CN1799788B - Parallel robots with fluid-driven artificial muscles - Google Patents
Parallel robots with fluid-driven artificial muscles Download PDFInfo
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- CN1799788B CN1799788B CN 200610037709 CN200610037709A CN1799788B CN 1799788 B CN1799788 B CN 1799788B CN 200610037709 CN200610037709 CN 200610037709 CN 200610037709 A CN200610037709 A CN 200610037709A CN 1799788 B CN1799788 B CN 1799788B
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Abstract
本发明涉及一种流体驱动人工肌肉的并联机器人，属于机器人、机器和机床的应用技术领域。本发明并联机器人采用人工肌肉驱动，人工肌肉中的弹性波壳充气后膨胀作为肌肉动力，充气的弹性波壳可以弯曲和一定的扭曲，故人工肌肉具有柔顺性。结构I类似于6-SPS并联机器人，移动副改为人工肌肉驱动，在底座平台和工作平台之间的外接圆心处垂直连接了球形万向节，形成具有三个转动自由度的并联机器人。结构II类似于3-PTT并联机器人，其对称分布人工肌肉的轴心线与中间的球形万向节的轴心线在同一平面内，移动副改为人工肌肉驱动，在圆形底座平台和圆形工作平台的圆心处垂直地连接了球形万向节，形成具有两个转动自由度的并联机器人。
The invention relates to a fluid-driven parallel robot of artificial muscles, which belongs to the application technical field of robots, machines and machine tools. The parallel robot of the present invention is driven by artificial muscles. The elastic wave shell in the artificial muscle expands after being inflated as muscle power. The inflated elastic wave shell can be bent and twisted to a certain extent, so the artificial muscle has flexibility. Structure I is similar to the 6-SPS parallel robot, the mobile pair is changed to artificial muscle drive, and the spherical universal joint is vertically connected at the center of the circumscribed circle between the base platform and the working platform to form a parallel robot with three rotational degrees of freedom. Structure II is similar to a 3-PTT parallel robot. The axis line of its symmetrically distributed artificial muscles is in the same plane as the axis line of the spherical universal joint in the middle. A spherical universal joint is vertically connected to the center of the circular working platform to form a parallel robot with two rotational degrees of freedom.
Description
Technical field:
The present invention relates to a kind of parallel robot of fluid-driven artificial muscle, this parallel robot can be used as the base component of flexible working head of all kinds of joints such as the wrist, ankle of humanoid robot, lathe and special flexible clutch, as the executing agency and the flexible frame for movement of automation equipment, belong to the applied technical field of robot, machine and lathe.
Background technology:
The present invention in the past, in prior art, for parallel robot, existing parallel manipulator adopts rigid structure or flexible bar/arm per capita, not have to adopt and have compliance the parallel robot of the artificial-muscle driving of (can crooked and certain distortion).The base component of flexible working head (as rubbing head) and special flexible clutch also do not have to adopt the structure of artificial-muscle with compliance (as the air spring of adjustable chamber pressure, thereby the rigidity of Adjustment System).
Summary of the invention:
The objective of the invention is to overcome above-mentioned weak point, parallel robot of the present invention adopts the artificial-muscle with compliance to drive, expand as muscular motivation in elastomeric bellow in artificial-muscle inflation back, the elastomeric bellow of inflation can crooked and certain distortion, and old friend worker's muscle has compliance.6-SPS parallel robot and improvement structure are the parallel robots with 4,5,6 frees degree, and parallel robot of the present invention is the parallel robot that only has 3 rotational freedoms.3-PTT parallel robot and improvement structure are the parallel robots with 4,5,6 frees degree, and parallel robot of the present invention is the parallel robot that only has 2 rotational freedoms.As the base component of flexible working head and special flexible clutch, employing has the artificial-muscle of compliance, and the elastomeric bellow of its sealing is as the air spring of adjustable chamber pressure, but the rigidity of Adjustment System, the vibration characteristics of change system, thus different buffering effects obtained.
Main solution of the present invention is achieved in that
The formation of artificial-muscle of the present invention is: vertical sectional shape is that the elastomeric bellow 3 of " V ", " U ", " Ω " shape (2 in accompanying drawing has provided " V " shape structure) is by on the bayonet socket that revolves chuck 2 and be clamped in headstock 1 and tailstock 4,3 screwed holes that ball pivot 14 is installed are all arranged, the enclosed cavity that elastomeric bellow 3, headstock 1 and tailstock 4 constitute on the end face of headstock 1 and tailstock 4; Fluid enters the artificial-muscle cavity by angle coupling 5, and 4 of angle coupling 5 and tailstocks have sealing ring 6 sealings; Constituted parts a---artificial-muscle 9 that independent fluid drives by above-mentioned part.
The example I of parallel robot of the present invention is: as shown in Figure 3, be similar to 6-SPS parallel robot structure, workbench 7 and base platform 10 are equilateral triangle, and three identical little equilateral triangles are excised at the place again at three angles, form the hexagon with three long limits, three minor faces; The minor face two ends of base platform 10 are connected with two artificial-muscles 9 by ball pivot 14 respectively, and the other end of two artificial-muscles 9 is connected with the two ends, long limit of workbench 7 by ball pivot 14 respectively, and this parallel robot has six artificial- muscles 9 and 12 ball pivots 14; Place, circumcenter at base platform 10 and workbench 7 vertically has been connected universal ball joint 8, forms the parallel robot with 3 rotational freedoms.
The example II of parallel robot of the present invention is: as shown in Figure 4, be similar to 3-PTT parallel robot structure, three poles 12 have been fixed on the cup dolly platform 13 with being symmetrically distributed, pole 12 is connected with artificial-muscle 9 by ball pivot 14 respectively, the other end of artificial-muscle 9 is connected with circular workbench 11 by ball pivot 14 respectively, and this parallel robot has three artificial-muscles 9 and six ball pivots 14; Circle centre position at cup dolly platform 13 and circular workbench 11 vertically has been connected universal ball joint 8; The axial line of the universal ball joint of the axial line of its symmetrical distribution artificial-muscle and centre forms the parallel robot with 2 rotational freedoms in same plane.
As shown in Figure 5, in example I and the example II, the structure of universal ball joint is identical with installation form; The structure of ball pivot 14 as shown in Figure 6.
It can be air pressure, hydraulic pressure, fluid power, liquid viscosity transmission and the compound driving of their series and parallel that the fluid of indication of the present invention drives.
Compared with the prior art the present invention has the following advantages:
Parallel robot of the present invention adopts the artificial-muscle with compliance to drive, and expands as muscular motivation in the elastomeric bellow inflation back in the artificial-muscle, and the elastomeric bellow of inflation can crooked and certain distortion, so have compliance; Structure is similar to the 6-SPS parallel robot, moving sets changes artificial-muscle into and drives, because the compliance of the elastomeric bellow of artificial-muscle, also the middle part between base platform and workbench has vertically connected universal ball joint, forms the parallel robot with 3 rotational freedoms.Structure is similar to the 3-PTT parallel robot, and the axial line of the universal ball joint of the axial line of its symmetrical distribution artificial-muscle and centre is in same plane, and moving sets changes artificial-muscle into and drives, and forms the parallel robot with 2 rotational freedoms.As the base component of flexible working head and special flexible clutch, employing has the artificial-muscle of compliance, and the elastomeric bellow of its sealing is as the air spring of adjustable chamber pressure, but the rigidity of Adjustment System, the vibration characteristics of change system, thus different buffering effects obtained.
Description of drawings:
Fig. 1 is the A-A cutaway view of the artificial-muscle of parallel robot of the present invention
Fig. 2 is the front view of the artificial-muscle of parallel robot of the present invention
Fig. 3 is the space structure sketch of parallel robot example I of the present invention
Fig. 4 is the space structure sketch of parallel robot example II of the present invention
Fig. 5 is the structure and the installation diagram of the universal ball joint of parallel robot example I of the present invention
Fig. 6 is the structure chart of the ball pivot of parallel robot of the present invention
The specific embodiment:
The operation principle and the course of work below in conjunction with inventive embodiments I explanation parallel robot:
The artificial-muscle 9 at three intervals enters pressure fluid simultaneously, and the artificial-muscle 9 at other three intervals is extruded, and discharges fluid, and workbench 7 is rotated counterclockwise around vertical universal ball joint 8 axis; Two adjacent artificial-muscles 9 enter pressure fluid simultaneously arbitrarily, and remaining artificial muscle 9 is extruded, and discharge fluid, workbench 7 is wound by universal ball joint 8 determined horizontal axis rotate.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610037709 CN1799788B (en) | 2006-01-05 | 2006-01-05 | Parallel robots with fluid-driven artificial muscles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610037709 CN1799788B (en) | 2006-01-05 | 2006-01-05 | Parallel robots with fluid-driven artificial muscles |
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| Publication Number | Publication Date |
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| CN1799788A CN1799788A (en) | 2006-07-12 |
| CN1799788B true CN1799788B (en) | 2010-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200610037709 Expired - Fee Related CN1799788B (en) | 2006-01-05 | 2006-01-05 | Parallel robots with fluid-driven artificial muscles |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426143B (en) * | 2015-08-28 | 2018-09-25 | 温州市洞头北岙晟立机械设计工作室 | A kind of artificial-muscle and its application, robot |
| WO2019126919A1 (en) * | 2017-12-25 | 2019-07-04 | 深圳先进技术研究院 | Three-degree-of-freedom parallel mechanism |
| CN108422410A (en) * | 2018-03-05 | 2018-08-21 | 东南大学 | A kind of bionical parallel robot of the adjustable rope driving of rigidity |
| CN110465957A (en) * | 2019-09-09 | 2019-11-19 | 安徽建筑大学 | A kind of rolling mobile robot |
| CN110722540B (en) * | 2019-10-31 | 2021-04-06 | 北京机械设备研究所 | Three-degree-of-freedom platform driven by pneumatic artificial muscles |
| CN111317645A (en) * | 2020-03-05 | 2020-06-23 | 南开大学 | A flexible modular joint rehabilitation mechanism |
| CN112833084A (en) * | 2020-12-28 | 2021-05-25 | 华南理工大学 | Large-stroke compliant hinge and compliant parallel mechanism for planar composite structure space |
| CN113580190B (en) * | 2021-06-24 | 2023-04-18 | 南方科技大学 | Soft body driving joint |
| CN114055512A (en) * | 2021-11-08 | 2022-02-18 | 南方科技大学 | A drive joint and drive device |
| CN114571466B (en) * | 2022-04-06 | 2023-05-26 | 广东工业大学 | Rigidity-variable device, rigidity-variable method thereof and modeling method of rigidity model |
Citations (3)
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| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible Joints with Helical Spring Artificial Muscles |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscle-style flexible joints that bend in multiple directions |
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2006
- 2006-01-05 CN CN 200610037709 patent/CN1799788B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscle-style flexible joints that bend in multiple directions |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible Joints with Helical Spring Artificial Muscles |
Non-Patent Citations (4)
| Title |
|---|
| 朱笑丛，陶国良.气动人工肌肉伺服平台的建模.浙江大学学报（工学版）38 8.2004,38(8),1056-1060. |
| 朱笑丛,陶国良.气动人工肌肉伺服平台的建模.浙江大学学报(工学版)38 8.2004,38(8),1056-1060. * |
| 赵永杰，赵新华，葛为民.6－SPS并联机器人精度综合算法.机械科学与技术23 4.2004,23(4),392-395. |
| 赵永杰,赵新华,葛为民.6-SPS并联机器人精度综合算法.机械科学与技术23 4.2004,23(4),392-395. * |
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| CN1799788A (en) | 2006-07-12 |
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Assignee: Suzhou Alome Science & Technology Co., Ltd. Assignor: Jiangnan University Contract record no.: 2011320000770 Denomination of invention: Parallel robot with fluid-driven artificial muscle Granted publication date: 20100929 License type: Exclusive License Open date: 20060712 Record date: 20110602 |
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