CN105598996A - Novel under-actuated robot wrist device based on nonholonomic constraint - Google Patents
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Abstract
本发明涉及一种基于非完整约束的新型欠驱动机器人手腕装置，包括一个静平台、一个动平台、两个分支机构链、两个驱动动力源和一个中间约束装置，所述静平台通过所述两个分支机构链连接所述动平台，所述两个分支机构链在两个驱动动力源的驱动下，经两个分支机构链传动，中间约束装置形成一个非完整约束，从而实现了动平台的三自由度运动。本发明采用两个动力源驱动的三自由度并联机构作三自由度运动，动力源少，以手腕的体积也小，重量轻，成本低，仅需要较低的控制系统，本发明结构简单，工作可靠，可作为机器人的关节，用以实现较少的动力源驱动较多的手臂关节自由度。
The invention relates to a novel underactuated robot wrist device based on nonholonomic constraints, which includes a static platform, a dynamic platform, two chains of branches, two driving power sources and an intermediate constraint device, the static platform passes through the The two branch chains are connected to the moving platform, and the two branch chains are driven by two driving power sources through the transmission of the two branch chains, and the intermediate restraint device forms a non-holonomic constraint, thus realizing the dynamic platform three degrees of freedom motion. The present invention adopts a three-degree-of-freedom parallel mechanism driven by two power sources to perform three-degree-of-freedom movements. The power source is less, and the volume of the wrist is also small, light in weight, low in cost, and requires only a relatively low control system. The present invention has a simple structure. It works reliably and can be used as a joint of a robot to drive more degrees of freedom of arm joints with fewer power sources.
Description
技术领域 technical field
本发明涉及一种机器人手腕装置，特别是一种基于非完整约束的新型欠驱动机器人手腕装置。 The invention relates to a robot wrist device, in particular to a novel underactuated robot wrist device based on nonholonomic constraints.
背景技术 Background technique
欠驱动机构是指控制出入小于系统自由度的机构,欠驱动机器人是一种含有欠驱动机构的机器人，由于其具有体积小、重量轻、成本低、能耗低、灵活性高等特点，因此引起学者们的广泛关注，成为机器人领域研究的新热点。欠驱动机器人分别以空间机器人、水下机器人、移动机器人、行走机器人、并联机器人、伺服机器人和柔性机器人等多种形式出现在各行各业。 The underactuated mechanism refers to the mechanism whose control access is smaller than the degree of freedom of the system. An underactuated robot is a robot containing an underactuated mechanism. The extensive attention of scholars has become a new hot spot in the field of robotics research. Underactuated robots appear in various forms such as space robots, underwater robots, mobile robots, walking robots, parallel robots, servo robots and flexible robots.
并联机构可以定义为动平台和定平台通过至少两个独立的运动链相连接，机构具有两个或两个以上自由度，且以并联方式驱动的一种闭环机构。并联机构具有无累积误差，精度较高；驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好，结构紧凑，刚度高，承载能力大，完全对称的并联机构具有较好的各向同性。 The parallel mechanism can be defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, the mechanism has two or more degrees of freedom, and is driven in parallel. The parallel mechanism has no cumulative error and high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed, good in dynamic response, compact in structure, high in rigidity, and large in carrying capacity. Symmetrical parallel mechanisms have better isotropy.
与人类相似，机器人的功能要通过机械臂操作来实现，而手腕是联系手臂和手爪的重要装置，其设计的是机器人的关键技术之一。现有的机器人手腕一般为三个自由度，均使用三个电机实现三个自由度。由于一个自由度需要由一个动力源（如电机等）来支持，而动力源的质量往往占关节总质量的大部分，所以这类装置显著的不足之处在于：该装置采用完全驱动的方式，致使机械结构较复杂，体积较大，质量较大，成本较高。 Similar to humans, the function of the robot is realized through the operation of the mechanical arm, and the wrist is an important device connecting the arm and the claw, and its design is one of the key technologies of the robot. Existing robot wrists generally have three degrees of freedom, and three motors are used to realize the three degrees of freedom. Since a degree of freedom needs to be supported by a power source (such as a motor, etc.), and the mass of the power source often accounts for most of the total mass of the joint, the obvious disadvantage of this type of device is that the device adopts a fully driven method, Resulting in more complicated mechanical structure, larger volume, larger quality and higher cost.
发明内容 Contents of the invention
本发明的目的是针对上述有技术存在的缺陷，提供一种基于非完整约束的新型欠驱动机器人手腕装置。该装置带有两个动力源，而且其动平台具有三个自由度，结构简单，可靠，体积小、重量轻，成本低，易于加工，易于维护。该装置可以作为机器人手腕或多个串联形成机器人手臂。 The object of the present invention is to provide a novel underactuated robot wrist device based on nonholonomic constraints aiming at the above-mentioned defects in the prior art. The device has two power sources, and its moving platform has three degrees of freedom, simple structure, reliable, small volume, light weight, low cost, easy processing and easy maintenance. The device can be used as a robotic wrist or multiple in series to form a robotic arm.
为达到上述目的，本发明的构思是： To achieve the above object, design of the present invention is:
本发明的基于非完整约束的新型欠驱动机器人手腕装置，含有静平台、动平台、连接它们的分支机构链机构和中间约束装置。静平台通过两个分支机构链连接动平台，两个分支机构链都具有驱动源，中间约束装置形成一个非完整约束，从而实现了动平台的三自由度运动。 The novel underactuated robot wrist device based on nonholonomic constraints of the present invention includes a static platform, a dynamic platform, a chain mechanism of branches connecting them and an intermediate constraint device. The static platform is connected to the dynamic platform through two branch mechanism chains, both of which have driving sources, and the intermediate restraint device forms a non-holonomic constraint, thus realizing the three-degree-of-freedom motion of the dynamic platform.
根据上述发明构思，本发明采用下述技术方案： According to above-mentioned inventive concept, the present invention adopts following technical scheme:
一种基于非完整约束的新型欠驱动机器人手腕装置，包括一个静平台、一个动平台、两个分支机构链、两个驱动动力源和一个中间约束装置，所述静平台通过所述两个分支机构链连接所述动平台，所述两个分支机构链在两个驱动动力源的驱动下，经两个分支机构链传动，中间约束装置形成一个非完整约束，从而实现了动平台的三自由度运动。 A novel underactuated robot wrist device based on nonholonomic constraints, including a static platform, a dynamic platform, two chains of branches, two driving power sources and an intermediate constraint device, the static platform passes through the two branches The mechanism chain connects the moving platform, and the two branch mechanism chains are driven by two driving power sources through the transmission of the two branch mechanism chains, and the intermediate restraint device forms a non-holonomic constraint, thereby realizing the three freedoms of the moving platform. degree of exercise.
上述中间约束装置的结构是：一根连杆一端固定在圆板的下表面，另一端与球形连接件的内表面固定连接；所述球形连接件的内表面与球轴承的外圈固定连接，所述球轴承与所述连杆不接触；细杆的一端与所述球轴承的内圈固定连接；滚轮与上述球形连接件的外表面滚动接触，即滚轮与所述球形连接件不能滑动接触，只能紧贴着所述球形连接件滚动，球形连接件和滚轮之间无间隙，过球形连接件的球心和滚轮的滚轮中心轴形成一个平面，在所述动平台旋转的过程中，所述球形连接件会跟随动平台一起旋转，滚轮与球形连接件接触点处的速度方向就与上述平面垂直，非完整速度约束的形成，是因为经过所述球形连接件的球心的任意直线都可作为所述球形连接件的旋转轴，所述球形连接件可以绕着这根旋转轴而旋转；滚轮与支架转动连接；支架固定在所述基座上表面。 The structure of the above intermediate constraint device is: one end of a connecting rod is fixed on the lower surface of the circular plate, and the other end is fixedly connected with the inner surface of the spherical connector; the inner surface of the spherical connector is fixedly connected with the outer ring of the ball bearing, The ball bearing is not in contact with the connecting rod; one end of the thin rod is fixedly connected to the inner ring of the ball bearing; the roller is in rolling contact with the outer surface of the spherical connector, that is, the roller and the spherical connector cannot be in sliding contact , it can only roll close to the spherical connecting piece, there is no gap between the spherical connecting piece and the roller, the ball center passing through the spherical connecting piece and the roller center axis of the roller form a plane, during the rotation of the moving platform, The spherical connecting piece will rotate with the moving platform, and the velocity direction at the contact point between the roller and the spherical connecting piece is perpendicular to the above-mentioned plane. The non-holonomic velocity constraint is formed because any straight line passing through the center of the spherical connecting piece Both can be used as the rotating shaft of the spherical connecting member, and the spherical connecting member can rotate around this rotating shaft; the roller is connected with the bracket in rotation; and the bracket is fixed on the upper surface of the base.
上述静平台的结构是：第一电机固定架固定在基座上表面，另一端连接所述的两个分支机构链中的一个分支机构链；第二电机固定架也固定在基座上表面，另一端连接所述的两个分支机构链中的另一个分支机构链，第二电机固定架与所述第一电机固定架成对称分布。 The structure of the above-mentioned static platform is: the first motor fixing frame is fixed on the upper surface of the base, and the other end is connected to one of the two branch mechanism chains; the second motor fixing frame is also fixed on the upper surface of the base, The other end is connected to the other branch mechanism chain in the two branch mechanism chains, and the second motor fixing frame is symmetrically distributed with the first motor fixing frame.
上述两个驱动动力源为两个电机，第一电机和第二电机分别固定在所述的第一电机固定架下表面和第二电机固定架下表面，第一电机和第二电机的输出端分别与所述的两个分支机构链连接，两个电机驱动所述的两个分支机构链运动，从而同时带动所述的动平台运动。 The above-mentioned two driving power sources are two motors, the first motor and the second motor are respectively fixed on the lower surface of the first motor fixing frame and the second motor fixing frame lower surface, the output ends of the first motor and the second motor They are respectively connected with the two branch mechanism chains, and the two motors drive the movement of the two branch mechanism chains, thereby simultaneously driving the movement of the moving platform.
上述两个分支机构链的结构是：一根第一上连杆和一根第一下连杆构成转动副后串联，构成两个分支机构链中的一个分支机构链，该分支机构链的一端与所述第一电机的输出端固定连接，该分支机构链的另一端与动平台相连，构成转动副；一根第二上连杆和一根第二下连杆构成转动副后串联，构成两个分支机构链中的另一个分支机构链，该分支机构链的一端与所述第二电机的输出端固定连接，该分支机构链的另一端与动平台相连，构成转动副。 The structure of the above two branch mechanism chains is: a first upper link and a first lower link form a rotating pair and then connect in series to form a branch mechanism chain in the two branch mechanism chains. One end of the branch mechanism chain It is fixedly connected with the output end of the first motor, and the other end of the branch mechanism chain is connected with the moving platform to form a revolving pair; a second upper link and a second lower link form a revolving pair and are connected in series to form a For the other branch mechanism chain in the two branch mechanism chains, one end of the branch mechanism chain is fixedly connected to the output end of the second motor, and the other end of the branch mechanism chain is connected with the moving platform to form a rotating pair.
上述动平台的结构是：第一动平台连杆一端固定在所述圆板下表面，第一动平台连杆另一端与所述第一上连杆构成转动副；第二动平台连杆一端固定在所述圆板下表面，第二动平台连杆另一端与所述第二上连杆构成转动副；第一动平台连杆与第二动平台连杆成对称分布。 The structure of the above-mentioned moving platform is: one end of the connecting rod of the first moving platform is fixed on the lower surface of the circular plate, the other end of the connecting rod of the first moving platform forms a rotating pair with the first upper connecting rod; one end of the connecting rod of the second moving platform Fixed on the lower surface of the circular plate, the other end of the second moving platform connecting rod and the second upper connecting rod form a rotating pair; the first moving platform connecting rod and the second moving platform connecting rod are symmetrically distributed.
本发明与现有技术相比较，具有如下显而易见的突出实质性特点和显著优点： Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant advantages:
本发明采用两个动力源驱动的三自由度并联机构作三自由度运动，动力源少，以手腕的体积也小，重量轻，成本低，仅需要较低的控制系统，本发明结构简单，工作可靠，可作为机器人的关节，用以实现较少的动力源驱动较多的手臂关节自由度。 The present invention adopts a three-degree-of-freedom parallel mechanism driven by two power sources to perform three-degree-of-freedom movements. The power source is less, and the volume of the wrist is also small, light in weight, low in cost, and requires only a relatively low control system. The present invention has a simple structure. It works reliably and can be used as a joint of a robot to drive more degrees of freedom of arm joints with fewer power sources.
附图说明 Description of drawings
图1是本发明的一种基于非完整约束的新型欠驱动机器人手腕装置实施例的前视图。 Fig. 1 is a front view of an embodiment of a novel underactuated robotic wrist device based on nonholonomic constraints of the present invention.
图2是图1的俯视图。 FIG. 2 is a top view of FIG. 1 .
图3是图1的A-A剖视图。 Fig. 3 is a cross-sectional view along line A-A of Fig. 1 .
具体实施方式 detailed description
本发明的优选实施例结合附图详述如下： Preferred embodiments of the present invention are described in detail as follows in conjunction with accompanying drawings:
参见图1、图2、图3，一种基于非完整约束的新型欠驱动机器人手腕装置，包括一个静平台、一个动平台、两个分支机构链、两个驱动动力源和一个中间约束装置，所述静平台通过所述两个分支机构链连接所述动平台，所述两个分支机构链分别在两个驱动动力源的驱动下，经两个分支机构链传动，中间约束装置形成一个非完整约束，从而实现了动平台的三自由度运动。 Referring to Fig. 1, Fig. 2 and Fig. 3, a new type of underactuated robot wrist device based on nonholonomic constraints includes a static platform, a dynamic platform, two branch chains, two driving power sources and an intermediate constraint device. The static platform is connected to the moving platform through the two branch mechanism chains. The two branch mechanism chains are respectively driven by two driving power sources and driven by the two branch mechanism chains. The intermediate restraint device forms a non-stop The complete constraint realizes the three-degree-of-freedom motion of the moving platform.
所述中间约束装置的结构是：一根连杆10一端固定在圆板7的下表面，另一端与球形连接件11的内表面固定连接；所述球形连接件11的内表面与球轴承17的外圈固定连接，所述球轴承17与所述连杆10不接触；细杆12的一端与所述球轴承17的内圈固定连接；滚轮18与上述球形连接件11的外表面滚动接触，即滚轮18与所述球形连接件11不能滑动接触，只能紧贴着所述球形连接件11滚动，球形连接件11和滚轮18之间无间隙，过球形连接件11的球心和滚轮18的滚轮中心轴形成一个平面X，在所述动平台旋转的过程中，所述球形连接件11会跟随动平台一起旋转，滚轮18与球形连接件11接触点处的速度方向就与上述平面X垂直，非完整速度约束的形成，是因为经过所述球形连接件11的球心的任意直线都能够作为所述球形连接件11的旋转轴，所述球形连接件11绕着这根旋转轴而旋转；滚轮18与支架13转动连接；支架13固定在基座1上表面。 The structure of the intermediate restraint device is: one end of a connecting rod 10 is fixed on the lower surface of the circular plate 7, and the other end is fixedly connected with the inner surface of the spherical connector 11; the inner surface of the spherical connector 11 is connected with the ball bearing 17 The outer ring of the ball bearing 17 is fixedly connected with the connecting rod 10; one end of the thin rod 12 is fixedly connected with the inner ring of the ball bearing 17; the roller 18 is in rolling contact with the outer surface of the above-mentioned spherical connector 11 , that is, the roller 18 cannot be in sliding contact with the spherical connector 11, but can only roll against the spherical connector 11, there is no gap between the spherical connector 11 and the roller 18, and the ball center of the spherical connector 11 and the roller The central axis of the rollers of 18 forms a plane X. During the rotation of the moving platform, the spherical connecting member 11 will rotate with the moving platform, and the speed direction at the contact point between the roller 18 and the spherical connecting member 11 is in line with the above-mentioned plane. X is vertical, the formation of the non-holonomic velocity constraint is because any straight line passing through the center of the sphere of the spherical joint 11 can be used as the rotational axis of the spherical joint 11, and the spherical joint 11 revolves around this rotational axis and rotate; the roller 18 is rotationally connected with the bracket 13; the bracket 13 is fixed on the upper surface of the base 1 .
所述静平台的结构是：第一电机固定架2固定在基座1上表面，另一端连接所述的两个分支机构链中的一个分支机构链；第二电机固定架16也固定在基座1上表面，另一端连接所述的两个分支机构链中的另一个分支机构链，第二电机固定架16与所述第一电机固定架2成对称分布。 The structure of the static platform is: the first motor mount 2 is fixed on the upper surface of the base 1, and the other end is connected to a branch chain in the two branch chains; the second motor mount 16 is also fixed on the base. The other end of the upper surface of the seat 1 is connected to the other branch mechanism chain in the two branch mechanism chains, and the second motor fixing frame 16 is symmetrically distributed with the first motor fixing frame 2 .
所述两个驱动动力源为两个电机，第一电机3和第二电机15分别固定在所述的第一电机固定架2下表面和第二电机固定架16下表面，第一电机3和第二电机15的输出端分别与所述的两个分支机构链连接。 The two driving power sources are two motors, the first motor 3 and the second motor 15 are respectively fixed on the lower surface of the first motor holder 2 and the lower surface of the second motor holder 16, and the first motor 3 and the second motor are fixed on the lower surface of the second motor holder 16 respectively. The output ends of the second motor 15 are respectively connected with the two branch mechanism chains.
所述两个分支机构链的结构是：一根第一上连杆5和一根第一下连杆4构成转动副后串联，构成两个分支机构链中的一个分支机构链，该分支机构链的一端与所述第一电机3的输出端固定连接，该分支机构链的另一端与动平台相连，构成转动副；一根第二上连杆9和一根第二下连杆14构成转动副后串联，构成两个分支机构链中的另一个分支机构链，该分支机构链的一端与所述第二电机15的输出端固定连接，该分支机构链的另一端与动平台相连，构成转动副。 The structure of the two branch mechanism chains is: a first upper connecting rod 5 and a first lower connecting rod 4 form a rotating pair and then connect in series to form a branch mechanism chain in the two branch mechanism chains. One end of the chain is fixedly connected to the output end of the first motor 3, and the other end of the branch chain is connected to the moving platform to form a revolving pair; a second upper link 9 and a second lower link 14 form a The rotary pair is connected in series to form another branch mechanism chain in the two branch mechanism chains. One end of the branch mechanism chain is fixedly connected to the output end of the second motor 15, and the other end of the branch mechanism chain is connected to the moving platform. constitute a rotating pair.
所述动平台的结构是：第一动平台连杆6一端固定在所述圆板7下表面，第一动平台连杆6另一端与所述第一上连杆5构成转动副；第二动平台连杆8一端固定在所述圆板7下表面，第二动平台连杆8另一端与所述第二上连杆9构成转动副；第一动平台连杆6与第二动平台连杆8成对称分布。 The structure of the moving platform is: one end of the first moving platform connecting rod 6 is fixed on the lower surface of the circular plate 7, and the other end of the first moving platform connecting rod 6 and the first upper connecting rod 5 form a rotating pair; One end of the moving platform connecting rod 8 is fixed on the lower surface of the circular plate 7, and the other end of the second moving platform connecting rod 8 forms a rotating pair with the second upper connecting rod 9; the first moving platform connecting rod 6 and the second moving platform The connecting rods 8 are distributed symmetrically.
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