CN110480676A - A kind of big corner flexible joint and robot based on rope driving - Google Patents
A kind of big corner flexible joint and robot based on rope driving Download PDFInfo
- Publication number
- CN110480676A CN110480676A CN201910821975.3A CN201910821975A CN110480676A CN 110480676 A CN110480676 A CN 110480676A CN 201910821975 A CN201910821975 A CN 201910821975A CN 110480676 A CN110480676 A CN 110480676A
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- platform
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- revolute pair
- branch
- connecting rod
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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
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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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- Engineering & Computer Science (AREA)
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Abstract
The present invention provides a kind of big corner flexible joint and robot based on rope driving, flexible joint includes that the first platform, the second platform, elastic branch and Duo Gen rigidity branch, the both ends of elastic branch are respectively fixedly connected with to the first platform, the second platform；Rigid branch includes connecting rod, the first cradle head and the second cradle head, and one end of connecting rod is connected to the first platform by the first cradle head, and the other end of connecting rod is connected to the second platform by the second cradle head；First cradle head includes tool there are two the first connector of revolute pair, and the first connector is respectively articulated with to the first platform, connecting rod；Second cradle head includes that tool is respectively articulated with the third connector with a revolute pair, the second connector to one end of the second platform, third connector there are two the second connector of revolute pair, and the other end of third connector is hinged to connecting rod.The present invention has the advantages that structure is simple, flexibility is good, rigidity is adjustable.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to it is a kind of based on rope driving big corner flexible joint and
Robot.
Background technique
Rope driver device people is the machine for being connected moving platform (or end effector) and silent flatform by rope
People, it has the advantages that, and working space is big, load quality is than high and be easy to modular, it has also become the hot spot of people's research.
A kind of the series-parallel of rope driving is provided in the first Chinese patent application 201910134989.8 of applicant
Mixed organization heavy load mechanical arm, including body and be arranged on body shoulder joints, big arm, ancon joint, small arm,
Bionical palm；Ancon joint includes ancon fixed platform, ancon movable platform and connection ancon fixed platform and ancon activity
The identical position constraint branch of three of platform, ancon fixed platform be arranged on big arm, the center of ancon fixed platform with
Line between the center of ancon movable platform is L, and three position constraint branches are centrosymmetric distribution relative to line L；Position
It sets one end of constrained branched chain and ancon movable platform is connected to by the first cradle head, the other end of position constraint branch passes through the
Two cradle heads are connected to ancon fixed platform, and the first cradle head is centrosymmetric with the second cradle head relative to line L
Distribution.Ancon joint in above-mentioned technical proposal is driven using rope, generally rigid structure, does not have side flexible
Case in this process can for rope drives parallel institution by the rigidity of rope pull adjustment mechanism entirety
The phenomenon that causing line relaxation causes the unstable of structure.
A kind of two based on rope driving are provided in the first Chinese patent application 201910344484.4 of applicant
Freedom degree big corner flexible machine person joint and robot, belong to robotic technology field.Two degrees of freedom based on rope driving
Big corner flexible machine person joint includes the first articulated arm, second joint bar and rotating connector, the rotating connector
One end is hingedly connected with the first articulation piece, and first articulation piece and first articulated arm are articulated and connected, the rotation connection
The other end of part is hingedly connected with the second articulation piece, and second articulation piece and the second joint bar are articulated and connected.Above-mentioned skill
Overall structure in art scheme is rigidity, does not also have scheme flexible.
Based on this, this application provides a kind of big corner flexible joints and robot based on rope driving.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of big corner flexible joint based on rope driving, settings
Be separately connected the elastic branch of the first platform and the second platform, integrally-built flexibility may be implemented, have structure it is simple,
Flexibility is good, the advantage that rigidity is adjustable.
To achieve the goals above, on the one hand, the present invention provides it is a kind of based on rope driving big corner flexible joint,
It is set as including the first platform, the second platform, elastic branch and more rigid branches being arranged around elastic branch, the second platform
It is driven, and can be moved with respect to the first platform by rope, the both ends of elastic branch are respectively fixedly connected with to first flat
Platform, the second platform；Wherein rigid branch includes connecting rod, the first cradle head and the second cradle head, and one end of connecting rod passes through the
One cradle head is connected to the first platform, and the other end of connecting rod is connected to the second platform by the second cradle head；Wherein first
Cradle head includes tool there are two the first connector of revolute pair, and the first connector is respectively articulated with to the first platform, connecting rod；Second
Cradle head includes that there are two the second connector of revolute pair and third connector with a revolute pair, the second connectors for tool
It is respectively articulated with to one end of the second platform, third connector, the other end of third connector is hinged to connecting rod.
In above-mentioned technical proposal of the invention, the both ends of elastic branch are respectively fixedly connected with the first platform and second flat
Platform, when the second platform is moved with respect to the first platform, elastic branch generates corresponding bending and is in bending posture,
In, elastic branch remains confined state, such as elastic branch is the spring under pressured state, the restoring force of elastic branch
It can keep balancing with the pulling force of rope, realize the flexibility design in entire joint.
Another kind specific embodiment according to the present invention, the first connector are hinged to the first platform by revolute pair R1,
First connector is hinged to one end of connecting rod by revolute pair R2, and the second connector is hinged to the second platform by revolute pair R5,
Second connector is hinged to third connector by revolute pair R4, and third connector is hinged to the another of connecting rod by revolute pair R3
End, wherein orthogonal between revolute pair R1, R2, orthogonal between revolute pair R4, R5, the axis of revolute pair R2, R3, R4
It is parallel to each other.
The axis of another kind specific embodiment according to the present invention, multiple revolute pair R1 in more rigid branches crosses
The axis of multiple revolute pair R5 in same position point, more rigid branches is intersected in same position point.
Another kind specific embodiment according to the present invention, connecting rod in more rigid branches are in revolution with elastic branch
The heart is uniformly distributed.
Another kind specific embodiment according to the present invention, the connecting rod in rigid branch are a circular-arc structure, and more
It is spirally distributed between connecting rod.
Another kind specific embodiment according to the present invention, the number of rigid branch are three or four.
It is according to the present invention another kind specific embodiment, the first platform, the second platform be equipped with connection the first connector,
The connection ear mount of second connector.
Another kind specific embodiment according to the present invention, when the first platform, the second platform are parallel to each other, more rigidity branch
Line between chain both ends is intersected in same position point, which is located on elastic branch.
Another kind specific embodiment according to the present invention further includes between being used to adjust between the first platform, the second platform
Away from position adjusting nut, position adjusting nut be arranged on the first platform and/or the second platform, it is preferred that the first platform,
Second platform is provided with position adjusting nut.
On the other hand, the present invention also provides a kind of robots, flexible including the big corner above-mentioned based on rope driving
Joint.
Single rigid branch is URU structure in the present invention, and joint is whole by N-URU (N=3 or 4) parallel institution and one
Restricted spring composition, rotation that there are two tools and an one-movement-freedom-degree, the first application 201910134989.8 of applicant,
What is be all made of in 201910344484.4 is 3-UU parallel institution, and only there are two rotational freedoms for tool, and in this application
The rigid mechanism that ancon joint uses does not have flexible characteristic, and the joint of the application is designed using flexibility, and holding can be used
The pretension of rope can also realize that the variation rigidity in joint is adjusted.
The invention has the following beneficial effects:
The present invention passes through by being provided with elastic branch and Duo Gen rigidity branch, reality between the first platform and the second platform
The rotation of two freedom degrees between existing first platform and the second platform, wherein by the readjustment release action of elastic branch, it can
The phenomenon that making up the line relaxation occurred during rope adjustment, structure is simple, flexibility is good, realizes that the flexibility in joint is set
Meter.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the schematic illustration of antiparallel-crank mechanism；
The schematic illustration of Fig. 2 flexibility antiparallel-crank mechanism；
Fig. 3 is the overall structure diagram under the unbent condition of flexible joint；
Fig. 4 is the front schematic view of Fig. 3；
Fig. 5 is the perspective view of the explosion of Fig. 4；
Fig. 6 is the structure overall structure diagram under the bending state of flexible joint；
Fig. 7 is the constrained line vector analysis schematic diagram of single rigid branch；
Fig. 8 is the restraining force vector analysis schematic diagram of flexible joint entirety；
Fig. 9 is the stiffness tuning analysis schematic diagram of flexible joint.
Specific embodiment
A kind of big corner flexible joint based on rope driving is present embodiments provided, in order to facilitate understanding the present embodiment,
First the principle of the antiparallel-crank mechanism referred in the present embodiment, flexible antiparallel-crank mechanism is carried out specifically below
It is bright.
About antiparallel-crank mechanism and its spherical approximation
Referring to Fig. 1, in order to make the centre of motion track of mechanism be approximately a circle, it is assumed that with p0(0, c0) be the center of circle vacation
Want to justify, the radius of the imaginary circle is r, considers that the intersection point of a radius and imaginary circle is pc(xc, yc), it is with elliptical intersection point
pe(xe, ye)。
It is easy to get by geometrical relationship
ye=xe/tanθ+c0
It can be obtained by both the above formula
Wherein, define | pcpe|=| p0pe|-r, when | pcpe| when close to zero, centre of motion track is approximately a circle,
(such as being calculated by matlab) is calculated by numerical value, the mechanism parameter of the available requirement for meeting imaginary circle r precision
Value, such as when imaginary radius of circle is 38, w, l, c0Value 23.14mm, 73.14mm and -3.29mm respectively, at this point, circular error model
It is trapped among within 0.035mm；Therefore, reasonable design parameter is selected, antiparallel-crank mechanism can be realized to be rolled as spherical surface
Mechanism, and can guarantee precision in the reasonable scope；The each rotational freedom for controlling antiparallel-crank mechanism needs two
Rope, and when antiparallel-crank mechanism is as spherical surface rolling mechanism, two tricing line ropes long change of rope rate having the same makes
It controls simpler efficient.
About flexible antiparallel-crank mechanism
Referring to fig. 2, antiparallel-crank mechanism is rigid rod connection, and in order to introduce flexibility, we are two in moving platform
Revolute pair nearby adds additional a revolute pair E and revolute pair F respectively, it is easy to obtain, the introducing of revolute pair E and F make
Platform (being located above) is provided with an one-movement-freedom-degree.In addition in in-house setting spring, the movement is constrained, in this way, bullet
It is preferable flexible that the introducing of spring has the mechanism.
Simultaneously, it is only necessary to ensure the relative position of revolute pair C and revolute pair E and the opposite position of revolute pair D and revolute pair F
It sets and remains unchanged, or only minor change, making entire mechanism still has antiparallel-crank mechanism kinetic characteristic above-mentioned,
Then by way of introducing rope driving, and the elastic force for the pulling force and spring for forming rope reaches dynamic balance.
As shown in figs. 3-9, it is a kind of based on rope driving big corner flexible joint, including the first platform 1, the second platform 2,
Spring 3 (elastic branch) and three rigid branches 4, three rigid branches 4 twist structure distribution, and three rigid branches
4 are uniformly distributed using elastic branch as the centre of gyration；It with discoidal first platform 1 is fixed platform in the present embodiment, discoidal
For second platform 2 is silent flatform and moves under the driving of rope, it is further described.
Attachment base 5 is equipped on the first platform 1, the second platform 2, the both ends of spring 3 are respectively connected to the attachment base 5
On；Rigid branch 4 includes that circular arc bar 41 (connecting rod), the first cradle head 42 and the second cradle head 43, circular arc bar 41 can have
Effect avoids the interference problem in motion process, and wherein one end of circular arc bar 41 is connected to the first platform by the first cradle head 42
In 1 connection ear mount, the other end of circular arc bar 41 is connected in the connection ear mount of the second platform 2 by the second cradle head 43.
First cradle head 42 includes the first connector 421, and there are two mutually perpendicular revolute pairs for the first connector 421 tool
R1, R2, wherein the first connector 421 is hinged to the first platform 1 by revolute pair R1, the first connector 421 passes through revolute pair R2
It is hinged to one end of circular arc bar 41.
Second cradle head 43 includes the second connector 431, third connector 432, and there are two mutually for the second connector 431 tool
Perpendicular revolute pair R4, R5, third connector 432 has a revolute pair R3, wherein the second connector 431 passes through revolute pair
R5 is hinged to the second platform 2, and the second connector 431 is hinged to third connector 432, third connector 432 by revolute pair R4
The other end of rigid branch 4 is hinged to by revolute pair R3, and the axis of revolute pair R2, R3, R4 are parallel to each other.
Single rigid branch is URU structure, the i.e. joint generally 3-URU structure, single rigid branch in the present embodiment
For, first R pair (R1) of rigid branch is arranged on the first platform 1, the last one R pair (R5) is arranged in the second platform 2
On, the axis of three intermediate R pairs (R2, R3, R4) is parallel to each other, and vertical with two R pair (R1, R5) axis at both ends；Ginseng
See Fig. 3, the axis of multiple revolute pair R1 in more rigid branches 4 is intersected in same position point, i.e., on or close to being located at
The center location of first platform 1, multiple revolute pair (R5 in more rigid branches1、R52、R53) axis be intersected in same position
It sets a little, as shown in fig. 7, i.e. on or close to the center location for being located at the second platform 2.
Correspondingly, when the first platform 1, the second platform 2 are parallel to each other, i.e., location status shown in Fig. 4, more rigid branches
Line between 4 both ends is intersected in same position point, which is located at the center of spring 3.
According to screw theory geometric analysis method, for single rigid branch, being easy to get its constraint freedom degree is
Restraining force parallel with revolute pair R2, revolute pair R3 and revolute pair R4 axis, and intersecting with revolute pair R1 and revolute pair R5 axis,
Constraint line vector i.e. shown in Fig. 7r 1, it is also possible to obtain another two constraint line vectorr 2And $r 3, these three line vectors are coplanar
Not junction is easy to get by screw theory, these three coplanar not junction line vectors constrain two movements of mechanism to turn with one
It is dynamic.
It is significant to note that when the joint rotation angle is zero, i.e., when original state shown in Fig. 8, establish origin position
Face is parallel between the coordinate system of articulation center, the XOY plane of coordinate system and the first platform 1, Z axis vertically upward, the pass at this time
Section has a constraint coupler 4, which is as connected in the friendship of three revolute pairs of the first platform 1 along Z-direction
Point and be connected in the second platform 2 three revolute pairs intersection point line.
Constrain coupler 4A rotational freedom of the joint along Z-direction is limited, therefore in this state, joint tool
There are two rotation (around X-axis, Y-axis) and three movements, however the presence of spring, the movement of X-direction and Y-direction is constrained, therefore
In original state, joint has two rotations around X-axis and Y-axis and moving along Z axis, as previously mentioned, the second platform 2 is along Z axis
The movement in direction is constrained jointly by spring and rope (four ropes), just provides flexible structure at this time for entire joint, because
This joint is finally only showed with two rotations around X-axis and Y-axis.
The adjusting of rigidity is as shown in figure 9, FOR ALL WE KNOW road, rope is by fiber or wire system in the present embodiment
At the fine flexible structure of length, there is greater stiffness in a tensioned state, and rigidity is almost nil under relaxed state；Rope is driven
For parallel institution, line relaxation can be likely to result in by the rigidity of rope pull adjustment mechanism simultaneously, be not suitable for
Carry out the adjustment of joint stiffness.In the present embodiment, due to the readjustment release action of spring, it can make up for it rope adjustment rigidity and cause
Line relaxation, even if rope pull becomes smaller at this time, rope will not relax, to realize variation rigidity.
Further, it is also possible to be provided with position adjusting nut 6 in the first platform 1, the second platform 2, using manual or electric
The mode of machine driving with compression or pull-off spring, and then carries out between the first platform 1 and the second platform 2 spacing by a small margin
It adjusts.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of big corner flexible joint based on rope driving characterized by comprising
First platform；
Second platform is set as driving by rope, and can relatively described first platform moved；
The both ends of elastic branch, the elasticity branch are respectively fixedly connected with to first platform, second platform；And
Around more rigid branches of the elastic branch setting；
Wherein the rigid branch includes connecting rod, the first cradle head and the second cradle head, and one end of the connecting rod passes through institute
It states the first cradle head and is connected to first platform, the other end of the connecting rod is connected to institute by second cradle head
State the second platform；
Wherein first cradle head includes tool there are two the first connector of revolute pair, and first connector is respectively articulated with
To first platform, the connecting rod；Second cradle head includes tool there are two the second connector of revolute pair and has
The third connector of one revolute pair, second connector are respectively articulated with to second platform, the third connector
The other end of one end, the third connector is hinged to the connecting rod.
2. the big corner flexible joint as described in claim 1 based on rope driving, which is characterized in that first connector
It is hinged to first platform by revolute pair R1, first connector is hinged to the one of the connecting rod by revolute pair R2
End, second connector are hinged to second platform by revolute pair R5, and second connector is cut with scissors by revolute pair R4
It is connected to the third connector, the third connector is hinged to the other end of the connecting rod by revolute pair R3, wherein rotation
Orthogonal between secondary R1, R2, orthogonal between revolute pair R4, R5, the axis of revolute pair R2, R3, R4 are parallel to each other.
3. the big corner flexible joint as claimed in claim 2 based on rope driving, which is characterized in that the more rigidity branch
The axis of multiple revolute pair R1 in chain is intersected in same position point, the axis of multiple revolute pair R5 in the more rigid branches
Line is intersected in same position point.
4. the big corner flexible joint as described in claim 1 based on rope driving, which is characterized in that the more rigidity branch
The connecting rod in chain is uniformly distributed using the elastic branch as the centre of gyration.
5. the big corner flexible joint as claimed in claim 4 based on rope driving, which is characterized in that in the rigidity branch
The connecting rod be a circular-arc structure.
6. the big corner flexible joint as claimed in claim 4 based on rope driving, which is characterized in that the rigidity branch
Number is three or four.
7. the big corner flexible joint as described in claim 1 based on rope driving, which is characterized in that first platform,
Second platform is equipped with the connection ear mount for connecting first connector, second connector.
8. the big corner flexible joint as described in claim 1 based on rope driving, which is characterized in that first platform,
When second platform is parallel to each other, the line between the more rigid branch both ends is intersected in same position point, the position
Point is located on the elastic branch.
9. the big corner flexible joint as described in claim 1 based on rope driving, which is characterized in that further include for adjusting
The position adjusting nut of spacing between first platform, second platform, position adjusting nut setting is described the
On one platform and/or second platform.
10. a kind of robot, which is characterized in that including the big corner as claimed in one of claims 1 to 9 based on rope driving
Flexible joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821975.3A CN110480676B (en) | 2019-09-02 | 2019-09-02 | Large-corner flexible joint based on rope driving and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910821975.3A CN110480676B (en) | 2019-09-02 | 2019-09-02 | Large-corner flexible joint based on rope driving and robot |
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| Publication Number | Publication Date |
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| CN110480676A true CN110480676A (en) | 2019-11-22 |
| CN110480676B CN110480676B (en) | 2021-03-05 |
Family
ID=68555511
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910821975.3A Active CN110480676B (en) | 2019-09-02 | 2019-09-02 | Large-corner flexible joint based on rope driving and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454345A (en) * | 2020-11-10 | 2021-03-09 | 广东工业大学 | Rope-driven joint module |
| CN113211422A (en) * | 2021-03-29 | 2021-08-06 | 清华大学 | Equal-curvature linkage mechanical arm |
| CN114346995A (en) * | 2021-12-30 | 2022-04-15 | 燕山大学 | Modularized rope-driven mechanical arm based on 2-UR parallel mechanism |
| CN115565803A (en) * | 2022-10-25 | 2023-01-03 | 深圳技术大学 | Novel rope drives operating handle |
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|---|---|---|---|---|
| CN112454345A (en) * | 2020-11-10 | 2021-03-09 | 广东工业大学 | Rope-driven joint module |
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| CN114346995A (en) * | 2021-12-30 | 2022-04-15 | 燕山大学 | Modularized rope-driven mechanical arm based on 2-UR parallel mechanism |
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| CN115565803A (en) * | 2022-10-25 | 2023-01-03 | 深圳技术大学 | Novel rope drives operating handle |
| CN115565803B (en) * | 2022-10-25 | 2023-08-29 | 深圳技术大学 | Rope drives operating handle |
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| Publication number | Publication date |
|---|---|
| CN110480676B (en) | 2021-03-05 |
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