spring fixed installation face on base mechanism driven wheel, rather than are mounted on force feedback
On the big arm mechanism of equipment either small arm mechanism, the inertia of the big arm mechanism of force feedback equipment either small arm mechanism is alleviated,
Steel wire rope is avoided to interfere on certain positions with big arm mechanism or small arm mechanism.And to the zero drift spring weight
Force compensating method founding mathematical models, complete gravity compensation can be realized by fully demonstrating this method in theory.
Invention content
The present invention discloses the zero of a kind of force feedback equipment the problems of for existing spring gravity compensation technique
Drift spring gravity compensation method, for carrying out gravity compensation to force feedback equipment.By force feedback equipment gravity compensation
Spring and fixed pulley are separately mounted on the spring fixed installation face on force feedback equipment base mechanism driven wheel, gravity compensation bullet
Spring one end is connected to the spring on pedestal deceleration mechanism driven wheel and face is fixedly mounted, and the other end is connected by steel wire rope by fixed sliding
Wheel is connected to large arm either on forearm reduction driven wheel for realizing to zero drift spring gravity of large arm or small arm mechanism
Compensation.
The present invention is achieved by the following technical solutions.
It is of the present invention it is characterized in that method and step is：
(1) the gravity compensation spring one end of large arm the spring on pedestal deceleration mechanism driven wheel is connected to be fixedly mounted
Face, the other end by steel wire rope be connected by fixed pulley be connected on large arm deceleration mechanism driven wheel with large arm reverse extending line and
At driven wheel edge interface point, compensated for realizing to zero drift spring gravity of big arm mechanism；
(2) the gravity compensation spring one end of forearm the spring on pedestal deceleration mechanism driven wheel is connected to be fixedly mounted
Face, the other end is connected by steel wire rope to be connected to by fixed pulley at forearm deceleration mechanism driven wheel edge interface point, for real
Now zero drift spring gravity of small arm mechanism is compensated.
The present invention has fully considered the influence of the radius length and installation site of fixed pulley to gravity compensation, to zero freedom
Length spring gravity compensation way establishes mathematical model, and theoretically demonstrating the spring gravity compensation way can be anti-to power
It presents equipment and realizes complete gravity compensation.
It is an advantage of the invention that：The spring that spring and fixed pulley are mounted on force feedback equipment base mechanism driven wheel is consolidated
Determine on mounting surface, rather than on the big arm mechanism of force feedback equipment either small arm mechanism, this just alleviates force feedback
The inertia of the big arm mechanism of equipment either small arm mechanism avoids steel wire rope with big arm mechanism or small arm mechanism in certain positions
On interfere.In addition, the inventive method also fully consider fixed pulley radius length and installation site to the shadow of gravity compensation
It rings, mathematical model is established to the zero drift spring gravity compensation way, it was demonstrated that the spring gravity compensation method can
Complete gravity compensation is realized to force feedback equipment.
Description of the drawings
Fig. 1 is that spring gravity of the present invention compensates bindiny mechanism's figure.
In figure：1 is pedestal, and 2 be pedestal reduction driven wheel, and 3 be pedestal deceleration driving wheel, and 4 be direct current generator, and 5 be pedestal
Shaft, 6 be big arm mechanism, and 7 be large arm reduction driven wheel, and 9 be large arm gravity compensation spring, and 10 be fixed pulley, and 13 be forearm machine
Structure, 14 be forearm reduction driven wheel, and 15 be forearm deceleration driving wheel, and 16 be forearm gravity compensation spring, and 17 be that fixed pulley 18 is
Direct current generator, 19 be forearm shaft, and 20 be forearm reduction driven wheel shaft, and 21 be universal joint, and 22 are fixedly mounted face for spring.
Fig. 2 is that Fig. 1 rotates clockwise 180 ° of spring gravities compensation bindiny mechanism figures.
In figure：1 is pedestal, and 2 be pedestal reduction driven wheel, and 5 be base shaft 6 be big arm mechanism, and 7 be large arm reduction driven
Wheel, 8 be large arm deceleration driving wheel, and 10 be fixed pulley, and 11 be direct current generator, and 12 be large arm shaft 13 be small arm mechanism, and 14 be small
Arm reduction driven wheel, 16 be forearm gravity compensation spring, and 17 be fixed pulley 19 be forearm shaft, and 21 be universal joint, and 22 be spring
Fixed installation face
Fig. 3 is the present invention zero drift spring gravity compensation principle figure of big arm mechanism.
Fig. 4 is zero drift fixed pulley schematic diagram calculation of the invention.
Specific implementation mode
The present invention will be described further in conjunction with attached drawing.
It is described as follows in conjunction with attached drawing 1-4：As shown in Figures 1 and 2, which is one, and there are 6 rotations to close
The serial linkage of section, is similar to the arm of people, and chief component is：Pedestal 1, pedestal reduction driven wheel 2, pedestal slow down
Driving wheel 3, direct current generator 4, base shaft 5, big arm mechanism 6, large arm reduction driven wheel 7, large arm deceleration driving wheel 8, large arm weight
Force compensating spring 9, fixed pulley 10, direct current generator 11, large arm shaft 12, small arm mechanism 13, forearm reduction driven wheel 14, forearm subtract
Fast driving wheel 15, forearm gravity compensation spring 16, fixed pulley 17, direct current generator 18, forearm shaft 19, forearm reduction driven rotation
Axis 20, universal joint 21, spring are fixedly mounted the part such as face 22 and form.
As shown in Figures 1 and 2, big arm mechanism 6, large arm reduction driven wheel 7, large arm deceleration driving wheel 8, large arm gravity are mended
Repay spring 9, fixed pulley 10, direct current generator 11, large arm shaft 12, small arm mechanism 13, forearm reduction driven wheel 14, forearm deceleration master
Driving wheel 15, forearm gravity compensation spring 16, fixed pulley 17, direct current generator 18, forearm shaft 19, forearm reduction driven wheel shaft
20, universal joint 21, spring are fixedly mounted the part such as face 22 and are mounted on pedestal reduction driven wheel 2 by holder, subtract with pedestal
Fast driven wheel 2 surrounds base shaft 5 and rotates together.
As shown in Figures 1 and 2, pedestal deceleration driving wheel 3 is nested on direct current generator 4, when pedestal direct current generator 4 drives
Pedestal deceleration driving wheel 3 so that the two rotates coaxially.Pedestal deceleration mechanism driving wheel 3 by steel wire rope drive pedestal slow down from
Driving wheel 2.Seat reduction driven wheel 2 is rotated around base shaft 5, and by wire rope gearing, drives big arm mechanism 6, small arm mechanism
13 and universal joint 21 surround base shaft 5 rotate so that force feedback equipment can generate feedback force, pedestal reduction driven
It takes turns 2 rotational angles and acquisition is calculated by the photoelectric encoder on direct current generator 4.
As shown in Figures 1 and 2, large arm deceleration driving wheel 8 is nested in the shaft of direct current generator 11, when direct current generator 11
Drive large arm deceleration driving wheel 8 so that the two rotates coaxially.Large arm deceleration driving wheel 8 by steel wire rope drive large arm slow down from
Driving wheel 7.Large arm reduction driven wheel 7 drives big arm mechanism 6, both surrounds large arm shaft 12 and rotates, so that big arm mechanism 6
Feedback force can be generated, 6 rotational angle of big arm mechanism is calculated by the photoelectric encoder on direct current generator 11 and obtained.Large arm gravity
9 one end of counterbalance spring is connected to the spring on pedestal reduction driven wheel 2 and face 22 is fixedly mounted, and the other end is connected by steel wire rope to pass through
It crosses fixed pulley 10 and is connected to 7 end of large arm reduction driven wheel, compensated for realizing to the spring gravity of big arm mechanism 1.
As shown in Figures 1 and 2, forearm deceleration driving wheel 15 is nested in the shaft of direct current generator 18, works as direct current generator
18 drive forearm deceleration driving wheel 15 so that the two rotates coaxially.Forearm deceleration driving wheel 15 drives forearm to subtract by steel wire rope
Fast driven wheel 14.Forearm reduction driven wheel 14 is rotated around forearm reduction driven wheel shaft 20, and by wire rope gearing, is driven
Small arm mechanism 13 is rotated around forearm shaft 19, enables small arm mechanism 13 to generate feedback force, small arm mechanism 13 to realize
Rotational angle is measured by the photoelectric encoder on direct current generator 18 and is obtained.Universal joint 21 be mounted on 13 end of small arm mechanism, ten thousand
It is concentrated on the end of small arm mechanism 13 to the center of gravity of section 21, universal joint 21 is made of three passive rotary joints, this three rotations
The axis for turning joint is mutually perpendicular to, and rotation angle is respectively as obtained by the measurement of respective angular potentiometer.Forearm gravity compensation bullet
16 one end of spring is connected to the spring on pedestal reduction driven wheel 2 and face 22 is fixedly mounted, and the other end is connected by steel wire rope and is passed through
Fixed pulley 17 is connected to 14 end of forearm reduction driven wheel, is mended for realizing to small arm mechanism 13 and 21 gravity of universal joint
It repays.
For the ease of analysis, by Fig. 1 and Fig. 2 to zero drift spring gravity compensation side used by big arm mechanism 6
Method is described with schematic diagram in Fig. 3.It is assumed that the big connecting rod OO of arm mechanism 61It indicates, connecting rod OO1Gravity torque is T=Bcos θ.
Large arm shaft 12 indicates that the stiffness coefficient of large arm gravity compensation spring 9 is K, and the drawing force of spring is to O institutes force of labor square with O
Arm of force OI length is h, then the pulling force of spring is Fs, torque Ts=Fsh.Connecting rod OO1Corner ∠ O1OL=θ.Large arm slow down from
The length of 7 radius of driving wheel is r, ∠ ION=∠ FQP=θ1, ∠ QON=θ, OG length is equal to rsin θ, QG length equal to rcos
θ.One end of spring is fixed at M, and other end is connected horizontal tangent with steel wire rope and meets at fixed pulley R points.Steel wire rope
The other end intersects with fixed pulley P points with being fixed on large arm deceleration mechanism driven wheel Q points to extend on fixed pulley, and Q points exist
OO1Reverse extending line and driven wheel annulus outer diameter intersection.Such as Fig. 4 of fixed pulley 10, is lower section disk in Fig. 4, the center of circle is
O3, radius a length of r ', O0Point is the fixation supporting point of fixed pulley, and the distance to the fixed pulley center of circle is l, OO0Length be a.In figure
W points are QP and the intersection point with FM after the tangent extension of fixed pulley.∠ QWF=∠ PO3E=β.
In order to facilitate calculating, the sheave segment in Fig. 3 is repainted in Fig. 4.As shown in the left figure in Fig. 4, at this time
Connecting rod OO1With OO0When coincidence, gravity torque T=Bcos θ are equal to 0.In order to ensure that zero drift spring carries out gravity compensation, this
When, spring elongation length should be equal to drift.It just constitutes zero in this way, spring is combined with fixed pulley and steel wire rope and freely grows
Spend spring gravity compensation way.It is QP length plus the circular arc between PR that can find out length between steel wire rope QR from the left figure of Fig. 4
Length：
Connecting rod OO1With OO0When misaligned, as shown in the right figure of Fig. 4：∠ QWF=∠ PO3E=β, then when Q points are located at arbitrarily
When some positions, O3The length of E is that r ' cos β, DF length is equal to ER length equal to l-r ' cos β, so QD length is a-rsin
θ-l+r ' cos β, DP length is rcos θ-r ' sin β, wherein in Δ QDP, the length of QP is：
Then the QR length of steel wire rope is：
So the tensile elongation of spring is：
ΔQR=QR-QR0 (4)
Then the pulling force of spring is：
Fs=K ΔsQR (5)
The torque of spring is：
Ts=K ΔsQRh (6)
Wherein,
H=rcos (θ-θ1) (7)
Using the QD length, DP length and QP length found out, can find out：
In order to enable the gravity torque T=Bcos θ of connecting rod can be fully compensated in spring elongation torque, then produced by spring
The torque of raw compensation gravity should be equal to T=Bcos θ, so there is following equation to set up：
Bcos θ=K ΔsQRH=Kr ΔsQRcos(θ-θ1) (10)
By formula (1), (3), the stiffness coefficient K that (8) and (9) substitution (10) can find out spring is equal to：
Wherein, φ '=(QP+r ' β-QR0)/QP, a '=a-l+r ' cos β, u '=r ' sin β.
For formula (11), if l=r '=0, a=r then in Fig. 3 fixed pulley center of circle O3With O0Just it is completely superposed.In order to protect
It demonstrate,proves zero drift spring and carries out gravity compensation, there will necessarily be：As connecting rod OO1With OO0When coincidence, i.e. gravity torque T=Bcos θ
Equal to 0, at this point, the tensile elongation of spring is equal to drift, i.e. Q points and O0Two points of coincidences of point, that is to say QO0Length is equal to 0.
In this way, spring is combined with fixed pulley and steel wire rope just constitutes complete zero drift spring gravity compensation way, spring
Stiffness coefficient K be constant：
The big arm mechanism and small arm mechanism of force feedback equipment are required for carrying out gravity compensation, but the compensation principle phase of the two
Together.Therefore, theory analysis being carried out to big arm mechanism spring-compensating principle here, small arm mechanism spring-compensating principle is similar therewith,
The parameter of small arm mechanism need to only be changed into.
Pass through above-mentioned mathematical derivation, it was demonstrated that novel zero-initial-length spring compensation is force feedback may be implemented completely in theory
The complete gravity compensation of equipment.
In actual design process, if keeping a equal to the radius r of deceleration mechanism, the bearing length l of fixed pulley and half
Diameter r ' is very small, can make that the stiffness coefficient K of spring is approximately constant completely, this completely can be in actual production and processing
It realizes.Therefore, this method is simple and easily realizes.
Consolidate in addition, the spring and steel wire rope of this method are all fixed on the spring on the base mechanism driven wheel of force feedback equipment
Determine on mounting surface, rather than on the connecting rod of operator, this will not increase the gravity and inertia when force feedback equipment operation, will not
The shortcomings that going into interference between bar and bar, avoiding common zero drift spring.
Claims (1)
1. a kind of zero drift spring gravity compensation method based on force feedback equipment, it is characterized in that step is：
(1) large arm gravity compensation spring one end is connected to the spring on pedestal deceleration mechanism driven wheel and face is fixedly mounted, it is another
End is connected by steel wire rope to be connected on large arm deceleration mechanism driven wheel and large arm reverse extending line and driven wheel by fixed pulley
At edge interface point, compensated for realizing to zero drift spring gravity of big arm mechanism；Big arm mechanism connecting rod OO1Table
Show, connecting rod OO1Gravity torque is T=B cos θ；Large arm shaft is indicated with O, makees some horizontal line NL, N points and L by O points
Point is respectively 2 points on the horizontal line；The stiffness coefficient of large arm gravity compensation spring is K, its drawing force is to O institutes force of labor square
Arm of force OI length be h, wherein I be from O points make a vertical line intersect with PQ extended lines, the intersection point be I points, then large arm gravity benefit
The pulling force for repaying spring is Fs, torque Ts=Fsh；Connecting rod OO1Corner ∠ O1OL=θ；By O0Point makees a horizontal line, from Q
Point is made a vertical line and is intersected with the horizontal line, intersection point F；, the intersection point D vertical with QF from P points one vertical line of work；By O points, O3
Point and O0Point makees straight line, makees a vertical line with the straight line intersection in G points from Q points, makees a vertical line and the straight line phase from P points
Meet at E points；The length of large arm reduction driven wheel radius is r, ∠ ION=∠ FQP=θ1, ∠ QON=θ, OG length is equal to r
Sin θ, QG length are equal to r cos θ；One end of large arm gravity compensation spring is fixed at M, and other end is connected water with steel wire rope
It puts down tangent and meets at fixed pulley R points；The other end of steel wire rope extends always with being fixed on large arm deceleration mechanism driven wheel Q points
Intersect with fixed pulley P points on to fixed pulley, Q points are in OO1Reverse extending line and driven wheel annulus outer diameter intersection；Fixed pulley is justified
The heart is O3, radius a length of r ', O0Point is the fixation supporting point of fixed pulley, and the distance to the fixed pulley center of circle is l, OO0Length be a；
Wherein W points are QP and the intersection point with FM after the tangent extension of fixed pulley；∠ QWF=∠ PO3E=β；
Connecting rod OO1With OO0When coincidence, gravity torque T=B cos θ are equal to 0；In order to ensure the large arm gravity compensation of zero drift
Spring carries out gravity compensation, at this point, large arm gravity compensation spring elongation length should be equal to drift；In this way, large arm gravity is mended
Repay the gravity compensation side that spring is combined the large arm gravity compensation spring for just constituting zero drift with fixed pulley and steel wire rope
Formula；It is QP length plus the arc length between PR that length between steel wire rope QR, which can be found out,：
Connecting rod OO1With OO0When coincidence, gravity torque T=B cos θ are equal to 0, and the length of steel wire rope QR at this time is denoted as QR0；
Connecting rod OO1With OO0When misaligned, ∠ QWF=∠ PO3E=β, then when Q points are located at any point position, O3The length of E is
R ' cos β, DF length is equal to ER length and is equal to l-r ' cos β, so it is r that QD length, which is a-r sin θ-l+r ' cos β, DP length,
Cos θ-r ' sin β, wherein in Δ QDP, the length of QP is：
Then the QR length of steel wire rope is：
So the tensile elongation of large arm gravity compensation spring is：
ΔQR=QR-QR0 (4)
Then the pulling force of large arm gravity compensation spring is：
Fs=K ΔsQR (5)
The torque of large arm gravity compensation spring is：
Ts=K ΔsQRh (6)
Wherein,
H=r cos (θ-θ1) (7)
Using the QD length, DP length and QP length found out, can find out：
In order to enable the gravity torque T=B cos θ of connecting rod can be fully compensated in large arm gravity compensation spring elongation torque, then lead to
T=B cos θ should be equal to by crossing the torque of compensation gravity produced by large arm gravity compensation spring, so there is following equation to set up：
B cos θ=K ΔsQRH=Kr ΔsQR cos(θ-θ1) (10)
By formula (1), (3), the stiffness coefficient K that (8) and (9) substitution (10) can find out large arm gravity compensation spring is equal to：
Wherein, φ '=(QP+r ' β-QR0)/QP, a '=a-l+r ' cos β, u '=r ' sin β；
For formula (11), if the center of circle O of l=r '=0, a=r then fixed pulley3With O0Just it is completely superposed；In order to ensure large arm machine
Zero drift spring gravity of structure compensates, and there will necessarily be：As connecting rod OO1With OO0When coincidence, i.e. gravity torque T=B cos θ etc.
In 0, at this point, the tensile elongation of large arm gravity compensation spring is equal to drift, i.e. Q points and O0Two points of coincidences of point, that is to say QO0
Length is equal to 0；In this way, large arm gravity compensation spring is combined with fixed pulley and steel wire rope just constitutes complete zero drift
The stiffness coefficient K of spring gravity compensation way, large arm gravity compensation spring is constant：
(2) the gravity compensation spring one end of forearm is connected to the spring on pedestal deceleration mechanism driven wheel and face is fixedly mounted, separately
One end is connected by steel wire rope to be connected to by fixed pulley at forearm deceleration mechanism driven wheel edge interface point, for realizing to small
Zero drift spring gravity of arm mechanism compensates；For the gravity compensation of small arm mechanism, the parameter of small arm mechanism need to be changed into i.e.
It can.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028353.1A CN105619449B (en) | 2016-01-18 | 2016-01-18 | A kind of zero drift spring gravity compensation method based on force feedback equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610028353.1A CN105619449B (en) | 2016-01-18 | 2016-01-18 | A kind of zero drift spring gravity compensation method based on force feedback equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619449A CN105619449A (en) | 2016-06-01 |
| CN105619449B true CN105619449B (en) | 2018-08-24 |
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| CN109623789B (en) * | 2019-01-04 | 2023-10-17 | 电子科技大学中山学院 | Gravity compensation device and robot |
| CN110404157A (en) * | 2019-08-03 | 2019-11-05 | 安徽工程大学 | A kind of robot sinusoidal elastic force amplifying moment compensation device and method |
| CN111216129B (en) * | 2020-01-07 | 2023-03-21 | 华南理工大学 | Active-passive combined series-parallel force feedback equipment gravity compensation method |
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