CN112091939B - Reconfigurable deformation truss mechanism based on flexible plate driving - Google Patents
Reconfigurable deformation truss mechanism based on flexible plate driving Download PDFInfo
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- CN112091939B CN112091939B CN202010859343.9A CN202010859343A CN112091939B CN 112091939 B CN112091939 B CN 112091939B CN 202010859343 A CN202010859343 A CN 202010859343A CN 112091939 B CN112091939 B CN 112091939B
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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
- B25J9/0075—Truss
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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
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Abstract
The invention relates to a reconfigurable deformation truss mechanism based on flexible plate driving. The mechanism comprises a flexible plate robot driving part (I) and a passive deformable truss part (II). The flexible plate robot driving part comprises two flexible plates which are arranged in parallel, a rigid platform at the tail end of each flexible plate, and two driving units consisting of a screw rod sliding table module and a servo motor. The ends of the passive deformable truss are hinged between the two rigid platforms by hinges. The movement of the flexible plate is driven by controlling the rotation of the motor, and the end platform reaches a target position by utilizing the movement and deformation of the flexible plate and the passive expansion and contraction of the deformable truss. The mechanism has three degrees of planar freedom, and can flexibly stretch and bend in a working space. And the deformable truss is adopted, so that the whole mechanism is light in weight and strong in stability during locking. Compared with the traditional deformation mechanism, the mechanism has the advantages of high flexibility, light weight, simple structure and strong stability.
Description
Technical Field
The invention relates to the field of reconfigurable deformable robots, in particular to a reconfigurable deformable truss mechanism based on flexible plate driving.
Background
The reconfigurable robot is a robot with the configuration changed according to the change of tasks or surrounding environments, and can be quickly and effectively deformed into a geometric configuration suitable for different task environments through the ideas of modular design and module recombination. At present, with the increasingly complex and changeable engineering application scene and task demand, use traditional mechanism design thought to design the robot that has single structure and function of numerous kind, not only be difficult to satisfy above-mentioned demand, can pay out huge economy and time cost moreover. Therefore, the advantages of the reconfigurable robot are obviously reflected aiming at various complex working conditions, and in recent years, the reconfigurable robot is rapidly developed and relates to a plurality of fields of advanced manufacturing industry, aerospace, pipeline operation, rescue and disaster relief and the like.
There are many research achievements in the field of reconfigurable robots at home and abroad. Such as reconfigurable modular robot arm system RMMS of the university of cartegiemon, modular Robot System (MRS) of the university of Toronto, powerCube module produced by AMTEC corporation of germany, and RPRS system designed by shenyang automation research institute of the academy of sciences of china, etc. The mechanism module can enable the robot to reach various poses through stretching or bending deformation so as to adapt to different working condition requirements.
With the improvement of the diversification of motion functions, the traditional reconfigurable robot is generally accompanied with the reduction of the performance of the reconfigurable robot, such as the reduction of rigidity and load carrying capacity, poor motion flexibility, high module complexity and quality, less module freedom and the like. The defect limits further development and application of the reconfigurable robot in the field of robots to a great extent. Therefore, the method improves the performance of the reconfigurable deformable robot on the premise of ensuring the realization of the motion function of the reconfigurable deformable robot, and is a main research direction of the reconfigurable deformable robot.
Disclosure of Invention
The invention provides a reconfigurable deformation truss mechanism based on flexible plate driving, aiming at the problems of lower rigidity and bearing capacity, poor motion flexibility, and high module complexity and quality of the existing reconfigurable mechanism.
In order to achieve the purpose, the invention adopts the following technical scheme:
a reconfigurable deformation truss mechanism based on flexible plate drive,
the flexible plate robot comprises a flexible plate robot driving part and a passive deformable truss part, wherein the passive deformable truss part is connected with a flexible plate through a tail end rigid platform so as to be connected with the flexible plate robot driving part; two servo motors are arranged at the tail end of the flexible plate robot driving part to drive the upper flexible plate and the lower flexible plate to move so as to enable the tail end rigid platform to move, the driving speeds of the two servo motors are different so that the upper flexible plate and the lower flexible plate are different in extension length, and therefore the tail end rigid platform can reach different poses; all trusses connected between the tail end rigid platform and the fixed platform through hinges in the passive deformable truss part are telescopic and can be passively locked; by locking or unlocking different retractable truss arms, the reconfigurable deformable truss mechanism can have different reconfigurable forms. When the tail end rigid platform reaches the required pose, the passive deformable truss part is completely locked, the whole reconfigurable deformable truss mechanism is a hyperstatic structure, and the mechanism has extremely high stability. Because the flexible plate is internally provided with the locking truss rods for supporting, the whole mechanism has stronger bearing capacity.
Preferably, the flexible plate robot driving part comprises a tail end rigid platform, a telescopic passive truss, a hinge, an upper flexible plate, a lower flexible plate, a fixed rigid platform, a roller module, a frame, two flexible plate clamping and fixing mechanisms, a push-pull force sensor, a lead screw sliding table module, a servo motor and a bolt nut; the screw rod sliding table module is fixed on the rack through bolts and nuts; the push-pull force sensor is fixed on a sliding table of the lead screw sliding table module and is connected with the flexible plate clamping and fixing mechanism through bolts and nuts; the two flexible plates penetrate through the roller module, one end of each flexible plate is clamped and fixed by the flexible plate clamping and fixing mechanism, and the other end of each flexible plate is in bolt-nut connection with the tail end rigid platform; the fixed rigid platform is connected to the frame through bolts and nuts; the telescopic passive truss is connected between the two rigid platforms through a hinge.
Preferably, the passive deformable truss part comprises telescopic and passively lockable truss units distributed in parallel, three or more groups of truss units are adopted, and multiple groups of truss units can be preferably placed in parallel; the device comprises three lower truss rods, a middle truss rod, two middle truss rods and three upper truss rods which are telescopic and can be passively locked, each truss is respectively connected with a tail end rigid platform and a fixed rigid platform through a tail end hinge, an upper flexible plate is connected to the top of the tail end rigid platform through bolts and nuts, and a lower flexible plate is connected to the bottom of the tail end rigid platform through bolts and nuts; when different servo motors drive, different telescopic truss rods are unlocked or locked, the servo motors drive the flexible plates to move so that the corresponding truss rods stretch out and draw back, and finally the tail end rigid platform is driven to achieve an appointed pose.
Preferably, when the number of the reconfigurable deformation truss units is determined, the reconfigurable deformation truss unit is not limited to three groups of truss units, and truss units with different groups and different distances can be adopted according to actual conditions, so that the reconfigurable deformation truss unit is suitable for different working environments.
Preferably, the telescopic truss is locked or unlocked in various different combination modes, so that the whole reconfigurable deformation truss mechanism has various different reconfiguration modes; in order to facilitate more visual and effective analysis of the reconstruction mode of the whole mechanism, the multi-unit truss group is simplified into a unit truss for analysis and explanation, and the deformation mode of the multi-unit truss group is consistent with that of the unit truss;
when the telescopic truss rods 1, 2, 3 and 4 are all locked, the degree of freedom of the rigid platform at the tail end is 0, the two flexible plates are not driven, the whole mechanism is in a static state and is in a hyperstatic structure, and the stability and the bearing capacity are excellent;
when one telescopic truss rod is unlocked and the other three truss rods are locked, the degree of freedom of the tail end rigid platform is 0, four combination forms are provided, the whole mechanism for unlocking any telescopic truss is in a static state and is in a static structure, and the telescopic truss structure has good stability and bearing capacity;
when the two telescopic truss rods are unlocked and the other two truss rods are locked, six combination forms are provided, and the rigid platform at the tail end can have 1 degree of freedom by unlocking the two truss rods arbitrarily; when the two locking truss rods and the fixed rigid platform form a triangular structure, a triangular static structure is formed, and the mechanism still has strong bearing capacity during movement;
when three telescopic truss rods are unlocked and only one truss rod is locked, four combination forms are provided, and the rigid platform at the tail end can have 2 degrees of freedom by unlocking the three telescopic trusses arbitrarily;
when the four telescopic trusses are all unlocked, the degree of freedom of the tail end rigid platform is 3, in this case, the telescopic truss rods are all unlocked, so that the whole mechanism is equivalent to a continuum robot, and the upper flexible plate and the lower flexible plate are driven to enable the tail end platform to move correspondingly.
Preferably, when different numbers of servo motors are driven and the servo motors are driven at different speeds, different telescopic truss rods are unlocked or locked in a matching mode, so that the tail end platform has four different freedom states of 0, 1, 2 and 3.
Preferably, the reconfigurable deformed truss mechanism has the advantages that the locking or unlocking of the telescopic truss mechanism can be in different combination forms, so that the whole mechanism can be reconfigured in different ways. For a unit truss, when the telescopic truss rods, the telescopic truss rods and the telescopic truss rods are all locked, the degree of freedom of the rigid platform at the tail end is 0, the whole mechanism is in a static state, a statically indeterminate structure is formed, and the stability and the bearing capacity are extremely high; when one telescopic truss rod is unlocked and the other three truss rods are locked, a unit truss has four reconstruction modes, the degree of freedom of the tail end rigid platform is 0 under four conditions, the whole mechanism is in a static state, a static structure is formed, and the stability and the bearing capacity are high; when two telescopic truss rods are unlocked and the other two truss rods are locked, the unit truss has six reconstruction modes, the degree of freedom of the tail end rigid platform is 1 under six conditions, and the tail end platform can reach corresponding poses by driving the upper flexible plate and the lower flexible plate. Under the two conditions that the telescopic truss rods and the telescopic truss rods are unlocked, the telescopic truss rods and the telescopic truss rods are locked, the telescopic truss rods and the telescopic truss rods are unlocked and the telescopic truss rods are locked, the whole mechanism is in a static structure because the two locking truss rods and the fixed rigid platform form a triangular structure, and the mechanism still has strong bearing capacity during movement under the two conditions; when three telescopic truss rods are unlocked and only one truss rod is locked, one unit truss has four reconstruction modes, the degree of freedom of the tail end rigid platform is 2 under four conditions, and the tail end platform can reach corresponding poses by driving the upper flexible plate and the lower flexible plate; when the four telescopic trusses are all unlocked, the degree of freedom of the tail end rigid platform is 3, in this case, the telescopic truss rods are all unlocked, so that the whole mechanism is equivalent to a continuum robot, and the upper flexible plate and the lower flexible plate are driven to enable the tail end platform to move correspondingly.
Compared with the prior art, the invention has the following outstanding substantial property characteristics and obvious advantages:
1. the flexible plate is used as a driving component, the reconfigurable deformation truss is used as a bearing component, the whole mechanism has three degrees of planar freedom, and has strong flexibility, and the mechanism can be stretched and bent in a plane;
2. compared with the traditional reconfigurable mechanism, the reconfigurable deformation truss is adopted, so that the reconfigurable deformation truss type reconfigurable mechanism is high in stability, strong in bearing capacity, light in weight and good in flexibility; in addition, because the area of the tail end platform is large, various actuators can be carried on the tail end rigid platform;
3. in the reconfigurable truss deformation process, if two telescopic truss rods which can be connected with a fixed rigid platform to form a triangular structure are locked, the whole mechanism can be ensured to have a triangular statically-fixed structure in the movement process, so that the mechanism is ensured to have certain bearing capacity in the movement process; when the reconfigurable deformation truss is completely locked, the whole mechanism is equivalent to a statically indeterminate structure. Therefore, the mechanism has extremely strong rigidity and stability.
Drawings
Fig. 1 is a schematic view of the mechanism of the present invention in an initial state.
Fig. 2 is a schematic view of the mechanism of the present invention in a bending operation state.
Figure 3 is a schematic view of a reconfigurable deformed truss of the present invention.
Fig. 4 is a schematic diagram of the deformation of a unit reconfigurable truss according to the present invention.
Fig. 5 is a schematic diagram of a deformation process of the three-unit reconfigurable truss of the invention.
Detailed Description
The operation and working of the present invention will now be further described with reference to the preferred embodiments and drawings.
The first embodiment is as follows:
referring to fig. 1 to 5, the reconfigurable deformable truss mechanism based on flexible plate driving comprises a flexible plate robot driving part I and a passive deformable truss part II, wherein the passive deformable truss part II is connected with a flexible plate 4 through a terminal rigid platform 1 so as to be connected with the flexible plate robot driving part I; two servo motors 11 are arranged at the tail end of the flexible plate robot driving part I to drive the upper flexible plate 4 and the lower flexible plate 4 to move so as to enable the tail end rigid platform 1 to move, and the driving speeds of the two servo motors are different so that the upper flexible plate 4 and the lower flexible plate 4 are different in extension length, so that the tail end rigid platform 1 can reach different poses; in the passive deformable truss part, trusses 2 connected between a tail end rigid platform 1 and a fixed platform 5 through hinges 3 are all telescopic and can be passively locked; the reconfigurable deformation truss mechanism has different reconfigurable forms by locking or opening different telescopic truss rods, when the tail end rigid platform reaches the required pose, the passive deformable truss part II is completely locked, the whole reconfigurable deformation truss mechanism is a hyperstatic structure, and the mechanism has extremely high stability.
The mechanism has three degrees of freedom in plane, can flexibly stretch and bend in a working space, and adopts the deformable truss, so that the whole mechanism is light in weight and strong in stability during locking. Compared with the traditional deformation mechanism, the mechanism has the advantages of high flexibility, light weight, simple structure and high stability.
Example two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
the flexible plate robot driving part I comprises a tail end rigid platform 1, a telescopic passive truss 2, a hinge 3, an upper flexible plate 4, a lower flexible plate 4, a fixed rigid platform 5, a roller module 6, a rack 7, two flexible plate clamping and fixing mechanisms 8, a push-pull force sensor 9, a lead screw sliding table module 10, a servo motor 11 and bolts and nuts; the screw rod sliding table module 10 is fixed on the frame 7 through bolts and nuts; the push-pull force sensor 9 is fixed on a sliding table of the screw rod sliding table module 10 and is connected with the flexible plate clamping and fixing mechanism 8 through bolts and nuts; the two flexible plates 4 penetrate through the roller module 6, one end of each flexible plate is clamped and fixed by a flexible plate clamping and fixing mechanism 8, and the other end of each flexible plate is in bolt-nut connection with the tail end rigid platform 1; the fixed rigid platform 5 is connected to the frame 7 through bolts and nuts; the telescopic passive truss 2 is connected between two rigid platforms by hinges 3.
The passive deformable truss part II comprises telescopic truss units which are distributed in parallel and can be passively locked, three or more than three groups of truss units are adopted, and a plurality of groups of truss units can be placed in parallel. The device comprises three telescopic lower truss rods 12, a middle truss rod 13, two middle truss rods 14 and three upper truss rods 15 which can be passively locked, wherein each truss is respectively connected with a tail end rigid platform 1 and a fixed rigid platform 5 through a tail end hinge 16, an upper flexible plate 17 is connected to the top of the tail end rigid platform 1 through bolts and nuts, and a lower flexible plate 18 is connected to the bottom of the tail end rigid platform 1 through bolts and nuts; when different servo motors drive, different telescopic truss rods are unlocked or locked, the servo motors drive the flexible plates to move so that the corresponding truss rods stretch out and draw back, and finally the tail end rigid platform 1 is driven to reach an appointed pose.
When the number of the reconfigurable deformation truss units is determined, the reconfigurable deformation truss units are not limited to three groups of truss units, and truss units with different groups and different intervals can be adopted according to actual conditions so as to adapt to different working environments.
The locking or unlocking of the telescopic truss has various different combination forms, so that the whole reconfigurable deformation truss mechanism has various different reconfiguration modes; in order to facilitate more visual and effective analysis of the reconstruction mode of the whole mechanism, the multi-unit truss group is simplified into a unit truss for analysis and explanation, and the deformation mode of the multi-unit truss group is consistent with that of the unit truss;
when the telescopic truss rods 1 (19), the telescopic truss rods 2 (20), the telescopic truss rods 3 (21) and the telescopic truss rods 4 (22) are all locked, the degree of freedom of the tail end rigid platform 1 is 0, the two flexible plates 4 are not driven, the whole mechanism is in a static state, is in a hyperstatic structure, and has excellent stability and bearing capacity;
when one telescopic truss rod is unlocked and the other three truss rods are locked, the degree of freedom of the tail end rigid platform 1 is 0, four combination forms are provided, the whole mechanism for unlocking any telescopic truss is in a static state and is in a static structure, and the stability and the bearing capacity are better;
when the two telescopic truss rods are unlocked and the other two truss rods are locked, six combination forms are provided, and the rigid platform 1 at the tail end can have 1 degree of freedom by unlocking the two truss rods arbitrarily; when the two locking truss rods and the fixed rigid platform 5 form a triangular structure, a triangular static structure is formed, and the mechanism still has strong bearing capacity during movement;
when three telescopic truss rods are unlocked and only one truss rod is locked, four combination forms are provided, and the rigid platform 1 at the tail end can have 2 degrees of freedom by unlocking the three telescopic trusses arbitrarily;
when the four telescopic trusses are all unlocked, the degree of freedom of the tail end rigid platform 1 is 3, in this case, the telescopic truss rods are all unlocked, so that the whole mechanism is equivalent to a continuum robot, and the upper flexible plate 17 and the lower flexible plate 18 are driven to enable the tail end platform to move correspondingly.
When different numbers of servo motors are driven and the servo motors are driven at different speeds, different telescopic truss rods are unlocked or locked in a matching mode, so that the tail end platform has four different freedom degree states of 0, 1, 2 and 3.
In the embodiment, the flexible plate is used as a driving component, the reconfigurable deformation truss is used as a bearing component, the whole mechanism has three degrees of planar freedom, has strong flexibility and can be stretched and bent in a plane; compared with the traditional reconfigurable mechanism, the reconfigurable deformation truss is adopted in the embodiment, so that the reconfigurable deformation truss type reconfigurable mechanism is high in stability, strong in bearing capacity, light in weight and good in flexibility; in addition, because the area of the end platform is large, various types of actuators can be carried on the end rigid platform. The mechanism has extremely strong rigidity and stability.
Example three:
this embodiment is substantially the same as the above embodiment, and is characterized in that:
fig. 1 is a schematic diagram of the mechanism of the present invention in an initial state, where the upper and lower flexible plates are both in a horizontal state and the reconfigurable deformed truss is fully locked.
Fig. 2 is a schematic diagram of the mechanism in the bending working state of the mechanism according to this embodiment, and the whole mechanism includes a flexible plate robot driving portion i and a passive deformable truss portion ii, and the passive deformable truss portion ii is connected to the flexible plate through a rigid platform, so as to be connected to the flexible plate robot driving portion i. The flexible plate robot drives the flexible plate to move through the two servo motors at the tail end, so that the rigid platform at the tail end can move, the flexible plate is different in extension length due to the fact that the two servo motors are different in driving speed, and the rigid platform at the tail end can reach different poses. The trusses, which are connected between two rigid platforms by hinges, are all telescopic and can be passively locked. The flexible plate robot driving part I comprises a tail end rigid platform 1, a telescopic passive truss 2, a hinge 3, two flexible plates 4, a fixed rigid platform 5, a roller module 6, a rack 7, two flexible plate clamping and fixing mechanisms 8, a push-pull force sensor 9, a lead screw sliding table module 10, a servo motor 11 and bolts and nuts; the screw rod sliding table module 10 is fixed on the frame 7 through bolts and nuts; the push-pull force sensor 9 is fixed on a sliding table of the screw rod sliding table module 10 and is connected with the flexible plate clamping and fixing mechanism 8 through bolts and nuts; the two flexible plates 4 penetrate through the roller module 6, one end of each flexible plate is clamped and fixed by a flexible plate clamping and fixing mechanism 8, and the other end of each flexible plate is in bolt-nut connection with the tail end rigid platform 1; the fixed rigid platform 5 is connected to the frame 7 through bolts and nuts; the telescopic passive truss 2 is connected between two rigid platforms by hinges 3.
Fig. 3 is a schematic diagram of the reconfigurable deformed truss according to the embodiment. Fig. 4 is a schematic diagram of the deformation condition of the unit reconfigurable truss of this embodiment, which shows that the end platform has different numbers of degrees of freedom under the condition that a unit truss unlocks or locks different numbers of telescopic truss rods, and when the number of degrees of freedom is greater than 0, the upper flexible plate 17 and the lower flexible plate 18 are driven to enable the end platform to move to a corresponding pose. The multi-unit truss group and a unit truss deform in the same way.
Fig. 5 is a schematic diagram of a three-unit reconfigurable truss deformation process according to this embodiment, which illustrates one of the deformation manners of the present invention. When the upper flexible plate 17 is driven and the lower flexible plate 18 is not driven, the locking devices of the three upper truss rods 15 and the two middle truss rods 14 are opened, the three lower truss rods 12 and the middle truss rod 13 are locked, at the moment, the mechanism can be bent downwards, and the mechanism still has strong stability; when the lower flexible plate 18 is driven and the upper flexible plate 17 is not driven, the locking devices of the three lower truss rods 12 and the middle truss rod 13 are opened, the three upper truss rods 15 and the two middle truss rods 14 are locked, and at the moment, the mechanism can be bent upwards and still has strong stability; the tail end rigid platform achieves a given pose through the deformation mode.
The present embodiment is based on a flexible plate driven reconfigurable deformable truss mechanism. The mechanism comprises a flexible plate robot driving part I and a passive deformable truss part II. The flexible plate robot driving part comprises two flexible plates which are arranged in parallel, a rigid platform at the tail end of each flexible plate, and two driving units consisting of a screw rod sliding table module and a servo motor. The ends of the passive deformable truss are hinged between the two rigid platforms by hinges. The movement of the flexible plate is driven by controlling the rotation of the motor, and the end platform reaches a target position by utilizing the movement and deformation of the flexible plate and the passive expansion and contraction of the deformable truss. The mechanism has three degrees of planar freedom, and can flexibly stretch and bend in a working space. And the deformable truss is adopted, so that the whole mechanism is light in weight and strong in stability during locking. Compared with the traditional deformation mechanism, the mechanism has the advantages of high flexibility, light weight, simple structure and strong stability.
The above description is a detailed description of specific embodiments of the reconfigurable deformable truss mechanism based on the flexible plate drive, and the present invention is not limited to these descriptions. Various alterations and substitutions without departing from the structure of the invention are within the scope of the invention.
Claims (6)
1. The utility model provides a restructural deformation truss mechanism based on flexography drive, includes flexography robot drive part (I) and passive deformable truss part (II), its characterized in that: the passive deformable truss part (II) is connected with the flexible plate (4) through the tail end rigid platform (1) so as to be connected with the flexible plate robot driving part (I); two servo motors (11) are arranged at the tail ends of the flexible plate robot driving parts (I) to drive the upper flexible plate and the lower flexible plate (4) to move so as to enable the tail end rigid platform (1) to move, and the flexible lengths of the upper flexible plate and the lower flexible plate (4) are different due to different driving speeds of the two servo motors, so that the tail end rigid platform (1) can reach different poses; the passive deformable truss part is provided with a truss (2) which is connected between the tail end rigid platform (1) and the fixed rigid platform (5) through a hinge (3) and can be fully telescopic and passively locked; the reconfigurable deformation truss mechanism has different reconfigurable forms by locking or opening different telescopic truss rods, when the tail end rigid platform reaches the required pose, the passive deformable truss part (II) is completely locked, the whole reconfigurable deformation truss mechanism is a hyperstatic structure, and the mechanism has extremely high stability.
2. The flexplate drive-based reconfigurable deformable truss mechanism of claim 1, wherein: the flexible plate robot driving part (I) comprises a tail end rigid platform (1), a telescopic passive truss (2), a hinge (3), an upper flexible plate (4), a lower flexible plate (4), a fixed rigid platform (5), a roller module (6), a rack (7), two flexible plate clamping and fixing mechanisms (8), a push-pull force sensor (9), a lead screw sliding table module (10), a servo motor (11) and a bolt nut; the screw rod sliding table module (10) is fixed on the rack (7) through bolts and nuts; the push-pull force sensor (9) is fixed on a sliding table of the screw rod sliding table module (10) and is connected with the flexible plate clamping and fixing mechanism (8) through bolts and nuts; the two flexible plates (4) penetrate through the roller module (6), one end of each flexible plate is clamped and fixed by a flexible plate clamping and fixing mechanism (8), and the other end of each flexible plate is in bolt-nut connection with the tail end rigid platform (1); the fixed rigid platform (5) is connected to the frame (7) through bolts and nuts; the telescopic passive truss (2) is connected between the two rigid platforms through a hinge (3).
3. The flexplate drive-based reconfigurable deformable truss mechanism of claim 2, wherein: the passive deformable truss part (II) comprises telescopic truss units which are distributed in parallel and can be passively locked, and three or more groups of truss units are adopted; the device comprises three lower truss rods (12), a middle truss rod (13), two middle truss rods (14) and three upper truss rods (15) which are telescopic and can be passively locked, each truss is respectively connected with a tail end rigid platform (1) and a fixed rigid platform (5) through a tail end hinge (16), an upper flexible plate (17) is connected to the top of the tail end rigid platform (1) through bolts and nuts, and a lower flexible plate (18) is connected to the bottom of the tail end rigid platform (1) through bolts and nuts; when different servo motors drive, different telescopic truss rods are unlocked or locked, the servo motors drive the flexible plates to move so that the corresponding truss rods stretch out and draw back, and finally the tail end rigid platform (1) is driven to reach an appointed pose.
4. The flexplate drive-based reconfigurable deformable truss mechanism of claim 3, wherein: when the number of the reconfigurable deformation truss units is determined, the reconfigurable deformation truss units are not limited to three groups of truss units, and truss units with different groups and different intervals can be adopted according to actual conditions so as to adapt to different working environments.
5. The flexplate drive-based reconfigurable deformable truss mechanism of claim 3, wherein: the locking or unlocking of the telescopic truss has various different combination forms, so that the whole reconfigurable deformation truss mechanism has various different reconfiguration modes; in order to facilitate more visual and effective analysis of the reconstruction mode of the whole mechanism, the multi-unit truss group is simplified into a unit truss for analysis and explanation, and the deformation mode of the multi-unit truss group is consistent with that of the unit truss;
when the telescopic truss rods 1 (19), the telescopic truss rods 2 (20), the telescopic truss rods 3 (21) and the telescopic truss rods 4 (22) are all locked, the degree of freedom of the tail end rigid platform (1) is 0, the two flexible plates (4) are not driven, and the whole mechanism is in a static state and is in a hyperstatic structure and has excellent stability and bearing capacity;
when one telescopic truss rod is unlocked and the other three truss rods are locked, the degree of freedom of the tail end rigid platform (1) is 0, four combination forms are provided, the whole mechanism for unlocking any telescopic truss is in a static state and is in a static structure, and the stability and the bearing capacity are better;
when the two telescopic truss rods are unlocked and the other two truss rods are locked, six combination forms are provided, and the rigid platform (1) at the tail end can have 1 degree of freedom by unlocking the two truss rods arbitrarily; when the two locking truss rods and the fixed rigid platform (5) form a triangular structure, a triangular static structure is formed, and the mechanism still has stronger bearing capacity during movement;
when three telescopic truss rods are unlocked and only one truss rod is locked, four combination forms are provided, and the rigid platform (1) at the tail end can have 2 degrees of freedom by unlocking the three telescopic trusses arbitrarily;
when the four telescopic trusses are all unlocked, the degree of freedom of the tail end rigid platform (1) is 3, in this case, the telescopic truss rods are all unlocked, so that the whole mechanism is equivalent to a continuum robot, and the upper flexible plate (17) and the lower flexible plate (18) are driven to enable the tail end platform to move correspondingly.
6. The flexplate drive-based reconfigurable morphing truss mechanism of claim 5, wherein: when different numbers of servo motors are driven and the servo motors are driven at different speeds, different telescopic truss rods are unlocked or locked in a matching mode, so that the tail end platform has four different freedom degree states of 0, 1, 2 and 3.
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| JP3435081B2 (en) * | 1998-12-21 | 2003-08-11 | 宇宙開発事業団 | Reconfigurable Space Manipulator System for Space |
| US7743576B2 (en) * | 2004-02-05 | 2010-06-29 | S.A. Robotics | Deployable and retractable space frame |
| CN103213118A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Reconfigurable parallel robot |
| CN104325458B (en) * | 2014-11-19 | 2016-01-27 | 哈尔滨工业大学 | A kind of flexible parallel connection stage apparatus |
| CN104858892B (en) * | 2015-06-11 | 2017-03-01 | 佛山市南海区广工大数控装备协同创新研究院 | Modularization robot based on intelligent machine arm |
| CN206200965U (en) * | 2016-11-10 | 2017-05-31 | 燕山大学 | Truss-like flexible mechanical arm |
| CN109202865A (en) * | 2018-07-27 | 2019-01-15 | 南京理工大学 | A kind of two-freedom parallel connection gear shifting manipulator |
| CN109454631B (en) * | 2018-12-13 | 2023-11-14 | 深圳职业技术学院 | Parallel continuous robot, mechanical arm thereof and control method |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN110228054A (en) * | 2019-05-20 | 2019-09-13 | 杭州国辰正域科技有限公司 | A kind of six degree of freedom structure in parallel for saving bottom installation space |
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