CN110722540A - Three-degree-of-freedom platform driven by pneumatic artificial muscles - Google Patents
Three-degree-of-freedom platform driven by pneumatic artificial muscles Download PDFInfo
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- CN110722540A CN110722540A CN201911055714.1A CN201911055714A CN110722540A CN 110722540 A CN110722540 A CN 110722540A CN 201911055714 A CN201911055714 A CN 201911055714A CN 110722540 A CN110722540 A CN 110722540A
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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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
- B25J17/02—Wrist 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
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Abstract
The invention relates to a three-degree-of-freedom platform driven by pneumatic artificial muscles, belongs to the field of parallel robots, and solves the problems that a three-degree-of-freedom motion platform in the prior art is not limited to translation freedom and is poor in platform flexibility. The invention connects the static platform and the moving platform through eight pneumatic artificial muscles to form a six-degree-of-freedom platform, so that the motion of the upper platform is more flexible, meanwhile, the disc and the static platform are fixedly connected through a steel wire rope, and further, the disc and the moving platform are fixedly connected through four rigid connecting rods, so that the limitation of three translational degrees of freedom of the moving platform is realized, and the three-degree-of-freedom platform driven by the pneumatic artificial muscles is obtained. The three-degree-of-freedom motion platform can be used as a spherical hinge joint with three deflection degrees of freedom, has better flexibility and higher rigidity, can realize large-angle deflection, and can be widely applied to the field of serial-parallel mechanical arms.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a three-degree-of-freedom platform driven by pneumatic artificial muscles.
Background
In the field of robots, the robots can be divided into series robots and parallel robots according to the connection and arrangement form of joints, and compared with the series robots, the latter robots have higher rigidity and are applied to various occasions, however, in the practical application, the application of the robots is limited due to the factors such as self singularity, joint errors and the like, and six degrees of freedom are not needed in some occasions, so that the redundant parallel mechanism and the parallel mechanism with less degrees of freedom are more and more emphasized, for example, the wider Delta type parallel robot is applied; the characteristics of the parallel robot are related to the configuration and the driving of the parallel robot, and in the traditional parallel robot, a hydraulic cylinder or an electric cylinder is mostly adopted for driving to realize larger bearing, so that a new requirement is provided for the flexibility of the robot along with the application of the robot in the fields of medical treatment, biology and the like; pneumatic artificial muscle is compared with preceding both as comparatively neotype drive element, and its flexibility is great, thereby uses pneumatic artificial muscle to realize great flexibility structure and realize the wide-angle deflection in the parallel robot structure.
Because the pneumatic artificial muscle can only contract in the axial direction due to the characteristics of the pneumatic artificial muscle, the pneumatic artificial muscle is used as a driving structure of a parallel mechanism at present, the pneumatic artificial muscle is confronted with the pneumatic artificial muscle by utilizing the gravity of a motion platform, and the motion platform is arranged below a static platform by the scheme, so that the application range of the platform is restricted; another solution is to arrange the moving platform above the static platform, and add a supporting joint part between the two platforms, where the design of the supporting part largely affects the freedom of movement and performance of the platform, and the current supporting solution has insufficient limitation on three translational degrees of freedom of the moving platform or no flexibility of the whole platform.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide a three-degree-of-freedom platform driven by pneumatic artificial muscles, so as to solve the problems of the prior art that the three-degree-of-freedom motion platform has insufficient limitation on the degree of freedom of translation and the platform has poor flexibility. According to the invention, the constraint of three translational degrees of freedom of the six-degree-of-freedom platform is completed by adding the support to the six-degree-of-freedom platform, so that the platform only has three rotational degrees of freedom, and the rotation center of the whole platform can be approximately regarded as a fixed point.
The purpose of the invention is mainly realized by the following technical scheme:
a pneumatic artificial muscle driven three degree of freedom platform comprising: the device comprises a static platform, a motion platform, pneumatic artificial muscles, a disc, a steel wire rope and a rigid connecting rod;
the motion platform is driven by a plurality of pneumatic artificial muscles, and the static platform and the motion platform are rotationally connected with the pneumatic artificial muscles to form a six-degree-of-freedom platform;
the disc is fixedly connected with the static platform through a plurality of steel wire ropes, and the disc is fixedly connected with the moving platform through a rigid connecting rod.
Specifically, the pneumatic artificial muscles are independently driven and can perform only a telescopic motion in their own axial direction.
Specifically, the pneumatic artificial muscle is arranged between the static platform and the moving platform and is connected with the static platform and the moving platform through a spherical hinge or a Hooke hinge.
Specifically, the pneumatic artificial muscles have at least three.
Specifically, the disk is located at the center of the static platform.
Specifically, there are at least three steel wire ropes, and the steel wire ropes are fixedly connected with the disc and the static platform.
Specifically, a plurality of steel wire ropes are uniformly distributed along the circumferential direction of the disc.
Specifically, the plurality of wire ropes are equal in length.
Specifically, the static platform is annular, and the moving platform is annular or circular; the static platform and the moving platform are parallel in the initial state.
Specifically, the number of the rigid connecting rods is at least three, and the disc and the moving platform are fixedly connected with the rigid connecting rods.
The invention has at least one of the following beneficial effects:
1. the invention adopts the pneumatic artificial muscle as a driving element to ensure the flexibility of the motion of the whole platform, realizes the deflection of the motion platform relative to the static platform by charging pressurized gas into the cavity of the pneumatic artificial muscle, fixedly connects the disc and the static platform through a steel wire rope, further fixedly connects the disc and the motion platform through four rigid connecting rods, and limits the three freedom degrees of movement of the platform while ensuring the support force on the motion platform through the structural arrangement mode. The three-degree-of-freedom platform adopts the pneumatic artificial muscle as the driving element, the driving element has good flexibility, the requirements of industries such as medical treatment and the like on the flexibility and the safety are met, and the element has low requirements on installation precision and low price.
2. The single motion platform can be used as a joint to form a novel spherical hinge, and compared with the existing spherical hinge, the single motion platform can realize large-angle deflection; in addition, a single platform can be used as a joint to form a series-parallel mechanical arm, so that the respective advantages of the series robot and the parallel robot are combined.
3. The three-degree-of-freedom platform driven by the pneumatic artificial muscle adopts a high-rigidity steel wire rope as an element for resisting the gravity of the motion platform and the tensile force of the pneumatic artificial muscle, the high rigidity represents constraint, on the premise that the steel wire rope is used as isometric constraint, when the motion platform rotates in three directions, the center of a small disc can generate tiny offset, the offset is related to a static platform, the relative size of the disc, the sinking amount of a support joint relative to the static platform and the like, and the smaller the disc is, the smaller the offset is, so that the whole motion platform can be approximately equivalent to the rotation around a fixed point.
4. The three-degree-of-freedom platform has three rotational degrees of freedom, so that the three-degree-of-freedom platform can be used as a novel spherical hinge to be applied to joints of a robot, such as shoulders, wrists and the like; a single motion platform can be used as a joint to form a multi-section serial-parallel mechanism, and the characteristics of high rigidity of the parallel robot and large working space of the serial robot are fully exerted.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a three-dimensional model diagram of a pneumatic artificial muscle driven three-degree-of-freedom platform;
figure 2 shows the offset of the center of rotation of the platform medial support joint as it rotates.
Reference numerals:
1-a static platform; 2-a motion platform; 3-pneumatic artificial muscle; 4-a disc; 5-a steel wire rope; 6-rigid link.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention discloses a three-degree-of-freedom rotating platform driven by pneumatic artificial muscles, which comprises a static platform 1, a moving platform 2, pneumatic artificial muscles 3, a disc 4, a steel wire rope 5 and a rigid connecting rod 6.
Specifically, as shown in fig. 1, in an initial state, the static platform 1 and the moving platform 2 are arranged in parallel, the lower platform serves as the static platform 1, the upper platform serves as the moving platform 2, the moving platform 2 and the static platform 1 are connected through eight pneumatic artificial muscles 3, the pneumatic artificial muscles 3 serve as support legs of the moving platform 2, and the moving platform 2 is driven through the pneumatic artificial muscles 3.
Each pneumatic artificial muscle 3 is connected with the upper platform and the lower platform through a spherical hinge, that is, each pneumatic artificial muscle 3 is connected with the static platform 1 and the moving platform 2 through a spherical hinge (not shown in the figure). The static platform 1, the motion platform 2 and the pneumatic artificial muscles 3 jointly form a six-degree-of-freedom platform, namely the pneumatic artificial muscles 3 can drive the motion platform 2 to realize six-degree-of-freedom motion.
Preferably, the static platform 1 is annular, the moving platform 2 is annular or circular, a plurality of installation points of the pneumatic artificial muscles 3 on the static platform 1 are positioned on the same circular arc, a plurality of installation points of the pneumatic artificial muscles 3 on the moving platform 2 are positioned on the same circular arc, and the initial states of the static platform 1 and the moving platform 2 are parallel. Similarly, replacing the ball joint of the present invention with a hooke joint also achieves the motion effect of the motion platform 2.
Further, in order to support the upper and lower platforms, i.e., the stationary platform 1 and the moving platform 2 to generate a supporting force against the contraction force of the pneumatic artificial muscle 3 while limiting three degrees of freedom of movement of the moving platform 2, a supporting joint is added between the stationary platform 1 and the moving platform 2.
The technical key point of the invention is to provide a scheme for supporting a joint, wherein the joint comprises a steel wire rope network, a disc 4, a rigid connecting rod 6 and the like, and the joint can constrain the three moving degrees of freedom of the whole motion platform and place the rotation center of the joint near the center of the disc 4.
The joint is fixed on a static platform 1 through a network formed by a steel wire rope 5, the three-degree-of-freedom platform can be seen as a combination of two parallel mechanisms as a whole, wherein a motion platform 2 and eight pneumatic artificial muscles 3 form an active parallel mechanism part, the active parallel mechanism part can realize six-degree-of-freedom motion of the motion platform 2, the steel wire rope 5 and a disc 4 form a passive parallel mechanism part, and the passive parallel mechanism mainly plays a role in limiting three moving degrees of freedom of the motion platform 2 and generating supporting force.
The specific implementation mode is as follows:
as shown in fig. 1, the supporting joint is composed of a disc 4, steel cables 5 and a rigid connecting rod 6, wherein the disc 4 is fixed at the center of the static platform 1 through three steel cables 5 arranged in the circumferential direction and is fixedly connected with the moving platform 2 through the rigid connecting rod 6, and is used for limiting three degrees of freedom of movement of the moving platform 2.
Preferably, the disc 4 is located at the central position of the static platform 1, the number of the steel wire ropes 5 is at least three, one ends of the steel wire ropes 5 are welded with the disc 4 or are clamped on the disc 4 through fixing pieces to be fixed with the disc 4 into a whole, the other ends of the steel wire ropes 5 are fixed on the static platform 1 through welding or clamping the fixing pieces, and the steel wire ropes 5 are uniformly and symmetrically arranged in the circumferential direction on the outer side of the disc 4. The static platform 1 is annular, and when the disc 4 is circular, the lengths of the steel wire ropes 5 are the same. That is, the disc 4 is fixed to the center of the stationary platform 1 by a plurality of wire ropes 5.
Further, the disc 4 and the moving platform 2 are fixedly connected through four rigid connecting rods 6, and preferably, the rigid connecting rods 6 are uniformly distributed in the circumferential direction. One end of the rigid connecting rod 6 is fixedly arranged on the moving platform 2 in a welding or bolt fastening mode, and the other end of the rigid connecting rod 6 is fixedly arranged on the disc 4 in a welding or bolt fastening mode. Alternatively, the disc 4, the rigid link 6 and the motion platform 2 may be designed as an integral structure.
According to the invention, the disc 4 is fixed at the center of the static platform 1 by the steel wire rope 5, three freedom degrees of movement of the disc 4 are limited by the steel wire rope 5, and the steel wire rope 5 does not completely limit the freedom degree of rotation of the disc 4 because the steel wire rope 5 has a certain torsion characteristic. Further, the disc 4 and the motion platform 2 are fixedly connected through the rigid connecting rod 6 to fix the disc 4 and the motion platform 2 into a whole, the disc 4 cannot move, and three moving degrees of freedom of the disc 4 are limited, so that the three moving degrees of freedom of the motion platform 2 are also limited, and the three-degree-of-freedom platform driven by the pneumatic artificial muscle 3 can realize three rotating degrees of freedom.
In order to limit three freedom degrees of movement of the motion platform, the invention adopts a steel wire rope network structure with higher rigidity, a passive joint part formed by the static platform 1, the steel wire rope 5 and the disc 4 is independently analyzed, the steel wire rope 5 is always kept in a tight state under the action of the gravity of the motion platform 2 and the tension of the pneumatic artificial muscle 3, and the disc 4 has only three rotation freedom degrees obviously when the deformation of the steel wire rope 5 is not considered. The motion platform 2 is connected with the disc 4 through a rigid connecting rod 6, so that the freedom of movement of the motion platform 2 in three directions is also restricted.
In practice, in the initial state, the moving platform 2 and the static platform 1 are relatively parallel. During driving, each pneumatic artificial muscle 3 is independently driven and synchronously controlled by the controller, so that the motion platform 2 deflects relative to the static platform 1 by taking the disc 4 as the center, and the motion platform 2 has three rotational degrees of freedom.
Compared with the existing supporting scheme, the supporting scheme only needs common mechanical parts of a rigid connecting rod 6, a disc 4 and a steel wire rope 5, wherein the rigid connecting rod fixedly connects the moving platform and the disc 4 into a rigid body, a network part formed by the steel wire rope 5 connects the disc 4 and the static platform 1, and the support of the moving platform and the limitation of three moving degrees of freedom are achieved through the structure. The three-degree-of-freedom platform has good flexibility and can be applied to the fields of industries and medical robots.
In the structure, a high-rigidity steel wire rope 5 is used as an element for resisting the gravity of the motion platform 2 and the tensile force of the pneumatic artificial muscle 3, the high rigidity represents constraint, and on the premise that the steel wire rope 5 is used as equal-length constraint, when the motion platform 2 rotates in three directions, the center of the disc 4 slightly deviates, as shown in fig. 2. The offset e of the center of the disc 4 is related to the relative sizes of the static platform 1 and the disc 4, the sinking amount of the supporting joint relative to the static platform 1 and the like, the smaller the disc 4 is relative to the static platform 1 and the moving platform 2, the smaller the offset e is, the smaller the offset can be made through the optimization design of parameters, the whole moving platform can be approximately equivalent to the rotation around a fixed point, the disc 4 is very small relative to the static platform 1 and the moving platform 2, the disc 4 can be regarded as a fixed point, the moving platform 2 rotates around the disc 4 at the fixed point under the drive of the pneumatic artificial muscle 3, namely, the whole mechanism can be regarded as a spherical hinge with the slightly-changed rotation center.
Compared with the existing three-degree-of-freedom platform, the technical scheme of the embodiment has at least one of the following technical effects:
1. in the existing parallel mechanism configuration which adopts pneumatic artificial muscles as driving elements but does not adopt gravity opposition, although more supporting joint solutions exist, the restriction on three translational degrees of freedom is not complete enough, so that the mechanism can still translate and have more than three degrees of freedom in the process of movement.
2. The invention provides a three-degree-of-freedom platform driven by pneumatic artificial muscles, which adopts the pneumatic artificial muscles 3 as driving elements, ensures the flexibility of the whole mechanism and provides possibility for the mechanism to be applied to the industries of medical treatment and the like.
3. The three-degree-of-freedom platform only has three degrees of freedom in the rotation direction, and the rotation center can be considered to be near the center of the disc 4 through the optimization design of parameters. The spherical hinge can be used as a novel spherical hinge to be applied to joints of a robot, such as shoulders, wrists and the like; a single motion platform can be used as a joint to form a multi-section serial-parallel mechanism, and the characteristics of high rigidity of the parallel robot and large working space of the serial robot are fully exerted.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A three-degree-of-freedom platform driven by pneumatic artificial muscles is characterized by comprising: the device comprises a static platform (1), a motion platform (2), pneumatic artificial muscles (3), a disc (4), a steel wire rope (5) and a rigid connecting rod (6);
the motion platform (2) is driven by a plurality of pneumatic artificial muscles (3), and the static platform (1) and the motion platform (2) are rotationally connected with the pneumatic artificial muscles (3) to form a six-degree-of-freedom platform;
the disc (4) is fixedly connected with the static platform (1) through a plurality of steel wire ropes (5), and the disc (4) is fixedly connected with the moving platform (2) through a rigid connecting rod (6).
2. Pneumatic artificial muscle driven three degree of freedom platform according to claim 1, wherein the pneumatic artificial muscle (3) is independently driven and can only perform telescopic movements in its own axial direction.
3. The three-degree-of-freedom platform driven by the pneumatic artificial muscles according to claim 2 is characterized in that the pneumatic artificial muscles (3) are arranged between the static platform (1) and the moving platform (2) and are connected with the static platform (1) and the moving platform (2) through a spherical hinge or a Hooke hinge.
4. Pneumatic artificial muscle driven three degrees of freedom platform according to claim 3, wherein there are at least three pneumatic artificial muscles (3).
5. Pneumatic artificial muscle driven three degrees of freedom platform according to claim 3 or 4, wherein the disc (4) is located in the centre of the static platform (1).
6. The pneumatic artificial muscle driven three-degree-of-freedom platform according to claim 5, wherein the number of the steel wire ropes (5) is at least three, and the steel wire ropes (5) are fixedly connected with the disc (4) and the static platform (1).
7. The pneumatic artificial muscle driven three-degree-of-freedom platform according to claim 6, wherein the plurality of steel cables (5) are evenly distributed along the circumferential direction of the disc (4).
8. Pneumatic artificial muscle driven three degree of freedom platform according to claim 7, wherein the plurality of wire ropes (5) are of equal length.
9. The pneumatic artificial muscle driven three-degree-of-freedom platform according to claim 1, wherein the static platform (1) is annular and the moving platform (2) is annular or circular; the static platform (1) and the moving platform (2) are parallel in an initial state.
10. Pneumatic artificial muscle driven three degrees of freedom platform according to any one of claims 1-9, wherein there are at least three rigid links (6) and wherein the disc (4) and the motion platform (2) are both fixedly connected to the rigid links (6).
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| CN112077834A (en) * | 2020-08-24 | 2020-12-15 | 枣庄学院 | Reconfigurable rope-driven series-parallel variable-rigidity household service mechanical arm |
| CN112659100A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local three-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112917459A (en) * | 2021-02-01 | 2021-06-08 | 上海交通大学 | Multistage parallel mechanism of shape memory alloy |
| CN113580190A (en) * | 2021-06-24 | 2021-11-02 | 南方科技大学 | Soft body driving joint |
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