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WO2021029741A1 - Réducteur capable de modifier en continu le rapport de réduction, appareil de commande d'articulation le comprenant, et procédé de commande d'articulation - Google Patents

Réducteur capable de modifier en continu le rapport de réduction, appareil de commande d'articulation le comprenant, et procédé de commande d'articulation Download PDF

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Publication number
WO2021029741A1
WO2021029741A1 PCT/KR2020/010887 KR2020010887W WO2021029741A1 WO 2021029741 A1 WO2021029741 A1 WO 2021029741A1 KR 2020010887 W KR2020010887 W KR 2020010887W WO 2021029741 A1 WO2021029741 A1 WO 2021029741A1
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WO
WIPO (PCT)
Prior art keywords
link
length
reduction ratio
output
actuator
Prior art date
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Ceased
Application number
PCT/KR2020/010887
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English (en)
Korean (ko)
Inventor
조백규
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kookmin University
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Kookmin University
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Filing date
Publication date
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Publication of WO2021029741A1 publication Critical patent/WO2021029741A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • 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
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

Definitions

  • the present invention relates to a speed reducer capable of continuously variable reduction ratio, and to a joint drive apparatus and method including the same, and more particularly, a speed reducer capable of continuously variable reduction ratio by adjusting the link length of a four-section link, and a joint drive device including the same And a method.
  • a robot operating on the ground needs wheels or legs to move to another place.
  • a robot with wheels has the advantage of being able to move quickly on flat terrain, but it is difficult to move when encountered with stairs or uneven terrain.
  • a robot with legs is difficult to move quickly, but can move much more freely than a wheel on stairs and uneven terrain.
  • the Republic of Korea Patent Registration No. 10-0843863 (registered on June 27, 2008) describes a walking type mobile robot and its control method, a leg structure for a walking type mobile robot, and a movable leg unit for a walking type mobile robot. It is a walking-type mobile robot equipped with two or more movable legs, and the position of the ZMP (Zero Moment Point) at which the pitch axis moment and the roll axis moment of the aircraft become zero (0) and the floor reaction force that the aircraft receives from the floor surface.
  • ZMP Zero Moment Point
  • a ZMP motion space control means for controlling the defined ZMP motion space, wherein the ZMP motion space control means is a deformation force or momentum of the robot according to a predetermined distortion or the floor reaction force to stabilize the gas in the ZMP motion space in advance. It is characterized in that it is given a predetermined characteristic to change the size or direction of.
  • An embodiment of the present invention is to provide a speed reducer capable of continuously changing a reduction ratio by adjusting the link length of a four-section link, and a joint driving apparatus and method including the same.
  • An embodiment of the present invention is to provide a speed reducer capable of driving high speed and high torque by adjusting a reduction ratio by adjusting a link length by applying a linear actuator to a four-section link, and a joint driving apparatus and method including the same.
  • An embodiment of the present invention is a speed reducer capable of generating a fast movement through a reduced speed efficiently and generating a high torque through a high speed reduction by determining an optimum reduction ratio according to a situation change through a continuous variable deceleration, a joint including the same It is intended to provide a driving device and method.
  • An embodiment of the present invention is to provide a speed reducer capable of implementing a robot motion by generating an optimal trajectory of a robot joint in consideration of excitation guidance, and a joint driving apparatus and method including the same.
  • the speed reducer capable of continuously changing the reduction ratio includes a four-fold link and an actuator connected to the four-fold link to adjust the length of the link to change the reduction ratio.
  • the section 4 link may include an input link connected to a power source, an output link receiving power from the input link, and two couplers connecting the input link and the output link.
  • the actuator is connected to the input link and the length of the input link is adjusted to change the rotation ratio of the output link to the rotation of the input link, thereby adjusting the reduction ratio.
  • the actuator may be a linear actuator.
  • the reduction ratio increases as the length of the input link becomes shorter than the length of the output link, and if the length of the input link and the output link are the same, the reduction ratio is fixed. The reduction ratio is maintained, and if the length of the input link is longer than the length of the output link, the reduction ratio may be lowered.
  • the output link When the length of the four-section link is adjusted to increase the length of the input link, the output link can be driven at a high speed at a reduced speed, and when the length of the input link is adjusted to be short, the output link can be driven at high torque at a high speed.
  • the actuator is connected to at least one of two couplers connecting the input link and the output link to adjust the length of the link up and down.
  • the actuator may be connected to the input link and the output link to adjust the length of the input link and the output link.
  • the actuator may be connected to the output link to adjust the length of the output link.
  • a joint drive device including a speed reducer capable of continuously variable reduction ratio includes a drive that transmits power to the joint and a speed reducer connected to an output of the drive to change a reduction ratio, and the speed reducer includes a four-fold link and the It may include an actuator that is connected to the section 4 link and changes the reduction ratio by adjusting the length of the link.
  • the four-section link may include an input link connected to the actuator, an output link disposed at the joint position and receiving power of the input link, and two couplers connecting the input link and the output link.
  • the actuator is connected to the input link, and the length of the input link is adjusted by the operation of the actuator, so that the reduction ratio of the output link may be varied.
  • the reduction gear may lower the reduction ratio, thereby driving the output link at high speed through a reduced speed, thereby generating rapid movement in the joint in the output link.
  • the reducer may increase the reduction ratio and drive the output link with high torque through high deceleration to generate high torque in the joint in the output link.
  • the reducer may generate an excitation induction by connecting the actuator to at least one of the 4 linkages to add a degree of freedom of the 4 linkages, and use the generated excitation induction for robot motion.
  • the joint drive method including a speed reducer capable of continuously variable reduction ratio includes determining a reduction ratio according to high speed and high torque driving, and an input link of a four-section link applied to the joint by operating an actuator according to the determined reduction ratio. And adjusting a length ratio of the output link and, by adjusting the length of the input link to be longer than the length of the output link to drive the joint at high speed through a reduced speed of the output link, and to reduce the length of the input link. By adjusting to be shorter than the length of the output link, the joint can be driven with high torque through high deceleration of the output link.
  • the disclosed technology can have the following effects. However, since it does not mean that a specific embodiment should include all of the following effects or only the following effects, it should not be understood that the scope of the rights of the disclosed technology is limited thereby.
  • a speed reducer capable of continuously variable reduction ratio according to an embodiment of the present invention, and a joint driving apparatus and method including the same, can continuously change the reduction ratio by adjusting the link length of the four-section link.
  • a speed reducer capable of continuously variable reduction ratio according to an embodiment of the present invention, and a joint drive device and method including the same, can drive high speed and high torque by adjusting the reduction ratio by adjusting the link length by applying a linear actuator to the Section 4 link. have.
  • a speed reducer capable of continuously variable reduction ratio according to an embodiment of the present invention determines an optimum reduction ratio according to a change in situation through continuous variable speed reduction, thereby efficiently generating fast movement through reduced speed.
  • High torque can be generated through high deceleration.
  • a speed reducer capable of continuously variable reduction ratio according to an embodiment of the present invention, and a joint driving apparatus and method including the same, may implement a robot motion by generating an optimal trajectory of a robot joint in consideration of excitation induction.
  • FIG. 1 is a view showing a robot to which a reduction gear capable of continuously variable reduction ratio is applied according to an embodiment of the present invention.
  • 2A-2B are views for explaining a speed reducer capable of varying a continuous reduction ratio according to an embodiment of the present invention.
  • FIG 3 is a view for explaining a link length adjustment operation of a four-section link in the speed reducer according to an embodiment of the present invention.
  • FIG. 4 is a view for explaining a variable operation of a continuous reduction ratio of a speed reducer for high speed and high torque driving of the robot joint of FIG. 1.
  • FIG. 5 is an exemplary view showing a reduction ratio according to the link length of the reduction gear in FIG. 4.
  • 6A-6C are exemplary views showing an operating state of a speed reducer according to the speed of a robot joint according to an embodiment.
  • FIG. 7 is an exemplary diagram showing high-speed and high-torque motion performance of a robot joint including a speed reducer capable of continuously variable reduction ratio according to an embodiment.
  • the best mode for implementation of the present invention is to provide a speed reducer capable of continuously variable reduction ratio including a four-fold link and an actuator connected to the four-fold link to adjust the length of the link to vary the reduction ratio.
  • the best form for the implementation of the present invention includes a drive that transmits power to a joint and a reducer connected to the output of the drive to change a reduction ratio, and the reducer is connected to a four-section link and the four-section link It provides a joint drive device including a speed reducer capable of continuously variable reduction ratio, characterized in that it comprises an actuator for varying the reduction ratio through length adjustment of the.
  • the best mode for the implementation of the present invention is the step of determining a reduction ratio according to high speed and high torque driving, and adjusting the length ratio of the input link and the output link of the four-section link applied to the joint by operating the actuator according to the determined reduction ratio.
  • a joint driving method including a speed reducer capable of varying a continuous reduction ratio, characterized in that the joint is driven with a high torque through high deceleration of the output link.
  • first and second are used to distinguish one component from other components, and the scope of rights is not limited by these terms.
  • a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.
  • FIG. 1 is a view showing a robot to which a reduction gear capable of continuously variable reduction ratio is applied according to an embodiment of the present invention.
  • the reducer 100 may be applied to the leg joint of the humanoid robot 200 designed in a four-bar link structure, and is not limited thereto. Can be applied to joints
  • the reducer 100 may be configured to include a four-section link mechanism unit 110 and the actuator 120.
  • the reducer 100 may be connected to an output of a driver (not shown) that transmits power to the joints of the robot 200 to change the reduction ratio.
  • the speed reducer 100 is connected to the output terminal of the high ratio speed reducer when the high ratio speed reducer is previously applied to the robot 200 to variably adjust the reduction ratio of the high ratio speed reducer.
  • Section 4 link mechanism unit 110 may include four links (111 to 114) and four joints (115 to 118).
  • the four links 111 to 114 may include an input link 111, an output link 112, and couplers 113 and 114 connecting the input link 111 and the output link 112.
  • the input link 111 is a link connected to a power source, and the motion of the output link 112 and the couplers 113 and 114 can be analyzed according to the angular velocity or angle of the input link 111.
  • the input link 111 may be positioned close to the pelvis of the robot 200, and the output link 112 may be positioned close to the knee.
  • the robot joint may transmit power to the lower end through the four-section link mechanism unit 110 at the upper end.
  • the actuator 120 may be positioned in the section 4 link mechanism unit 110 to adjust the length of at least one link among the four links 111 to 114.
  • the actuator 120 may be implemented as a small linear actuator compactly manufactured through a small motor and a ball screw.
  • the actuator 120 is connected to the input link 111 to increase or decrease the length of the input link 111 according to changes in circumstances.
  • the motion of the output link 112 varies according to the length of the input link 111.
  • the actuator 120 is connected to the input link 111 and the output link 112, respectively, so that the length can be adjusted in the width direction at the top and bottom, respectively.
  • the actuator 120 may be connected to at least one of the two couplers 113 and 114 to adjust the length in the longitudinal direction.
  • the actuator 120 may continuously vary the reduction ratio by adjusting the length of the four links 111 to 114.
  • the reducer 100 may be coupled in series to the output end of a high-ratio reducer previously applied to the joint of the robot 200, thereby actively adjusting the reduction ratio to realize high-speed or high torque driving of the robot joint.
  • 2A-2B are views for explaining a speed reducer capable of continuously variable reduction ratio according to an embodiment of the present invention, and show a case applied to a knee joint of a robot.
  • the speed reducer 100 actively adjusts the length of the input link c of the section 4 link mechanism, so that the output link a against the rotation of the input link c It means a continuously variable reduction mechanism that changes the rotation ratio of
  • the length of the input link c may be varied by the operation of the actuator 120.
  • the reducer 100 is applied to the knee joint of the robot 200, it is possible to design a structure of a four-fold link at the upper end representing between the pelvis and the knee, and the input link (c) is the robot ( 200) can be connected to the knee actuator, the output link (a) can be fixed to the calf link.
  • the reduction gear 100 can change the reduction ratio of the output link (a) to about 0.5 to 2 times by varying the length of the input link (a), and by combining it in series with the output terminal of the existing high ratio reducer, Adjustable.
  • the speed reducer 100 capable of continuously variable reduction ratio has been described by applying it to the joint of the robot 200, but the scope of application is not limited thereto.
  • the speed reducer 100 capable of changing the continuous reduction ratio may be used in combination with a drive in a place where a rotation range is limited except for a place requiring continuous rotation such as a wheel.
  • FIG 3 is a view for explaining a link length adjustment operation of a four-section link in the speed reducer according to an embodiment of the present invention.
  • the reducer 100 positions the actuator 120 on the input link 111 among the four links, and the length of the input link 111 is short by the operation of the actuator 120. Lose or become longer.
  • the robot 200 may be referred to as a posture standing upright on the ground, and the input link 111 is
  • the robot 200 may be referred to as a moving posture. At this time, the length of the thigh link is fixed.
  • the actuator 120 may increase or decrease the length of the input link 111 according to a change in a robot posture such as a rapid movement or lifting an object, and the input angle may be changed accordingly. do. Section 4 In the link mechanism unit 110, if the length of the input link 111 becomes longer, the input angle becomes smaller than the output angle, resulting in speed amplification. If the length of the input link 111 becomes shorter, the input is compared to the output angle. Increasing the angle can lead to torque amplification.
  • FIG. 4 is a view for explaining a variable operation of a continuous reduction ratio of a speed reducer for high speed and high torque driving of the robot joint of FIG. 1.
  • the reducer 100 may control the actuator 120 operation based on the speed and torque of the robot joint required according to the change in situation to adjust the link length.
  • the actuator 120 enables high-speed or high-torque implementation of the joint by adjusting the link length of the four-section link mechanism unit 110 in accordance with an optimal reduction ratio determined according to a change in payload.
  • the optimal reduction ratio can be determined by using an online controller based on Model Predictive Control (MPC) for a dynamic model of a robot that is variable according to a change in payload.
  • MPC Model Predictive Control
  • the actuator 120 adjusts the link length of the section 4 link mechanism unit 110 in the normal mode of the neutral reduction ratio in which the reduction ratio of the robot is fixed so that the reduction ratio is lowered or increased, so that the speed mode or torque It can be operated in Torque mode.
  • a rapid movement of the output joint may be generated through a reduced speed of the output link 112.
  • a high torque may be generated in the output joint through high deceleration of the output link 112.
  • FIG. 5 is an exemplary view showing a reduction ratio according to the link length of the reduction gear in FIG. 4.
  • a reduction ratio according to the length adjustment of the link by the actuator 120 coupled to the section 4 link mechanism unit 110 may be expressed by the following equation.
  • R_R is the reduction ratio
  • ⁇ _Input is the angle of the input joint according to the length adjustment of the input link
  • ⁇ _Output is the angle of the output joint.
  • the length of the input link 111 is adjusted to increase in a state where the output angle ⁇ Output of the output joint 116 is 45°, so that the input angle ⁇ Input of the input joint 115 is 23.98°.
  • the reduction ratio at this time is approximately 0.5333, and high-speed driving can be implemented with a reduction speed lower than the neutral reduction ratio "1".
  • the reduction ratio at this time is approximately 2.22, which is higher than the neutral reduction ratio “1”. High torque drive can be implemented.
  • 6A-6C are exemplary views showing an operating state of a speed reducer according to the speed of a robot joint according to an embodiment.
  • the reducer 100 in the deceleration mode of the robot 200, the reducer 100 operates so that the length of the input link 111 is shorter than the length of the output link 112 as shown in FIG. It is possible to control the motion of the robot 200 through the low-speed driving of.
  • the speed reducer 100 operates so that the lengths of the input link 111 and the output link 112 become the same as shown in FIG. 6B to maintain a neutral reduction ratio, and the robot ( 200) motion can be controlled.
  • the reducer 100 operates so that the length of the input link 111 is longer than the length of the output link 112 as shown in FIG. You can control the motion of 200.
  • FIG. 7 is an exemplary view showing a high-speed and high-torque motion of a robot joint including a reducer according to an embodiment.
  • an optimal trajectory of the robot joint may be generated by combining the four-fold link mechanism unit 110 and the reducer 100 including the actuator 120 to the joint of the robot 200 according to an embodiment. .
  • Section 4 It is possible to adjust the length of the link by connecting the actuator 120 to at least one of the links 111 to 114.
  • the actuator 120 is connected to the input link 111 connected to the power source in the pelvis of the robot to adjust the length of the input link 111, but is not limited thereto, and the input link in the knee of the robot (
  • the length of the output link 112 may be adjusted by being connected to the output link 112 that receives the power of 111), or the input link 111 and the output link are connected to both the input link 111 and the output link 112
  • the length of 112 can also be adjusted.
  • the actuator 120 may be connected to at least one of two couplers 113 and 114 connecting the input link 111 and the output link 112 to adjust the length of the link up and down.
  • the reduction gear 100 may implement the selected reduction ratio through link length adjustment.
  • Excitation induction may be generated in the joint of the robot 200 as the degree of freedom is added to the four-fold link through the actuator 120.
  • a more natural motion may be generated on the leg of the robot 200 by using the generated excitation guidance. For example, additional torque or speed can be applied and a spring/damper effect can be added.
  • the robot joint including a speed reducer capable of continuously variable reduction ratio can perform continuously variable deceleration through length adjustment of the four-fold links, thereby performing high-speed or high-torque robot motion.
  • the speed reducer capable of continuously variable reduction ratio according to the present invention and a joint driving apparatus and method including the same can be used for driving mechanisms and motion control of articulated robots.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un réducteur capable de modifier en continu un rapport de réduction, un appareil de commande d'articulation le comprenant, et un procédé de commande d'articulation, le réducteur comprenant : une liaison à quatre nœuds ; et un actionneur relié à la liaison à quatre nœuds et réglant la longueur de la liaison de manière à modifier un rapport de réduction. Par conséquent, selon la présente invention, en réglant en continu le rapport de réduction en temps réel en modifiant un rapport de la rotation d'une liaison de sortie par rapport à la rotation d'une liaison d'entrée par le réglage de la longueur de la liaison à quatre nœuds, une commande à grande vitesse ou à couple élevé peut être générée.
PCT/KR2020/010887 2019-08-14 2020-08-14 Réducteur capable de modifier en continu le rapport de réduction, appareil de commande d'articulation le comprenant, et procédé de commande d'articulation Ceased WO2021029741A1 (fr)

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KR1020190099637A KR102213377B1 (ko) 2019-08-14 2019-08-14 고속 및 고토크 구동을 위한 로봇 다리 구조
KR10-2019-0099637 2019-08-14

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US11833103B2 (en) 2020-06-12 2023-12-05 Seoul National University R&Db Foundation Hip joint link apparatus
KR102464399B1 (ko) * 2020-06-12 2022-11-09 서울대학교산학협력단 힙 조인트 연결장치
KR102562509B1 (ko) 2021-08-23 2023-08-03 한국기계연구원 병렬형 링크 시스템을 가지는 로봇 구동시스템
CN114609929B (zh) * 2022-03-08 2023-10-31 南京理工大学 一种三铰点多级液压快速起竖恒功率轨迹规划方法

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KR20170047779A (ko) * 2015-10-23 2017-05-08 고려대학교 산학협력단 가변 중력 보상 장치 및 이를 구비하는 외골격 근력 보강 장치

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Publication number Priority date Publication date Assignee Title
JPH07100775A (ja) * 1993-09-30 1995-04-18 Agency Of Ind Science & Technol 歩行ロボットのための腕に転用可能な脚機構
JP2013035112A (ja) * 2011-08-11 2013-02-21 Thk Co Ltd ロボットの関節アクチュエータ及び脚式移動ロボット
KR101243140B1 (ko) * 2012-11-07 2013-03-13 엘아이지넥스원 주식회사 착용로봇
KR20150047076A (ko) * 2013-10-22 2015-05-04 고려대학교 산학협력단 토크 프리 링키지 유니트
KR20170047779A (ko) * 2015-10-23 2017-05-08 고려대학교 산학협력단 가변 중력 보상 장치 및 이를 구비하는 외골격 근력 보강 장치

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