33 results about "Passive joint" patented technology

The invention discloses a foot-ground contact force estimation and terrain classification method of an ostrich-imitating robot. The method comprises the steps that a foot-ground contact force mapping matrix of the ostrich-imitating robot is constructed, force-position hybrid control is carried out, foot-ground contact force is obtained according to the matrix and input torque of a plate spring to a passive joint, and terrain classification information is obtained after the ground contact state is judged; establishing a terrain classification fusion model based on a weighted voting mechanism, and training the model according to terrain classification information; and performing terrain classification according to the terrain classification information and the trained model. The foot-ground contact force is estimated through the joint corner information of the robot, no extra sensor needs to be installed, real-time and accurate foot-ground contact force estimation and contact state obtaining are achieved, the problem that the performance of an ostrich-imitating robot system is reduced or fails due to the fact that a force sensor is prone to being damaged is effectively solved, system configuration is simplified, and the system reliability is improved. Foot-ground contact force estimation and accurate terrain classification of the ostrich-imitating robot can be completed without depending on an external sensor.

The invention relates to the field of robots, in particular to a robot, a walking control method and device thereof and a program product. The method comprises the steps that the stability of the robot in different states is collected, and balance evaluation index items of the robot are determined according to the stability of the robot in different states; determining a target function of the robot according to the balance evaluation index in combination with a predetermined robot metabolism energy consumption rate item, a muscle activation level item, a joint acceleration item, a passive joint torque item and an arm driving excitation item; performing optimization simulation on the target function to determine an angle change curve of each joint of the simulation robot; and controlling the robot to walk according to the angle change curve. The objective function comprises the balance evaluation index item and the walking smoothness index item, so that the walking stability and smoothness of the robot can be effectively improved in the optimized walking control process, and the performance of the robot in practical application is improved.

The invention provides a bionic robotic fish system for realizing active and passive mode switching and a control method, and belongs to the technical field of underwater bionic robots. The robot comprises a shell, a control module, a power module, a pectoral fin module, an active driving joint module, a mode switching joint module, a tail fin and a tail handle structure, and the mode switching joint module can achieve switching between an active driving joint mode and a flexible passive joint mode; modal selection is achieved through a motion modal selection algorithm, motion control of the bionic robotic fish system is achieved through a bionic control optimization algorithm, the active driving joint module and the modal switching joint module are controlled through the modal generator, and the optimal modal and the stable navigation posture of the bionic robotic fish system are obtained. The problems that in the prior art, a bionic robotic fish system is single in structural mode, a variable stiffness mechanism is complex, and the motion mode switching function is insufficient are solved, and the motion performance and the adaptive capacity of the bionic robotic fish system in complex water area operation are improved.

An underwater vehicle for performing subsea operations is disclosed. The underwater vehicle (100) comprises a hull (101) comprising a nose end (102) and a tail end (103); a propulsion mechanism (105) configured to propel the underwater vehicle (100); a passive joint module (104) connecting the propulsion mechanism (105) to the hull (101) at one of the tail end (103) or the nose end (102) of the hull (101); and a controller (110) in communication with the propulsion mechanism (105). The propulsion mechanism (105) comprises a pair of propulsion devices (150) configured to generate thrust to propel the underwater vehicle (100) through water, the thrust of each propulsion device (150) being independently controllable. The controller (110) is configured to control an angle at which the passive joint module (104) connects the propulsion mechanism (105) to the hull (101) through independent control of the thrust of each of the propulsion devices (150).

The present application relates to a kind of plane five-pole closed-chain rehabilitation robot elimination modeling and force mapping control method, belong to rehabilitation robot control technical field.The method is aimed at the coupling of active joint and passive joint in plane five-pole closed-chain mechanism, control implementation difficulty under active joint coordinates and the problem that driving torque is difficult to accurately map as end force, establishes closed-chain position constraint equation, obtains velocity constraint relationship by derivation to constraint equation, under the nonsingular condition of passive joint constraint jacobian matrix, passive joint variable is explicitly eliminated, constraint consistent jacobian matrix is constructed, reduced dynamics equation under active joint coordinates is established, end force estimate is solved, and motor driving torque instruction is generated according to the end force estimate.The method is suitable for end impedance control, trajectory tracking control and rehabilitation training boost control of plane five-pole closed-chain rehabilitation robot.

The application discloses a hand exoskeleton for capturing finger movement and a finger configuration reconstruction method, and can realize full-space precise movement capturing of human fingers and reconstruction of finger configurations. The hand exoskeleton is composed of a plurality of serial kinematic chains and a common base, each serial kinematic chain comprises one active joint and five passive joints, and a magnetic rotation angle sensor is arranged on the joint to realize movement capturing of the end of the serial kinematic chain. The serial kinematic chain forms a parallel structure with a human finger to realize six-degree-of-freedom precise movement capturing of the end of the human finger. Captured human finger tip movement is reconstructed through a circular arc fitting algorithm, and the finger movement configuration can be displayed in real time in a three-dimensional visual simulation environment. According to different requirements, the number of serial kinematic chains on the base can be increased or reduced, and hand movement can be reproduced in real time in a three-dimensional simulation environment, and experience is improved.

An underwater vehicle for performing subsea operations 100 comprises a hull 101 comprising a nose end 102 and a tail end 103; a propulsion mechanism 105 configured to propel the underwater vehicle; a

The invention provides an active and passive combined tracking method based on volume Kalman filtering, and relates to the technical field of underwater target tracking. The specific implementation mode is as follows: constructing a target state model for a tracking target based on a target state vector; constructing respective observation models of the active sonar and the passive sonar based on the target state model; respectively processing the sound wave data received by the active sonar and the passive sonar through volume Kalman filtering to obtain respective estimation data of the active sonar and the passive sonar; and fusing the respective estimation data of the active sonar and the passive sonar by using an information fusion strategy designed based on a variance fusion rule to obtain a fusion target state vector estimation result, thereby obtaining a target fusion track. According to the technical scheme, the distributed fusion strategy is adopted, the disadvantages of a single sonar detection method in the aspects of observation dimension, sampling frequency and sound wave data transmission loss are optimized, and therefore the precision of target state estimation is improved.

The invention relates to a universal swing-up stabilization control method for a vertical multi-link mechanical arm with a single passive joint, which belongs to the technical field of robot control and comprises the following steps: S1, establishing a mechanical arm dynamic model with a single passive joint configuration by adopting a Lagrangian method; s2, designing a system track based on initial and target states of the system; s3, designing a switching condition through a track error threshold value and a parameter coupling relation; s4, performing off-line optimization on the trajectory parameters by adopting an ant colony optimization algorithm; s5, designing a sliding mode tracking controller for avoiding singular values; and S6, designing a stabilizer.

An exoskeleton includes a frame; and an actuation system. The actuation system includes a transmission device; a passive joint mechanism connecting the frame to the transmission device, the passive joint mechanism having a four-bar linkage; and a drive system couples the passive joint mechanism to the transmission device, and is arranged to drive the transmission device.

This invention relates to a method for elimination modeling and force mapping control of a planar five-bar closed-chain rehabilitation robot, belonging to the field of rehabilitation robot control technology. This method addresses the problems of coupling between active and passive joints in planar five-bar closed-chain mechanisms, difficulties in achieving control in active joint coordinates, and the difficulty in accurately mapping driving torque to end-effector force. It establishes closed-chain position constraint equations, obtains velocity constraint relationships by differentiating the constraint equations, explicitly eliminates passive joint variables under the condition that the passive joint constraint Jacobian matrix is ​​non-singular, constructs a constraint-consistent Jacobian matrix, establishes reduced dynamic equations in active joint coordinates, obtains the estimated end-effector force, and generates motor drive torque commands based on the estimated end-effector force. This method is applicable to end-effector impedance control, trajectory tracking control, and rehabilitation training assistance control of planar five-bar closed-chain rehabilitation robots.

The invention discloses a water surface omni-directional swimming robot. The water surface omni-directional swimming robot comprises a robot body and two swimming feet connected to the robot body. Wherein one of the two swimming feet is controlled to swing, and the other one of the two swimming feet is controlled not to swing, so that the water surface omnidirectional swimming robot moves in the plane where the robot body is located and moves in the direction of the other one of the two swimming feet; the two swimming feet are controlled to swing synchronously, so that the water surface omni-directional swimming robot moves along the normal square of the plane where the robot body is located. The invention further discloses a motion control method of the water surface omni-directional swimming robot. The invention further discloses a swimming robot with the swimming foot and a control method of the swimming robot. The water surface omni-directional swimming robot can move omni-directionally only by using the two multi-passive-joint propellers, and the number of the propellers is reduced.

The application discloses a hybrid five-degree-of-freedom micro-assembly robot, which comprises a robot base, a five-degree-of-freedom hybrid mechanism and an MCU main control core. The five-degree-of-freedom hybrid mechanism comprises a three-degree-of-freedom motion series mechanism arranged on the robot base and a parallel mechanism arranged on the three-degree-of-freedom motion series mechanism. The three-degree-of-freedom motion series mechanism comprises an X-axis screw slide table, a Z-axis screw slide table and a Y-axis rotary table which are used for moving along the X-axis and Z-axis directions and rotating around the Y-axis, respectively. The parallel mechanism comprises two active translation joints and two passive joints arranged between the two active translation joints, and the passive joints are connected with a robot end effector. The hybrid configuration scheme of the series mechanism and the parallel mechanism is adopted, the advantages of the large stroke of the series mechanism and the compact structure, the strong bearing capacity and the high resolution of the parallel mechanism are utilized, the overall performance of the robot is improved, and the working flexibility, the operation accuracy and the load capacity of the micro-assembly robot are improved.

The invention discloses an attitude tracking control method for a spherical coaxial parallel mechanism, and relates to the technical field of robots. The method comprises the following steps: establishing an active-passive joint angle constraint equation of the parallel mechanism; performing physical simulation and fitting to obtain an approximation function of the passive joint angle relative to the active joint angle, taking the approximation function as an initial value, and performing numerical solution on the constraint equation to obtain an accurate passive joint angle; calculating the attitude of the movable platform through the joint angle and constructing a speed Jacobian matrix; and finally, designing a movable platform angular velocity control law according to the attitude error, obtaining an active joint control velocity through velocity Jacobian matrix mapping, and realizing tracking of an expected attitude.

The application provides a SAC-based dual-arm robot tight coordination carrying motion planning method, comprising the following steps: constructing a kinematics model of a dual-arm robot tight coordination system; dividing active joints and passive joints of the dual-arm robot; constructing a distance vector for describing a distance between an operation object position and a target position; constructing a singularity index for describing whether a mechanical arm configuration singularity occurs in the tight coordination system; constructing state variables and action variables of the dual-arm robot; constructing a motion planning reward function of the dual-arm robot; constructing a deep network structure of SAC; constructing a tight coordination carrying motion training strategy according to the state variables, the action variables, the motion planning reward function of the dual-arm robot and the deep network structure, and obtaining a trained dual-arm robot tight coordination carrying motion planning strategy network. According to the technical scheme provided in the embodiment of the application, the dual-arm robot tight coordination carrying can be realized under the condition that the initial position and the target position of the operation object are uncertain.

The utility model relates to the technical field of artificial limbs, in particular to an artificial hand thumb with a passive joint, which comprises a positioning frame arranged in a protective plate, an artificial hand thumb and a fixed thumb arranged in the positioning frame, a bottom plate arranged on the side surface of the protective plate, a small motor arranged on the surface of the bottom plate, a gear sleeved on the surface of a rotating rod, and a bracket arranged on the surface of the positioning frame, a vertical rod is arranged in the support, and a positioning toothed plate is arranged at one end of the vertical rod. The device has the beneficial effects that when an object needs to be carried by two hands during use, a positioning toothed plate is pulled upwards firstly, then a small motor can be started through a main controller, an artificial hand thumb is matched with a fixed thumb to clamp the object, and then the positioning toothed plate is loosened to limit and lock a gear; therefore, the artificial hand thumb and the fixed thumb can be fixed, and then the artificial hand can be matched with the other healthy hand of a user to carry objects conveniently.

The utility model discloses a passive joint assembly of a robot and the robot with the passive joint assembly, the passive joint assembly of the robot comprises a first to-be-connected piece, a second to-be-connected piece, a safety piece and a spring mounting piece, the second to-be-connected piece and the safety piece can rotate in three directions of the space; a support is fixedly arranged at the first end, facing the second to-be-connected piece, of the first to-be-connected piece and comprises a first spherical crown part and a first round pipe. The second end, facing the first to-be-connected piece, of the second to-be-connected piece is fixedly provided with an opening part, and first hooks are evenly arranged on the inner surface of the second to-be-connected piece in the circumferential direction at intervals. The safety piece is arranged in the second piece to be connected and comprises a second spherical crown part and a second circular pipe; the spring mounting part is fixed on the outer surface of the first circular tube and comprises a circular tube-shaped main body and a second hook, and two ends of the spring are respectively hung on the corresponding first hook and the second hook. The passive joint assembly of the robot can improve the flexibility of the robot, so that the movement of the robot is smoother and more stable.

An underwater vehicle for performing subsea operations is disclosed. The underwater vehicle (100) comprises a hull (101) comprising a nose end (102) and a tail end (103); a propulsion mechanism (105) configured to propel the underwater vehicle (100); a passive joint module (104) connecting the propulsion mechanism (105) to the hull (101) at one of the tail end (103) or the nose end (102) of the hull (101); and a controller (110) in communication with the propulsion mechanism (105). The propulsion mechanism (105) comprises a pair of propulsion devices (150) configured to generate thrust to propel the underwater vehicle (100) through water, the thrust of each propulsion device (150) being independently controllable. The controller (110) is configured to control an angle at which the passive joint module (104) connects the propulsion mechanism (105) to the hull (101) through independent control of the thrust of each of the propulsion devices (150).

The utility model provides a modular passive joint assembly and a robot. The modular passive joint assembly comprises a skeleton simulation piece, a rotary connecting piece and an elastic assembly. The skeleton simulation piece is provided with an accommodating part for accommodating the rotary connecting piece; one side of the accommodating part is communicated with the outside, and the other side of the accommodating part is communicated with a hollow space in the accommodating part; the rotary connecting piece is arranged in the accommodating part, can rotate relative to the accommodating part, and is provided with a first connecting piece for external connection and a second connecting piece positioned in the hollow space; the elastic assembly is located in the hollow space, connected to the second connecting piece and the inner wall of the hollow space and used for resetting on the second connecting piece. When being subjected to external force, the rotating connecting piece can adapt to the external force to deform so as to prevent the external force from being transmitted to other joints to affect the overall stability of the robot, and due to the arrangement of the elastic assembly, after the external force disappears, the rotating connecting piece can reset under the action of the elastic assembly.

The invention relates to a telecentric mechanism and a surgical robot. The telecentric mechanism comprises a first connecting rod and a second connecting rod, the first passive joint is connected with the first connecting rod and the second connecting rod; the first passive joint comprises a first fixing shaft, a second fixing shaft, a first connecting rod and a second connecting rod, the first transmission assembly is arranged on the first connecting rod; the output end of the first transmission assembly is rotatably arranged on the first fixed shaft in a sleeving manner; one end of the second connecting rod is rotatably arranged on the first fixing shaft in a sleeving manner and is detachably and fixedly connected with the output end of the first transmission assembly; the first pre-tightening piece is detachably assembled on the first fixing shaft; the first pre-tightening piece is used for applying pre-tightening force to the first transmission assembly so that the first transmission assembly can be fixed relative to the first fixing shaft in the axial direction of the first fixing shaft. The transmission precision of the telecentric mechanism can be improved.

The invention relates to the technical field of clamps, in particular to an active and passive combined clamp suitable for a hollow concrete guardrail, which comprises a clamp base, a passive clamp and an active clamp, the active clamp comprises a movable hanger, a connecting plate and a linear driver; the passive clamp comprises a fixed arm, a movable arm and two sets of cross arms, the fixed arm is fixedly connected to the clamp base, the movable arm is parallel to the fixed arm, the two sets of cross arms are rotationally arranged at the two ends of the movable arm respectively, each set of cross arms comprises two clamping arms which are rotationally connected, and connecting rods are hinged to the upper ends of the two clamping arms respectively. The upper ends of the two connecting rods are hinged to the fixed arm. The design that the active clamp and the passive clamp are combined is adopted, once the guardrail slides down, the guardrail makes contact with the active clamp firstly, the guardrail is effectively prevented from further sliding down by means of the blocking and supporting effects of the active clamp, and reliable safety protection guarantee is provided for the whole operation process.

The present invention discloses a system for positioning medical devices, which includes a trolley, a first joint, a first rotating assembly, a second joint, a sliding assembly, a third joint and a second rotating assembly, wherein the first joint is arranged on the trolley; the first rotating assembly is hinged with the first joint, and the first rotating assembly rotates in a horizontal direction; the second joint is arranged on the first rotating assembly; a horizontally rotatable support seat is provided on the second joint; the sliding assembly is slidably arranged on the support seat, and the sliding assembly slides in a vertical direction; the third joint is arranged on the sliding assembly; the second rotating assembly is hinged with the third joint, and the second rotating assembly rotates in a vertical direction for carrying and adjusting medical devices; electromagnetic brakes are arranged on the first joint, the second joint and the third joint. The present application positions the medical device in a three-dimensional space by setting a plurality of passive joints, thereby reducing the resistance during operation and improving the convenience of device control.

The invention discloses an endogenous jointed rock sample preparation device and method based on electric pulse directional fracturing, and relates to the technical field of jointed rock sample preparation, the preparation device comprises a jointed rock sample pouring mold, and the jointed rock sample pouring mold can be placed in a directional fracturing container; the top surface of the directional fracturing container is fixedly connected with a directional fracturing rotary clamp; in the preparation method, a passive joint preparation thought of external implantation is abandoned, directional fracture is induced in a rock sample through high-voltage electric pulses, the formation process of natural joint stress driving-internal initiation-dynamic expansion is simulated, homologous symbiosis of the joint and a rock sample body is achieved, the natural simulation degree of the joint is improved from the aspect of mechanism, and the simulation degree of the joint is improved from the aspect of mechanism. Quantitative control over the joint thickness and the joint inclination angle can be achieved by designing a linear pulse source and adjusting energy parameters and electrode positions.

The present application relates to a kind of three degrees of freedom dexterous hand finger compliance control method, comprising the following steps: establishing three degrees of freedom finger structure model;Passive joint constraint model and finger end kinematics model are constructed;In cartesian space, the compliance control model is constructed, and the end desired position offset is generated;Compliance control model is discretized;Lightweight kinematics inverse solution strategy is used, and only two active joints of third phalanx, second phalanx are solved, and the end desired position offset is mapped into the expected angle of active joint;According to the expected angle of active joint, motor control instruction is generated, third phalanx, second phalanx are driven to move, and first phalanx is driven to move by mechanical linkage, and end compliance interaction is realized;Contact force acquisition, compliance calculation, kinematics inverse solution and joint control step are cyclically executed, and real-time closed-loop control is completed.The method realizes the accurate mapping of end force, end position and active joint angle, and has good adaptability, real-time and compliance.

The invention belongs to the technical field of robot motion control, and particularly relates to a universal position control method for a multi-configuration double-passive-joint plane three-connecting-rod mechanical arm. The problem of tail end position control caused by incomplete constraint, state coupling and nonlinear characteristics of one type of underactuated systems of the double-passive-joint mechanical arm is solved, the three-configuration universality is achieved, and the fault-tolerant capability and control efficiency of the system can be remarkably improved; the method is especially suitable for trajectory planning and optimization control of high-under-actuated and strong-coupling mechanical systems in a zero-gravity or microgravity environment, such as spacecraft mechanical arms and deep sea operation robots.

The application provides a multi-link active and passive joint type pipeline detection robot, and relates to the technical field of robots.The robot comprises a first cabin body, a second cabin body, a third cabin body and a fourth cabin body which are sequentially hinged; a driving assembly which is arranged in the third cabin body and connected to an active joint; and a controller which is connected to the driving assembly and configured to acquire motion parameters of the active joint, calculate expected reference force of the active joint based on the motion parameters, determine joint driving force control values based on the expected reference force, and drive the active joint by using the driving assembly based on the joint driving force control values to change the angle between the second cabin body and the third cabin body, so that the pipeline detection robot is attached to the inner wall of a pipeline to be detected, thereby solving the problems of insufficient traction of the pipeline detection robot, difficulty in moving in the pipeline, and difficulty in adapting to different pipeline diameters and corresponding pipelines with vertical T-shaped branch structures.

Embodiments of the present application disclose a kind of detection method, device, electronic equipment and storage medium of passive joint brake.The method comprises: when the brake to be detected is in the brake state to be detected, determine the passive joint to be detected corresponding to the brake to be detected, and the adjacent active joint connected with the passive joint to be detected, control adjacent active joint to move;Determine the working current value of the brake to be detected, and the corresponding movement change value of the passive joint to be detected when adjacent active joint moves;The working state of the brake to be detected in the brake state to be detected is detected based on working current value and movement change value, and first detection result is obtained.The technical scheme of the embodiment of the present application can improve detection efficiency and accuracy, and ensure the safety in detection process.

The present invention discloses a method for estimating the foot-ground contact force and classifying terrain of an ostrich-like robot. The method comprises: constructing a foot-ground contact force mapping matrix of the ostrich-like robot, performing force-position hybrid control, obtaining the foot-ground contact force based on the matrix and the input torque of the leaf spring on the passive joint, and obtaining terrain classification information after determining the ground contact state; establishing a terrain classification fusion model based on a weighted voting mechanism, and training the model based on the terrain classification information; and performing terrain classification based on the terrain classification information and the trained model. The present invention utilizes the robot's joint angle information to estimate the foot-ground contact force without the need for additional sensors, achieving real-time and accurate foot-ground contact force estimation and contact state acquisition, effectively solving the problem of performance degradation or failure of the ostrich-like robot system caused by the fragility of the force sensor, simplifying the system configuration, and being able to complete the foot-ground contact force estimation and accurate terrain classification of the ostrich-like robot without relying on external sensors.

The present application relates to a laparoscopic surgical robot simulation system and a control method thereof. The laparoscopic surgical robot simulation system includes a slave arm message processing system, a state recorder and a slave arm simulation motion system. The slave arm message processing system of the laparoscopic surgical robot simulation system is used to process the motion control command issued by the master arm control system to obtain the active joint serial number, active motion value, passive joint serial number and passive motion value. The state recorder is used to store the active joint serial number, active motion value, passive joint serial number and passive motion value and send them to the slave arm simulation motion system. The slave arm simulation motion system is used to simulate the motion trajectory of the slave arm according to the active joint serial number, active motion value, passive joint serial number and passive motion value. The laparoscopic surgical robot simulation system can be docked with the master arm control system to replace the slave arm structure, saving the cost of the slave arm, and thus saving the debugging cost of the master arm control system.

A multi-joint active and passive training system equipped with an electrical stimulator control system belongs to the field of rehabilitation instruments and comprises a micro-processing control unit, and pins of a main control chip of the micro-processing control unit are respectively connected with a display screen control interface module, a motor driving module, a photoelectric encoder interface, a debugging interface and a power supply module. The device is characterized in that the pin of the microprocessor control unit is also connected with a Bluetooth module I, the Bluetooth module I is wirelessly connected with a Bluetooth module II, the Bluetooth module II is located in an electrical stimulation module, the electrical stimulation module is connected with a pair of electrical stimulation patches through an electrical stimulation patch interface, and the pair of electrical stimulation patches are pasted on the joint part of a patient. Through mutual fusion of active and passive joint rehabilitation training and electrical stimulation treatment, integrated intelligent control can be realized, the rehabilitation training time is shortened, and the rehabilitation training effect of a patient is improved.