Humanoid-neck parallel robot and control method thereof

A robot and parallel technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as the difficulty of motion control, and achieve the effect of reducing the difficulty of entry, simple structure, and flexible operation

Active Publication Date: 2014-07-02
SOUTHEAST UNIV
View PDF5 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since only three ropes are used and a new mathematical model is involved, it is difficult to realize the motion control of a given posture of the humanoid head and neck.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Humanoid-neck parallel robot and control method thereof
  • Humanoid-neck parallel robot and control method thereof
  • Humanoid-neck parallel robot and control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] The patent of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0025] In the present invention, the rope-driven flexible humanoid head-neck parallel robot, its base and moving platform are connected by 3 ropes and 1 compression spring. The compression spring is used to simulate the human cervical spine as the supporting spine of the parallel robot, and the human neck is simulated by the rope. The internal muscles drive and control the robot. The external force acting on the moving platform is equivalent to the vector force and moment at the center of the moving platform. Based on the force and moment balance conditions, combined with the lateral bending equation of the compression spring, the inverse kinematics of the robot is solved Model. In order to minimize the driving force of the rope, the minimum average value and the minimum maximum value of the rope pulling force are the optimization...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a humanoid-neck parallel robot and a control method thereof. The humanoid-neck parallel robot comprises a moving platform, a fixed platform, soft ropes, a compression spring, a base, a switching power supply, step motor drivers, a single-chip microcomputer, a liquid crystal display module, an upper computer, step motors, columns, a tilt sensor, and pulleys; the step motors and the columns are fixed on the base; the tilt sensor is fixed on the moving platform; the pulleys are fixed on step motor shafts. The base is connected with the fixed platform through the columns. The fixed platform is connected with the moving platform through the compression spring. The step motors are connected with the moving platform through the soft ropes. The tilt sensor is connected with the single-chip microcomputer; the step motors are connected with the step motor drivers; the step motor drivers are connected with both the switching power supply and the single-chip microcomputer. The single-chip microcomputer is in communication connection with the upper computer. The humanoid-neck parallel robot can perform pitching motion, rolling motion and compound action of the pitching and rolling motions as simulation requires, the attitude of the robot, entered in software, can be achieved, and the humanoid-neck parallel robot is low in cost and convenient to operate.

Description

technical field [0001] The invention relates to a bionic robot, a parallel mechanism and an automatic control technology, in particular to a humanoid neck parallel robot capable of programming and controlling the attitude of the moving platform of the parallel mechanism. Background technique [0002] In recent years, a lot of research has been done on humanoid robots at home and abroad. In these studies, researchers must consider that the robot has a suitable humanoid head and neck. The tandem type refers to the biomimetic movement driven by the embedded motor in series. Each motor is responsible for one degree of freedom. The structure is simple and easy to control, so it is the most common; the ball pair type is supported by a ball pair to achieve bionics. Abroad, Japan is in a leading position in the field of humanoid robots, European and American countries also have considerable research results, and many domestic universities and research institutes have also conducted...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/18
Inventor 高丙团郭少雄李伟
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap