CN105690375B - A kind of rod mobile robot of single-degree-of-freedom four and its control method - Google Patents
A kind of rod mobile robot of single-degree-of-freedom four and its control method Download PDFInfo
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- CN105690375B CN105690375B CN201610202207.6A CN201610202207A CN105690375B CN 105690375 B CN105690375 B CN 105690375B CN 201610202207 A CN201610202207 A CN 201610202207A CN 105690375 B CN105690375 B CN 105690375B
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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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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Abstract
The invention discloses a kind of rod mobile robot of single-degree-of-freedom four and its control method.The rod mobile robot of single-degree-of-freedom four includes：First rod member, the second rod member, the 3rd rod member, the 4th rod member, motor.Wherein, the first rod member, the second rod member and the 3rd rod member weight are identical, and the 4th rod member weight is more than the first to the 3rd rod member；Realize that two rod members are mutually rotatablely connected by connecting shaft respectively with the 3rd rod member F ends with the second rod member C-terminal, the second rod member D ends and the 4th rod member H ends, the first rod member B ends in the first rod piece A end；It is connected between the 3rd rod member E ends and the 4th rod member G ends by motor.The connecting shaft both ends are provided with jump-ring slot, for carrying out axial limiting to connecting two rod members；The third connecting rod E ends are relatively fixed with motor to be connected；Fourth link G ends axis hole is provided with top wire hole, and motor shaft is relatively fixed with fourth link and is connected.The present invention realizes straight trip and deterministic divertical motion of the robot of single degree of freedom in plane.
Description
Technical field
The present invention relates to robot and its control field, more particularly to the rod mobile robot of single-degree-of-freedom four and its controlling party
Method.
Background technology
Space connecting-rod mobile robot is compact-sized, and movement is various informative.Wherein space robot of single degree of freedom is due to knot
Structure is simple, and control difficulty is low, has important scientific research and application value in robot sphere of learning.
China Patent Publication No. 101890714A discloses " connecting rod moving robot with one degree of freedom and its control method ", it
A kind of brand-new connecting rod moving robot with one degree of freedom is given, is driven and is controlled with a motor, realize plane not
Equidirectional motion.Its moving direction meets probability distribution in motion process.
China Patent Publication No. 103407507A discloses " a kind of single-power creep six-bar mechanism ", it give it is a kind of with
Being creeped six-bar mechanism by the upset of part to realize the single-power moved integrally based on spatial six-bar mechanism.It passes through electricity
The rotation of machine drives the upset of driving link, and the frictional force produced forward realizes the translation of integrated model.
China Patent Publication No. 103303386A discloses " a kind of Single-degree-of-fredouble-mode double-mode rolling six-bar mechanism ", gives
A kind of rolling mechanism based on spatial six-bar mechanism by different from China Patent Publication No. 103407507A.It passes through control
The jerk of motor, rotating, deformation realizes two kinds of rolling modes of mechanism, and adjusts machine by the switching of both of which
The moving direction of structure.
The content of the invention
The problem to be solved in the present invention is to provide a kind of bar of single-degree-of-freedom four and moves four bar robots and its control method, should
Robot can utilize gravity center shift and drive the adjustment of joint parameter, realize the displacement of robot；Provide one simultaneously
Control method of the kind suitable for robot.
Technical scheme：
First, the invention discloses a kind of bar of single-degree-of-freedom four to move four bar robots, including：First rod member, the second bar
Part, the 3rd rod member, the 4th rod member, motor；Wherein, the first rod member, the second rod member and the 3rd rod member weight are identical, the 4th rod member weight
Amount is more than the first to the 3rd rod member；The first rod piece A end and the second rod member C-terminal, the second rod member D ends and the 4th rod member H ends, the
Realize that two rod members are mutually rotatablely connected by connecting shaft respectively with the 3rd rod member F ends in one rod member B ends；The 3rd rod member E ends
It is connected between the 4th rod member G ends by motor.
A kind of described rod mobile robot of single-degree-of-freedom four, wherein：The revolute pair axis at the first described rod member both ends
Between torsional angle be 70 °；Torsional angle is 110 ° between the revolute pair axis at the second rod member both ends；Turned round between the revolute pair axis at the 3rd rod member both ends
Angle is 70 °；Torsional angle is 110 ° between the revolute pair axis at the 4th rod member both ends.
The bar of a kind of single-degree-of-freedom four moves four bar robots, wherein：The connecting shaft both ends are provided with jump-ring slot, are used for
Axial limiting is carried out to connecting two rod members.
The bar of a kind of single-degree-of-freedom four moves four bar robots, wherein：The 3rd rod member E ends are relatively fixed with motor
Connection；4th rod member G ends axis hole is provided with top wire hole, and motor shaft is relatively fixed with the 4th rod member and is connected.
Secondly, the invention discloses the control method of the rod mobile robot of single-degree-of-freedom four, for above-mentioned single-degree-of-freedom
Four rod mobile robots are controlled, and are comprised the following steps：Step S1, define error amount；Step S2, current location is obtained, is sentenced
Whether the disconnected error between the current location and target location is less than the threshold value of setting, if so, then finishing control program, no
Then, step S3 is performed；Step S3, judge that institute of robot towards position relationship between direction and target location, calculates motion side in next step
To setting motor maximum drive angle betamax, set step-length；Step S4, judgment step S3 terminate the rear bar moving machine of single-degree-of-freedom four
Whether the error between device people and target location is less than the threshold value of setting, if so, then finishing control program, otherwise, is performed
Step S3.
The present invention compares with prior art to be had the advantage that：
The present invention utilizes single-degree-of-freedom spatial four-bar mechanism, and single motor control realizes plane straight trip and turns to two kinds of fortune
It is dynamic.Compared to existing robot, single motor control is advantageous to cost-effective, reduction power consumption；Simultaneously on this basis to robot
The direction of motion, which realizes, clearly to be controlled.The similar humanoid robot that is proposed for of control method has reference significance.
Brief description of the drawings
The rod mobile robot entirety graphics of Fig. 1 single-degree-of-freedoms four；
The rod members of Fig. 2 first and motor connection schematic diagram；
The graphics of the rod members of Fig. 3 first；
The graphics of the rod members of Fig. 4 second；
The graphics of the rod members of Fig. 5 the 3rd；
The graphics of the rod members of Fig. 6 the 4th；
The rod members of Fig. 7 second and the 4th rod member connected mode schematic diagram；
The graphics of Fig. 8 connecting shafts；
The rod mobile robot motion process schematic diagram of Fig. 9 (a-m) single-degree-of-freedom four；
Figure 10 maximum drive angle betasmaxRespectively 65 °, 70 °, 75 °, 80 °, 85 °Shi robots movement locus schematic diagrams；
The rod mobile robot control method schematic flow sheet of Figure 11 single-degree-of-freedoms four.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
A kind of bar of single-degree-of-freedom four moves four bar robots, and the robot is overall as shown in figure 1, including the first rod member 1, such as
Shown in Fig. 3；Second rod member 2, as shown in Figure 4；3rd rod member 3, as shown in Figure 5；4th rod member 4, as shown in Figure 6；Motor 5；Its
In, the first rod member 1, the second rod member 2 are identical with the weight of the 3rd rod member 3, and the 4th rod member weight is more than the first to the 3rd rod member；It is described
Second rod member D ends realize that two rod members are mutually rotatablely connected with the 4th rod member H ends by connecting shaft 6, connected mode such as Fig. 7 institutes
Show；First rod piece A end and the second rod member C-terminal, the first rod member B ends and the 3rd rod member F end connected modes and the second rod member D ends and the
Four rod member H ends connected modes are identical；It is connected between the 3rd rod member E ends and the 4th rod member G ends by motor 5.
Torsional angle is 70 ° between the revolute pair axis at the described both ends of the first rod member 1；The revolute pair axis at the both ends of the second rod member 2
Between torsional angle be 110 °；Torsional angle is 70 ° between the revolute pair axis at the both ends of the 3rd rod member 3；Between the revolute pair axis at the both ends of the 4th rod member 4
Torsional angle is 110 °.
The connecting shaft 6, as shown in figure 8, both ends are provided with jump-ring slot, for carrying out axial limiting to connecting two rod members.
The 3rd rod member 3E ends are relatively fixed with motor 5 to be connected, as shown in Figure 2；4th rod member 4G ends axis hole is provided with top
Silk hole, is connected as shown in fig. 6, motor shaft is relatively fixed with the 4th rod member 4.
As shown in figure 9, before motion starts, robot is in the initial position as shown in Fig. 9 (a).Motor drives the 3rd bar
Subtended angle β increases between part and the 4th rod member, and robot center of gravity falls outside its supporting zone, and robot overturns to such as Fig. 9 (b) to the right
Shown position, motor rotate backward, as shown in Fig. 9 (c)；Subtended angle β is reduced up to being 0, now mechanism status such as Fig. 9 (d)
It is shown.
It it was 0 moment in β, with direction of visual lines shown in Fig. 9 (d) (I), the 4th rod member is located at cylinder upper left side, such as Fig. 9 (d)
(II) shown in.Because the 4th rod member weight is larger, cylinder will be rotated with arrow meaning rotation direction, until cylinder is in such as
State shown in Fig. 9 (e).Now, motor drives subtended angle β from 0 increase, until robot, which is in, stablizes holding state, such as Fig. 9 (f)
It is shown.Motor driving subtended angle β continues to increase, and robot center of gravity is again at outside supporting zone, and robot is toppled over, such as Fig. 9 (g)
(h).Motor rotates backward, and robot is contracted to cylindric as shown in Fig. 9 (i) again.It it was 0 moment in β, with Fig. 9 (i) (I) institute
Showing direction of visual lines, the 4th rod member is located at cylinder upper left side, as shown in Fig. 9 (i) (II), because the 4th rod member weight is larger, because
This cylinder will be rotated with arrow meaning rotation direction, until cylinder is in the state as shown in Fig. 9 (j).Now, motor drives
Subtended angle β is from 0 increase, until robot, which is in, stablizes holding state, as shown in Fig. 9 (k).Robot shown in Fig. 9 (a) and Fig. 9 (k)
State is identical.Now robot completes a motion cycle.
Robot constantly repeats this motion cycle to realize straight line or divertical motion.
Define maximum drive angle betamax：As shown in Fig. 9 (a) (b) so that robot produces topples over fortune as shown in Fig. 9 (b)
When dynamic, subtended angle β maximum, maximum drive angle beta is defined asmax.Maximum drive angle beta is being reached by controlled motormaxCross
Speed and acceleration in journey, robot can be in different maximum drive angle betasmaxSituation topple over to realization.
Define robot opening direction：As shown in Fig. 9 (a) (f), in robot also in holding state is stablized, do not topple over,
Now land two bar opening directions, the right side in such as Fig. 9 (a) (f), as robot opening direction.
As shown in Figure 10, it is maximum drive angle beta in motion processmaxMachine at respectively 65 °, 70 °, 75 °, 80 °, 85 °
Device people's movement locus.Accordingly can be to robot travel direction control.
As shown in figure 11, it is the schematic flow sheet of the rod mobile robot control method of single-degree-of-freedom four.Comprise the following steps：
Step S1, define error amount.
Step S2, current location is obtained, judge whether the error between the current location and target location is less than and set
Fixed threshold value, if so, then finishing control program, otherwise, performs step S3.
Step S3, judge that institute of robot towards position relationship between direction and target location, calculates the next step direction of motion, setting
Motor maximum drive angle betamax, set step-length.
Step S4, judgment step S3 terminate the error between the rear rod mobile robot of single-degree-of-freedom four and target location
Whether the threshold value of setting is less than, if so, then finishing control program, otherwise, performs step S3.
In whole motion process of the robot from initial position to target location, the fortune in two stages will be broadly divided into
It is dynamic:
First stage, adjust the direction of motion stage.I.e. move start when control program can according to robot present position,
Opening direction and target location are judged, it is determined that suitable steering angle；And robot is obtained by primary Calculation and wants to reach
To ideal towards step-length used, and constantly adjust so that robot opening, which is ultimately towards, points to target location.
Second stage, straight-line travelling stage.
After whole motion process, robot is up to target location.
Claims (4)
- A kind of 1. rod mobile robot of single-degree-of-freedom four, it is characterised in that：Including：First rod member (1), the second rod member (2), the 3rd rod member (3), the 4th rod member (4), motor (5)；Wherein, the first bar Part (1), the second rod member (2) are identical with the 3rd rod member (3) weight, the 4th rod member (4) weight be more than the first to the 3rd rod member (1,2, 3)；First rod member (1) the A ends and the second rod member (2) C-terminal, the second rod member (2) D ends and the 4th rod member (4) H ends, the first rod member (1) B ends realize that two rod members are mutually rotatablely connected by connecting shaft (6) respectively with the 3rd rod member (3) F ends；3rd rod member (3) it is connected between E ends and the 4th rod member (4) G ends by motor (5)；Torsional angle is 70 ° between the revolute pair axis at wherein the first rod member (1) both ends；Between the revolute pair axis at the second rod member (2) both ends Torsional angle is 110 °；Torsional angle is 70 ° between the revolute pair axis at the 3rd rod member (3) both ends；The revolute pair axis at the 4th rod member (4) both ends Between torsional angle be 110 °.
- A kind of 2. rod mobile robot of single-degree-of-freedom four as claimed in claim 1, it is characterised in that：The connecting shaft (6) two End is provided with jump-ring slot, for carrying out axial limiting to connecting two rod members.
- A kind of 3. rod mobile robot of single-degree-of-freedom four as claimed in claim 1, it is characterised in that：3rd rod member (3) E End is relatively fixed with motor (5) to be connected；4th rod member (4) G ends axis hole is provided with top wire hole, and motor shaft and the 4th rod member (4) are relative It is fixedly connected.
- A kind of a kind of 4. control method of the rod mobile robot of single-degree-of-freedom four as claimed in claim 1, for the list The rod mobile robot of the free degree four is controlled, and is comprised the following steps：Step S1, define error amount；Step S2, current location is obtained, judge whether the error between the current location and target location is less than setting Threshold value, if so, then finishing control program, otherwise, performs step S3；Step S3, judge that institute of robot towards position relationship between direction and target location, calculates the next step direction of motion, sets motor Maximum drive angle betamax, set step-length；Whether step S4, judgment step S3 terminate the error between the rear rod mobile robot of single-degree-of-freedom four and target location Less than the threshold value of setting, if so, then finishing control program, otherwise, performs step S3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202207.6A CN105690375B (en) | 2016-04-01 | 2016-04-01 | A kind of rod mobile robot of single-degree-of-freedom four and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202207.6A CN105690375B (en) | 2016-04-01 | 2016-04-01 | A kind of rod mobile robot of single-degree-of-freedom four and its control method |
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| Publication Number | Publication Date |
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| CN105690375A CN105690375A (en) | 2016-06-22 |
| CN105690375B true CN105690375B (en) | 2017-11-10 |
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| CN109129423A (en) * | 2018-09-06 | 2019-01-04 | 燕山大学 | One kind surpassing 6 rank monocycle spatial linkages and design method |
| CN112896360B (en) * | 2021-02-24 | 2022-03-04 | 北京交通大学 | Single-power moving six-rod robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101428421B (en) * | 2008-12-04 | 2010-07-21 | 北京交通大学 | Two-foot walk triangle robot |
| CN101890714B (en) * | 2010-06-23 | 2012-04-25 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN101927796A (en) * | 2010-09-28 | 2010-12-29 | 北京交通大学 | Single-power parallelogram two-foot moving mechanism |
| CN103112512B (en) * | 2013-02-27 | 2016-08-03 | 北京交通大学 | Roll deformation mechanism |
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