Motion execution mechanism based on motion amplification principle and robot

A motion amplification and actuator technology, applied in the field of mechanics, can solve the problems of complex structure of multi-degree-of-freedom motion mechanisms, and achieve the effects of easy processing, reducing assembly errors, and reducing processing difficulty and cost.

Pending Publication Date: 2022-01-14

HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS

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AI-Extracted Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a motion actuator and robot based on the principle of motion amplificatio...

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Method used

A plurality of branched chains 1 in parallel shortened the kinematic chain, reduced assembly error, and improved precision; and each branched chain 1 includes bridge-type amplifying mechanisms and lever amplifying mechanisms connected in series, realizing multi-degree-of-freedom While moving, the structure is simplified, and the processing difficulty and cost are reduced.

Wherein, the structural diagram of branch chain 1 is as shown in Figure 3-Fig. 6, and first bar 11, second bar 12, third bar 13 and the 4th bar 14 have constituted a bridge type amplification mechanism, and four bars They are connected by a flexible hinge, and the displacement input by the voice coil motor 2 is transmitted to the sixth rod 16 through the bridge-type amplification mechanism to control the in-plane movement of the operating platform. The amplification factor is proportional to the length of the first rod 11 and the fourth rod 14 related. The fourth rod 14, the fifth rod 15 and the sixth rod 16 constitute a lever amplification mechanism, the fourth rod 14 is rigidly connected to the fifth rod 15, the fourth rod 14 is connected to the sixth rod 16 through a flexible hinge, piezoelectric ceramics 4 The input displacement is transmitted to the end of the sixth rod 16 through the lever amplification mechanism to control the out-of-plane movement of the operating platform, and the amplification factor is related to the position of the piezoelectric ceramic 4 and the length ratio of the sixth rod 16 . The end of the seventh rod 17 is connected to the operating platform through a Hooke hinge 5 with intersecting axes. The Hooke hinge 5 can perform output decoupling, eliminate parasitic motion, and realize precise control.

[0042] As an optional implementation, the motion actuator based on the principle of...

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Abstract

The invention provides a motion execution mechanism based on a motion amplification principle and a robot, relates to the technical field of mechanism science, and solves the technical problem that an existing multi-degree-of-freedom motion mechanism is relatively complex in structure. The motion execution mechanism based on the motion amplification principle comprises a plurality of branched chains which are connected in parallel, a kinematic chain is shortened, assembly errors are reduced, and precision is improved; and each branch chain comprises a bridge type amplification mechanism and a lever amplification mechanism which are connected in series, so that the structure is simplified while multi-degree-of-freedom movement is realized, and the machining difficulty and cost are reduced. After the micro-operation robot adopts the executing mechanism, the structure is also simplified, the machining difficulty and cost are reduced, and the control precision is improved.

Application Domain

Programme-controlled manipulator

Technology Topic

Kinematic chainMotor execution +3

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Examples

Experimental program(3)

Example Embodiment

[0029] Example 1:

[0030] The present invention provides a motion actuator based on motion amplification principles, including a plurality of parallel branches 1, and each branched 1 includes:

[0031] Bridge amplification mechanism for implementing translational movement;

[0032] Leverage enlarged mechanisms are used to achieve rotational motion, and the lever enlargement mechanism is connected in series with the bridge amplification mechanism.

[0033] A plurality of parallel branches 1, shorten the motion chain, reduce the assembly error, improve the accuracy; and each branched 1 includes a series of bridge amplification mechanism and lever amplifying mechanism to achieve a multi-freedom motion Simplified the structure and reduced processing difficulty and cost.

[0034] Specifically, the number of branches 1 is three, and the three branches 1 are associated, and there is a 120 ° angle between each other. The actuator enables two degree of freedom of rotation and three degrees of freedom.

[0035] As an optional embodiment, each branched chain 1 includes a first rod 11, a second rod 12, a third rod 13, a fourth rod 14, a fifth rod 15, and a sixth rod 16, a first rod 11, The second rod 12, the third rod 13, and the fourth rod 14 constitute a bridge amplifying mechanism; the fourth rod 14, the fifth rod 15, and the sixth rod 16 constitute the lever amplifying mechanism, and the fourth pole 14 Secure to the fifth rod 15, the fourth rod 14 and the sixth rod 16 are connected via a flexible hinge. See image 3.

[0036] As an optional embodiment, a piezoelectric ceramic 4 is provided between the fifth rod 15 and the sixth rod 16.

[0037] Other driving methods such as motors can also be used.

[0038] like Figure 4 As shown, the circle is a flexible hinge. like Image 6 As shown, the four flexible hinges below constitute a parallelogram, and the voice coil motor 2 is driven to deform the parallelogram of the dashed line, and the entire branched chain 1 can achieve a straight line displacement. One flexible hinge is rotatably moving around the hinge, and the three branches 1 motion synthesis can make the operation platform to rotate the X-axis and the movement of the Y-axis. A straightforward movement is realized in a plane in the upper 120 ° angle, so that it can be decomposed into linear motion along the X-axis and along the Y-axis. The piezoelectric ceramic 4 above the three branches 1 simultaneously does the same amplitude, then the operation platform can move straight straight downward movement in the Z-axis direction.

[0039] As an optional embodiment, the amplification coefficient k1 = L1 / L4 of the bridge amplification mechanism, wherein L1 is the length of the first rod 11, and L4 is the length of the fourth rod 14. That is, the magnifying coefficient of the bridge amplification mechanism is related to the length of the first rod 11 and the fourth rod 14.

[0040] As an alternative embodiment, the amplifying coefficient K2 of the lever amplification mechanism is proportional to L6 / H, wherein the length of L6 is the sixth rod 16, and H is the flexible hinge point of the fourth rod 14 and the sixth rod 16 to piezoelectric ceramics. 4 axial vertical distance.

[0041] As an optional embodiment, the bridge amplification mechanism drives a drive device. Specifically, the drive is a voice coil motor 2.

[0042] As an alternative embodiment, the motion actuator based on the motion amplification principle also includes a flexible decoupling mechanism, a lever amplifying mechanism, a bridge amplifying mechanism, and a flexible decoupling mechanism. After increasing the flexible decoupling mechanism, the parasitic error is reduced, and the accuracy of motion control is improved.

[0043] As an optional embodiment, the flexible decoupling mechanism includes a tiger key 5 intersecting the axis, see Figure 5.

Example Embodiment

[0044] Example 2:

[0045] like figure 2 As shown, the present invention provides a 2R3T motion actuator based on the motion amplification principle.

[0046]The 2R3T motion actuator includes branches 1, a voice coil motor 2, a voice coil motor fixing bracket 3, a piezoelectric ceramic 4, and an operation platform. Among them, the voice coil motor 2 is fixed to the voice coil motor fixing bracket 3 at an angle of 120 ° interposed with each other; a single branched chain 1 is connected to the voice coil motor 2, constitutes a bridge amplification mechanism, and the surface of the control mechanism Internal movement; above the above piezoelectric ceramic 4, constitute a lever amplifying mechanism, the surface movement of the control mechanism; three branches 1 are connected in parallel with each other, secured to the operation platform through the M2 screw; single branched 1 The bottom is fixed to the bottom of the plow motor fixation bracket 3. According to the kinematic equation, three branches 1 upper sound coil motor 2, the driving force torque of piezoelectric ceramic 4, resulting in the purpose of the operation mechanism. The branched chain 1 is integrated by an electric flow line cut (EDM), a voice coil motor fixing bracket 3, and the operating platform is machined from the CNC, and the material is AL7075.

[0047] Among them, the structure of the branched 1 is like Figure 3 - Figure 6 As shown, the first rod 11, the second rod 12, the third rod 13 and the fourth rod 14 constitute a bridge amplifying mechanism, and the four rods are connected between the four rods, and the displacement input by the voice coil motor 2 is enlarged through the bridge. The mechanism is transmitted to the sixth rod 16, and the internal movement of the operation platform is controlled, the amplification coefficient is related to the length ratio coefficient of the first rod 11 and the fourth rod 14. The fourth rod 14, the fifth rod 15, and the sixth rod 16 constitute a lever amplifying mechanism, the fourth rod 14 and the fifth rod 15 rigidly connected, the fourth rod 14 and the sixth rod 16 are connected by a flexible hinge, piezoelectric ceramics 4 The transferred displacement is passed through the lever amplifying mechanism to the end of the sixth rod, and the upper movement of the operation platform is controlled, and the magnification coefficient is related to the position of the piezoelectric ceramic 4 and the length ratio of the sixth rod 16. The seventh rod 17 is connected to the hinge 5 intersecting the hinge 5 with an axis, and the Tiger Kick 5 can perform an output decoupling, eliminate parasitic movement, and accurately control.

[0048] The present invention achieves three degree-freedom movements and two degree of freedom rotation function, and can achieve precision positioning by decoupled mechanism and redundant structure design guarantee. The present invention adopts the design of the motion acting mechanism. Using the bridge amplification mechanism, two degrees of freedom translational movement are achieved, and the two free degree rotation and a free-degree translational movement are realized by the lever amplifying mechanism; the tiger knit 5 intersecting the axis intersecting the tiger centers 5 is designed with the characteristics of the flexible hinge to achieve decoupling function, reduce Parasitic movement; bridge amplification mechanism, lever amplifying mechanism, Tiger Keki 5 series, form a single branched 1; three branches 1 can realize three free movements and two degrees of freedom. The structure of the motion mechanism is simplified, which reduces the difficulty of processing, and improves the accuracy of the motion control system.

[0049] The hinge mechanism in the present invention can adopt a spring or notched type.

[0050] The driver of the present invention may employ pieces of piezoelectric ceramic 4, or a small amount of modification can be performed on the mechanism, and other driving methods such as a voice coil motor 2 can be employed.

Example Embodiment

[0051] Example 3:

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Description & Claims & Application Information

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Classification and recommendation of technical efficacy words

Reduce assembly errors

Flat line type ion trap mass analyzer based on MEMS (micro electro mechanical system) process and manufacturing method thereof

InactiveCN102163531AReduce assembly errorsReduce ion lossStability-of-path spectrometersDecorative surface effectsRadio frequencyPhysics

Owner:HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI

Motion execution mechanism based on motion amplification principle and robot

A motion amplification and actuator technology, applied in the field of mechanics, can solve the problems of complex structure of multi-degree-of-freedom motion mechanisms, and achieve the effects of easy processing, reducing assembly errors, and reducing processing difficulty and cost.

AI-Extracted Technical Summary

Problems solved by technology

Method used

Abstract

Image

Examples

Example Embodiment

Example Embodiment

Example Embodiment

PUM

Description & Claims & Application Information

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