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Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output

A technology of humanoid robot and degree of freedom, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of small working space, reduced driving ability, gap, etc., achieve the increase of overall static stiffness, increase of linear displacement stiffness, and improve output position accuracy Effect

Inactive Publication Date: 2008-11-12
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] This series configuration is relatively easy to realize in control, and has a simple structure, but there are serious defects: the weight of the lower driver becomes the load of the upper driver, thereby reducing the driving capacity; , its motion function is only equivalent to that of human beings in three specific directions (drive axis), while there are obvious decomposition movements in other directions, and its flexibility, accuracy and stability are far behind human beings; multi-rotation pairs are connected in series Joints occupy a large space and have low stiffness; limb functions are incomplete, and are not ideal for reasonably compensating motion, adjusting robot balance, completing attitude changes, and ensuring robot operation stability.
The three-degree-of-freedom rotation is realized, but the working space of the mechanism is small and the structure is too complicated
[0006] The configuration of existing humanoid robots at home and abroad is mainly a single series form, and the limited parallel joints have complex structures, performance, and technical indicators are not ideal, and the bionic level is low in form and function, which is far from the actual requirements of human beings. Large gap, can not fully meet the actual needs

Method used

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  • Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output
  • Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output
  • Three-freedom degree spherical surface parallel connected anthropomorphic robot bionic hip-joint with bias output

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0061] figure 1 It is the first embodiment disclosed in the present invention. It is a three-degree-of-freedom spherical parallel humanoid robot bionic hip joint with a biased output with fixed binaural brackets. It consists of a three-degree-of-freedom spherical parallel mechanism, a central spherical hinge, and a biased output. It is composed of output rod unit. The central spherical hinge is a central spherical hinge with a large working space with a fixed double-ear bracket, and includes a double-ear bracket 9, a lower support rod 8, and a U-shaped shift fork 1 and a double-ear bracket 9 to form a rotating connection pin Shaft (3, 3'), cylindrical straight output rod 21 (including a combination of straight output rod 12'), rotating bracket 2, supporting pin (14, 14') and supporting roller (13, 13'), supporting hemisphere The socket 7, the ball head 6, and the U-shaped shift fork 1. The three-degree-of-freedom spherical parallel mechanism includes a fixed platform 4, a drive ...

Embodiment 2

[0064] figure 2 This is the second embodiment disclosed in the present invention. It is a three-degree-of-freedom spherical parallel humanoid robot bionic with offset output in which the outer end of the straight output rod and the movable platform are connected in a prismatic form, and the two-ear bracket is fixed. The hip joint is composed of a 3-DOF spherical parallel mechanism, a central spherical hinge, and an offset output rod unit. The central spherical hinge is a central spherical hinge with a large working space with a fixed double-ear bracket, and includes a double-ear bracket 9, a lower support rod 8, and a U-shaped shift fork 1 and a double-ear bracket 9 to form a rotating connection pin Shaft (3, 3'), round-prismatic straight output rod 12 (including a combination of straight output rod 12'), rotating bracket 2, support pin (14, 14') and support roller (13, 13'), Supporting hemispherical socket 7, ball head 6, and U-shaped shift fork 1. The three-degree-of-freedom s...

Embodiment 3

[0066] image 3 This is the third embodiment disclosed in the present invention, which is a bionic hip joint of a three-degree-of-freedom spherical parallel humanoid robot with an offset output and a two-ear bracket rotating type. It also consists of a 3-DOF spherical parallel mechanism, a central spherical hinge, and a biased output rod unit. The central spherical hinge is a double-ear bracket rotating type central spherical hinge with a large working space. It includes a double-ear bracket 9, a lower support rod 8, and a U-shaped shift fork 1 and a double-ear bracket 9 to form a rotating connection pin. Shaft (3, 3'), flat-cylindrical straight output rod 20 (including a combination of flat-straight output rod 19'), support pin (14, 14') and support roller (13, 13'), supporting hemisphere The socket 7, the ball head 6, and the U-shaped shift fork 1. The three-degree-of-freedom spherical parallel mechanism includes a fixed platform 4, a drive input shaft (11, 11', 11"), a lower c...

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Abstract

The invention discloses a bionic coxa joint of a three-DOF (Degree of Freedom) spherical surface parallel humanoid robot which has biasing output. The bionic coax joint is characterized in that the sphere center of a three-DOF spherical surface parallel mechanism is coincident to the sphere center of a central spherical surface hinge; the axis line of the lower supporting rod (8) of a central spherical surface hinge pushes through a center of the fixed platform (4) of the three-DOF spherical surface parallel mechanism; furthermore, the external end of lower supporting rod of the central spherical surface hinge is fixedly connected with the fixed platform (10) of the three-DOF spherical surface parallel mechanism; the axis line of the straight output rod (12') of the central spherical surface hinge pushes through the center of the movable platform (17) of the three-DOF spherical surface parallel mechanism; furthermore, the external end of the straight output rod of the central spherical surface parallel mechanism is fixedly connected with the movable platform (14); alternatively, a moving connection pair is formed in a prism way; the straight output rod (12') pushes through the movable platform (17) and is fixedly connected with the biasing output rod (18); a plane formed by the axis line is coincident to the O-zz13 plane; the biasing direction is determined by a right-handed helix in the positive direction of the x-axis; the biasing angle ah of two axis lines is ranging from 50 DEG or 60 DEG; the fixed coordinate system of the three-DOF spherical surface parallel mechanism is O-x0y0z0; the gesture angles of the relative transition coordinate system O-x0'y'z' are respectively presented as follows: Alpha is equal to 18 to 22 DEG, Beta is 12 to 20 DEG and Gama is 42 to 55 DEG. The bionic coxa joint has the advantages of high over-constraint, large static rigidity, large workspace and unloading function, etc.

Description

Technical field [0001] The invention relates to a bionic hip joint of a three-degree-of-freedom spherical parallel humanoid robot with offset output and a central spherical hinge, which belongs to the field of mechanism or humanoid robots. Background technique [0002] At present, people have developed a large number of various humanoid robots all over the world: such as the WABIAN-R series of Waseda University in Japan, the P3 of Honda Engine of Japan, the entertainment robot SDR-4X of Sony of Japan, and the BHR of Beijing Institute of Technology. -I, COG developed by the Artificial Intelligence Laboratory of Massachusetts Institute of Technology, Elvis from Chalmers University in Europe, ARMAR from Karlsruhe University in Germany, University of Western Australia and simple low-cost biped robot Jack, Johnnie from Technical University of Munich, etc. [0003] Examining the existing humanoid robots, it is found that almost all their body configurations are in series. That is, the ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 周玉林高峰
Owner YANSHAN UNIV
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