CN109015740B - Tensioning floating type flexible joint and design method thereof - Google Patents

Tensioning floating type flexible joint and design method thereof Download PDF

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CN109015740B
CN109015740B CN201810899370.1A CN201810899370A CN109015740B CN 109015740 B CN109015740 B CN 109015740B CN 201810899370 A CN201810899370 A CN 201810899370A CN 109015740 B CN109015740 B CN 109015740B
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姜洪洲
陈炳兴
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Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
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    • G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract

The invention relates to a tensioning floating type flexible joint and a design method thereof. Flexible joint includes basic platform, driven platform and multiunit tension element, basic platform's above structure and driven platform below the structure pass through multiunit horizontally tension element and be connected, basic platform's above structure and driven platform's the structure pass through multiunit axial tension element and be connected to can the suspension support play driven platform, multiunit axial tension element provides vertical decurrent pulling force, multiunit horizontal tension element provides vertical ascending tension and is used for antagonism, make driven platform can carry out the rotation of floating of no direct mechanical contact round basic platform. The design method comprises the steps of freedom decoupling and unified dimensionalization of the rigidity anisotropy design index. The joint can reduce or even eliminate mechanical abrasion and friction generated by mechanical contact, improve the stress state of the structure and reduce the requirement of driving force.

Description

Tensioning floating type flexible joint and design method thereof
Technical Field
The invention mainly relates to a tension floating type flexible joint and a design method thereof.
Background
At present, rigid joints are basically adopted on traditional robots and mechanical arms. Mechanical friction exists between the rigid joints, and the friction reduces the driving efficiency, stability and other performances of the robot. Although high precision bearings can be used to reduce friction, friction still exists. On multi-joint robots, friction can accumulate, affecting the performance of the robot. In addition, high precision bearings tend to represent a high cost.
Disclosure of Invention
The invention aims to provide a tensioning floating type flexible joint and a design method thereof, the tensioning floating type flexible joint can realize floating rotation without direct rigid contact, and can replace the traditional rotary hinges, such as a rotary pair, a Hooke hinge, a spherical hinge and the like.
The invention is realized by adopting the following technical scheme: the utility model provides a floating flexible joint of stretch-draw, includes basic platform, driven platform and multiunit tension element, basic platform's above structure and driven platform below the structure pass through multiunit horizontally tension element and be connected, basic platform's above structure and driven platform's the above structure pass through multiunit axial tension element and be connected to can the suspension prop up driven platform, multiunit axial tension element provides vertical decurrent pulling force, multiunit horizontal tension element provides vertical ascending tension and is used for counteracting, make driven platform can carry out the unsteady rotation of no direct mechanical contact round basic platform.
The invention also has the following technical characteristics:
1. the basic platform and the driven platform have the same structure.
2. The base platform and the driven platform are of a disc-foot type structure, the disc-foot type structure comprises a hollowed disc, a Y-shaped foot leg and a base, the Y-shaped foot leg is fixedly connected with the lower surface of the hollowed disc, the bottom of the Y-shaped foot leg is fixedly connected with the base, and the size of the plane of the base is smaller than the inner diameter of the hollowed disc.
3. The tension element comprises one of a spring, pneumatic muscle, shape memory alloy, wire rope or elastic wire.
4. The arrangement mode of the multiple groups of tension elements is the arrangement mode of a standard Stewart platform.
5. A tensioning floating type flexible joint series structure comprises a plurality of groups of tensioning floating type flexible joints, wherein a base platform of each group of flexible joints and a driven platform of an adjacent group of flexible joints are sequentially connected in series to form the tensioning floating type flexible joint series structure.
6. A design method of a tension floating type flexible joint comprises the following steps: decoupling each degree of freedom of a tension floating type flexible joint, calculating to obtain a compliant center of the tension floating type flexible joint, providing a design index of rigidity anisotropy, and designing the rigidity anisotropy at the compliant center to ensure that the rigidity in the required degree of freedom direction is low and the rigidity in the other directions is high; under the same driving force, the movement in the low rigidity direction is larger than that in the high rigidity direction, so that the rotational rigidity is far smaller than the translational rigidity, and the rotational movement of the tensioning floating type flexible joint is larger than that of the translational movement, thereby being equivalent to a friction-free rotational joint.
7. The calculation method of the stiffness anisotropy index as described above is as follows: the n direction is designated as the freedom degree needed to be designed, the rigidity of the n direction is minimized, and the rigidity of other directions is maximized, and the formula is as follows:
Maximizingξmn＝km/kn
wherein k isnUniform dimensionalization of stiffness in the n-direction, kmMinimum stiffness, ξ, representing the residual direction after uniform dimensionalizationmnAs an index of stiffness anisotropy, if ximn>ξminThe minimum value of a design index of the rigidity anisotropy is considered as the degree of freedom, xi, of the n directionminThe values are given according to the operating conditions.
The invention has the advantages and beneficial effects that:
(1) through the decoupling of the degree of freedom and the design of the rigidity anisotropy, the degree of freedom of the tensioning joint can be designed, and the tensioning floating type flexible joint can become a flexible revolute pair, a Hooke joint and a spherical hinge.
(2) The flexible tensioning rotary joint can replace the traditional rigid joint and can be applied to robots such as mechanical arms, mechanical snakes and robotic fish.
(3) The decoupling center of the standard redundant parallel mechanism is the rotation center of the tension floating type flexible joint.
(4) The joint can reduce or even eliminate mechanical abrasion and friction generated by mechanical contact, improve the stress state of the structure and reduce the requirement of driving force. Has been applied to a tension integral type swing propulsion mechanism and realizes excellent performance.
Drawings
FIG. 1 is a three-dimensional perspective view of a tensioned floating flexible joint;
FIG. 2 is a schematic diagram of a combination of a series structure of a tensioned floating type flexible joint;
FIG. 3 is an elevation view of a tensioned floating flexible joint;
fig. 4 is a top view of a tensioned floating flexible joint.
Wherein 1, basic platform, 2, driven platform, 3, dish, 4, foot, 5, horizontal tension element, 6, axial tension element, 7, downward tension, 8, upward tension, 9, virtual center of rotation, 10, first landing leg, 11, second landing leg, 12, third landing leg, 13, fourth landing leg.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1
A design method of a tension floating type flexible joint comprises the following steps:
for a tensile floating flexible joint, zero stiffness means one degree of freedom, high stiffness means constraint, and low stiffness means pseudo-degree of freedom. This stiffness anisotropy can be used to design the degrees of freedom of the tensile floating flexible joint. Specifically, it is the rotational stiffness that is designed to be much lower than the translational stiffness. The low stiffness portion is more likely to displace more than the high stiffness portion for the same drive torque. The greater this difference in stiffness, the greater the difference in motion. The stretching floating type flexible joint has 6 degrees of freedom, which are respectively expressed as: x: x translation, y: y translation, z: z is translated in a translation manner, and the translation,
Figure BDA0001758987030000031
roll, θ: pitch, ψ: yawing;
1. degree of freedom decoupling
When the influence of external force and internal force on the rigidity is not considered, the rigidity matrix can be expressed as
K＝kJTJ (1)
Wherein k is the stiffness of the mechanism leg and J is the Jacobian matrix.
For the stiffness K, mutually independent eigenvalues and their corresponding eigenvectors can be calculated. The direction of the feature vector will be designed to be the direction of the corresponding degree of freedom in cartesian space, which may be referred to as decoupling. To quantify the stiffness difference between the earth's mass degrees of freedom, we propose a uniform dimensionalized stiffness anisotropy index ximn。
2. Index of anisotropy of stiffness
The stiffness anisotropy index is used to measure the difference between the degrees of freedom. Given a degree of freedom that needs to be designed, such as n-direction freedom, more n-direction motion is desired relative to other directions. To solve this problem, the stiffness in the n direction is minimized, and the stiffness in the other directions is maximized, as follows:
Maximizingξmn＝km/kn (2)
wherein k isnUniform dimensionalization of stiffness in the n-direction, kmRepresenting the minimum rigidity of the residual direction after uniform dimensionalization; in fact, if ximn>ξminThe minimum value of a stiffness anisotropy design index may also be considered as a successful design of the degree of freedom in the n-direction. This minimum value, which needs to be given according to the operating conditions, is 30 in this embodiment.
The theory of freedom design mainly includes the decoupling condition of freedom and the design of anisotropy of rigidity. Coupling refers to the mutual influence of motion and power between different degrees of freedom, and the motion in one degree of freedom direction can cause the motion in other degrees of freedom directions to different degrees, and the motion between the degrees of freedom is not independent. The decoupling is to eliminate the cross coupling between different degrees of freedom of the parallel mechanism, and the aim is to try to make the motion in a certain direction not be coupled with the motion in other directions, which is the basis of the design of the degrees of freedom. The design of the rigidity anisotropy aims to make the required rigidity smaller, and more movement is obtained under the drive of the same moment or force, which is the core concept of freedom design.
According to the decoupling theory of the parallel mechanism, a flexible center of the tensioning floating type flexible joint can be calculated, and the flexible center is the decoupling position of the degree of freedom. If only an external force is applied in a certain degree of freedom of the compliant center, displacement will occur only in this degree of freedom. If only an external moment is applied in a certain degree of freedom of the compliant center, rotation will occur only in this degree of freedom. If the tension floating type flexible joint is designed with one degree of freedom of rotation, the compliant center also becomes the equivalent rotation center of the tension floating type flexible joint.
Example 2
As shown in fig. 1-2, a tensioning floating type flexible joint comprises a base platform, a driven platform and 16 sets of tension elements, wherein the upper structure of the base platform is connected with the lower structure of the driven platform through a plurality of sets of horizontal tension elements, the upper structure of the base platform is connected with the upper structure of the driven platform through a plurality of sets of axial tension elements, so that the driven platform can be suspended and supported, the plurality of sets of axial tension elements provide vertical downward pulling force, the plurality of sets of horizontal tension elements provide vertical upward pulling force for resisting, and the driven platform can perform floating rotation around the base platform without direct mechanical contact. The base platform and the driven platform are of a disc-foot type structure, the tension elements are used as supporting legs, and springs, pneumatic muscles, shape memory alloys, steel wire ropes or elastic wires and the like can be adopted. It should be noted that the structure of the base platform and the driven platform is not limited to the illustrated plate-foot type, T-shaped, i-shaped, etc. The manufacturing of the tension type floating flexible joint can be reasonably simplified, for example, the number of the supporting legs can be reduced, such as 16 supporting legs to 8 supporting legs, 6 supporting legs and the like.
8 of them are the landing legs of horizontal arrangement, connect the foot of driven platform and the dish of basic platform. The arrangement of the legs can be referred to the arrangement of a standard Stewart platform. This arrangement will provide a horizontal tension network that can suspend the driven platform. While the other 8 legs, axially arranged, i.e. axial tension elements 6, connect the discs of the driven platform with the discs of the lower platform, this arrangement will provide an axial tension network for tensioning the entire tensioned floating flexible joint. The axial tension network provides a vertically downward pulling force and the horizontal network provides a vertically upward tension force to counter. This opposition ultimately joins the horizontal, axial tension network together. Due to the expanded tension network, the driven platform can realize floating rotation around the base platform without direct mechanical contact, and can generate movement with three degrees of freedom of pitching, yawing and twisting. This is the principle of the tensioning joint.
As shown in fig. 1, a simplified tensioning joint is provided having 2 sets of axially disposed legs and 4 sets of horizontally disposed legs. It should be noted that the number of legs, the material of the legs and the arrangement thereof can be adjusted as required, and are not limited to the illustrated examples.
As shown in fig. 2, a serial structure of tensioned floating flexible joints includes 3 groups of such tensioned floating flexible joints, and a base platform of each group of flexible joints and a driven platform of an adjacent group of flexible joints are sequentially connected in series with each other to form a serial structure of tensioned floating flexible joints.
As shown in fig. 3-4, this tensioned joint may be considered a rotational joint in the yz plane. The rotational degree of freedom is designed to be
Figure RE-GDA0001801771540000056
The supporting legs i are 1-6 connected with the lower hinge point B of the foundation platform respectively1-B2And C1-C4An upper hinge point A with the driven platform1-A2And D1-D2. The resilient legs are considered to have the same stiffness k. Wherein the coordinates of the hinge point A1-A2,B1-B2,C1-C4,D1-D2And E with1-E2Are respectively distributed at the radius of ra,rb,rc,rdAnd reOn five circles. The points A, B, D and E are the centers of four circles. When not under external load, the tensioning joint is symmetrical, as shown in fig. 3, wherein the internal forces of the first leg and the second leg are equal, and the internal forces of the third leg and the sixth leg are equal. This position is called the null position, whose pose possesses zero displacement and zero rotation. Defining basic coordinate { B }: O-XYZ, and volume coordinate { M }: O1-X1Y1Z1. The rotation center of the tension joint is arranged at an original point O1of { M }. The structure of the tensioning joint can be formed by the rest of the sizes (beta, H, H)0) Is fully represented. Wherein beta is the hinge point C1-C4H is the originDistance to the upper platform. H is the height of the driven platform. H0Is the distance from point D of the foot of the driven platform to the base platform.
The lengths of the first and second legs may be described as
Figure BDA0001758987030000051
The length from the third leg to the sixth leg is
Figure BDA0001758987030000052
The design of degree of freedom can be carried out according to the rigidity of the tensioning joint in the zero position. The influence of internal force and external force on rigidity is not considered temporarily, and the passive rigidity of the tensioning joint is taken as an example.
According to the parallel mechanism rigidity theory, the rigidity matrix can be expressed as:
Figure BDA0001758987030000053
wherein KyStiffness, K, representing a degree of freedom yzThe stiffness in the representation of the degree of freedom z,
Figure BDA0001758987030000054
representing degrees of freedom
Figure BDA0001758987030000055
The rigidity of the steel sheet is higher than that of the steel sheet,
Figure BDA00017589870300000613
represents the degree of freedom y and
Figure BDA0001758987030000062
the coupling stiffness of (2).
The rigidity in the formula (3) is,
Figure BDA0001758987030000063
Figure BDA0001758987030000064
Figure BDA0001758987030000065
when in use
Figure BDA0001758987030000066
Degree of freedom
Figure BDA00017589870300000614
Local decoupling. And calculating the compliance center according to the decoupling condition.
Figure BDA0001758987030000068
When h is h*This point is the compliant center.
In addition, rigidity can be obtained
Figure BDA0001758987030000069
The formula for stiffness of compliant center is
Figure BDA00017589870300000610
The rotational freedom of this tensioning joint is designed according to these equations. In addition, in the degree of freedom design theory, the stiffness thereof needs to be uniform in dimension. Unifying rotational stiffness to the dimension of translational stiffness. Here, a characteristic length pair is introduced, wherein the characteristic length is the driven platform hinge point radius r of the tension type floating flexible jointa. A unified dimensioning of rotational stiffness of
Figure BDA00017589870300000611
By the expressions (4) to (8), the rotational rigidity after the dimension is uniformized is designed to be relatively small, and the moving rigidity ratioIs large, thereby designing the required degree of freedom of rotation
Figure BDA00017589870300000612
Wherein r isa,rbH and H0The parameters need to meet the working conditions of tensioning the floating flexible joint. Taking a tensioning integral type swinging propulsion mechanism as an example, the tensioning integral type swinging propulsion mechanism can be used for manufacturing a bionic robot fish, so that a tensioning floating type flexible joint in the tensioning integral type swinging propulsion mechanism needs to meet the physiological size of the robot fish. For example, ra,rbAnd the parameter ranges of H need to match the shape of the fish. And wherein H0The size of the tensioned floating type flexible joint structure after tensioning and assembling. At initial design time, an estimate may be used. And after actual assembly, its value needs to be measured.

Claims (5)

1. The design method of the stretching floating type flexible joint comprises a base platform, a driven platform and a plurality of groups of tension elements, wherein the upper structure of the base platform is connected with the lower structure of the driven platform through a plurality of groups of horizontal tension elements, the upper structure of the base platform is connected with the upper structural part of the driven platform through a plurality of groups of axial tension elements, so that the driven platform can be suspended and supported, the axial tension elements provide vertical downward tension, the horizontal tension elements provide vertical upward tension for countermeasures, and the driven platform can perform floating rotation around the base platform without direct mechanical contact, and is characterized by comprising the following steps: decoupling each degree of freedom of a tension floating type flexible joint, calculating to obtain a compliant center of the tension floating type flexible joint, providing a design index of rigidity anisotropy, and designing the rigidity anisotropy at the compliant center to ensure that the rigidity in the required degree of freedom direction is low and the rigidity in the other directions is high; under the same driving force, the movement in the low rigidity direction is greater than that in the high rigidity direction, so that the rotational rigidity is far less than the translational rigidity, and the rotational movement of the tensioning floating type flexible joint is greater than that of the translational movement, thereby being equivalent to a friction-free rotational joint; the calculation method of the stiffness anisotropy index comprises the following steps: the n direction is designated as the freedom degree needed to be designed, the rigidity of the n direction is minimized, and the rigidity of other directions is maximized, and the formula is as follows:
Maximizingξmn＝km/kn
wherein k isnUniform dimensionalization of stiffness in the n-direction, kmMinimum stiffness, ξ, representing the residual direction after uniform dimensionalizationmnAs an index of stiffness anisotropy, if ximn>ξminThe minimum value of a design index of the rigidity anisotropy is considered as the degree of freedom, xi, of the n directionminThe values are given according to the operating conditions.
2. A method of designing a tensioned floating flexible joint according to claim 1 wherein: the basic platform and the driven platform have the same structure.
3. A method of designing a tensioned floating flexible joint according to claim 1 wherein: the base platform and the driven platform are of a disc-foot type structure, the disc-foot type structure comprises a hollowed disc, a Y-shaped foot leg and a base, the Y-shaped foot leg is fixedly connected with the lower surface of the hollowed disc, the bottom of the Y-shaped foot leg is fixedly connected with the base, and the size of the plane of the base is smaller than the inner diameter of the hollowed disc.
4. A method of designing a tensioned floating flexible joint according to claim 1 wherein: the tension element comprises one of a spring, pneumatic muscle, shape memory alloy, wire rope or elastic wire.
5. A method of designing a tensioned floating flexible joint according to claim 1 wherein: the arrangement mode of a plurality of groups of tension elements is the arrangement mode of a standard Stewart platform.
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