CN108789395B - Series viscoelastic driver based on bionic tendon - Google Patents
Series viscoelastic driver based on bionic tendon Download PDFInfo
- Publication number
- CN108789395B CN108789395B CN201810580937.9A CN201810580937A CN108789395B CN 108789395 B CN108789395 B CN 108789395B CN 201810580937 A CN201810580937 A CN 201810580937A CN 108789395 B CN108789395 B CN 108789395B
- Authority
- CN
- China
- Prior art keywords
- joint
- bionic
- tendon
- viscoelastic
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000002435 tendon Anatomy 0.000 title claims abstract description 50
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 39
- 239000002861 polymer material Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000004044 response Effects 0.000 abstract description 9
- 230000002457 bidirectional effect Effects 0.000 abstract description 2
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 8
- 210000003205 muscle Anatomy 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241001465754 Metazoa Species 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 241000219198 Brassica Species 0.000 description 1
- 235000003351 Brassica cretica Nutrition 0.000 description 1
- 235000003343 Brassica rupestris Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- QKSKPIVNLNLAAV-UHFFFAOYSA-N bis(2-chloroethyl) sulfide Chemical compound ClCCSCCCl QKSKPIVNLNLAAV-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000010460 mustard Nutrition 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 210000001087 myotubule Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
Images
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
本发明公开了一种基于仿生肌腱的串联粘弹性驱动器，涉及机械工程技术领域，包含驱动舵机、仿生肌腱、转动关节和底座。所述驱动舵机与所述转动关节固定安装在所述底座上，所述驱动舵机通过所述仿生肌腱与所述转动关节连接。本发明提供了一种结构紧凑、操作简便，输出稳定，成本低廉的驱动器，实现了紧凑形式下的柔性旋转运动，在保证精度的情况下，实现了类似生物运动系统的双向柔性响应，能作为仿生机器人、工业机械手等的驱动装置。
The invention discloses a series viscoelastic driver based on bionic tendon, which relates to the technical field of mechanical engineering and comprises a driving steering gear, a bionic tendon, a rotating joint and a base. The driving steering gear and the rotating joint are fixedly installed on the base, and the driving steering gear is connected with the rotating joint through the bionic tendon. The invention provides a driver with compact structure, simple operation, stable output and low cost, which realizes the flexible rotary motion in the compact form, and realizes the bidirectional flexible response similar to the biological motion system under the condition of ensuring the accuracy. Drives for bionic robots, industrial manipulators, etc.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a series viscoelastic driver based on bionic tendons.
Background
Generally, for a robot, it is required to have extremely high position control accuracy, which requires the robot to have high rigidity to obtain a sufficiently wide control bandwidth and reduce errors in position. This leads to such robots, being less than satisfactory in terms of force control: a small difference in position results in a large change in output force. On the other hand, through the cognition on the living beings, people find that the living beings have low precision on position control, and the precise position of the limb is difficult to control without the help of vision and touch. Instead, the organism shows a very strong adaptability in force control. The essential difference between the two results from the driving principle: most robots are driven by a motor, and transmission elements such as gears, connecting rods and the like are rigid structures; animals are mostly muscle-driven and are flexible biological tissues. In the process of realizing foot type movement, people gradually realize the importance of flexibility, and on the basis of understanding the principle of biological movement, a flexible and controllable bionic driver is designed and manufactured in a bionic mode, and the bionic driver plays an increasingly important role in realizing the movement of animals by a robot.
In the motor system of animals, skeletal muscle is the driver, which is composed of two parts, muscle belly and tendon, wherein the muscle belly is composed of muscle fiber and has contractility, while the tendon is a dense mustard pedicle tissue and only plays a role in traction connection without active contractility. The mechanical response of the muscle can be divided into two parts, one is an active response of the self-contraction generated by the nerve impulse to the external output force, and the other is a passive elastic response in a resting state. It has been found that biological muscles exhibit superelasticity in the quasi-static state and a non-linear viscoelastic effect during dynamic conditions.
Many developments have been made on conventional motors in order to achieve a dynamic muscle-like response.
In 1995, "Series Elastic Actuators [ C ]// International Conference on Intelligent Robots and systems, ieee Computer Society, 1995", proffered by Pratt professor to Williamson, to provide flexible control and force output by connecting Elastic units in Series between the motor and the load to form a Series Elastic Actuators (SEA), isolating the motor from the impact load, and filtering the effects of backlash, torque ripple, and friction through the Elastic units. Such actuators have a low impedance, precise force output, but relatively narrow control bandwidth, relatively more complex mechanical structure and electronic control.
"Series Elastic Actuators (SEAs) for Small-scale Robotic applications, journal of mechanics & Robotic, 2017" by Priyanshu Agarwal and Ashish D.Deshpand utilizes guy cable transmission and passes through wire spring and torsion spring respectively, thereby realizing SEA for separating a Small-scale driver from a joint and being successfully applied to the exoskeleton of a human hand.
A modular visco-elastic joint for an assisted pneumatic robot [ J ].2012 ", Dino Accoto et al, has an adjustable damping element utilizing liquid viscosity connected in parallel to an elastic unit, thereby realizing small-sized series viscoelastic drive and effectively inhibiting the vibration of the SEA.
"Design and biological Analysis of Supernuclear magnetic Limbs [ C ]// ASME 2012," Dynamic Systems and Control Conference Joint with the Jsme 2012, "by Clark Davenport et al, achieves both elasticity and damping by cascading column polyurethane between the motor and the load, and successfully achieves good human-computer interaction effects on exoskeleton robots, and is referred to as Series visco-elastic Actuators (SVA).
The above-described actuator either lacks a damping response or is large in volume and mass, making it difficult to achieve a compact application.
The present invention therefore seeks to provide a drive arrangement which is compact and which achieves a bi-directional flexible response similar to a biological motion system, whilst ensuring accuracy.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a compact drive device that achieves a bi-directional flexible response similar to a biological motion system while ensuring accuracy.
In order to achieve the purpose, the invention provides a series viscoelastic driver based on a bionic tendon, which comprises a driving steering engine, the bionic tendon, a rotary joint and a base. The driving steering engine and the rotating joint are fixedly installed on the base, and the driving steering engine is connected with the rotating joint through the bionic tendon.
Further, the drive steering engine still includes the steering engine mounting, the drive steering engine passes through the steering engine mounting is installed on the base.
Furthermore, the steering engine fixing part is fixedly connected with the base through bolts.
Further, the bionic tendon is a viscoelastic polymer material.
Further, the number of the bionic tendons is 2.
Furthermore, the rotary joint further comprises a joint fixing piece and a joint rotating piece, the rotary joint is fixedly installed on the base through the joint fixing piece, and the joint rotating piece is installed on the joint fixing piece.
Further, the joint rotating piece and the joint fixing piece are arranged to be rotatable relative to each other.
Further, the rotary joint further comprises an electromagnetic rotary encoder, an encoder support and a magnet support, wherein the electromagnetic rotary encoder and the encoder support are installed on the joint fixing piece, and the magnet support is installed on the joint rotating piece.
Further, the electromagnetic rotary encoder further includes a magnet disposed in the magnet holder.
Further, the magnet support is fixedly installed on the joint rotating member through a bolt.
The series viscoelastic driver based on the bionic tendon provided by the invention realizes flexible rotary motion in a compact form, realizes bidirectional flexible response similar to a biological motion system under the condition of ensuring precision, and can be used as a driving device of a bionic robot, an industrial manipulator and the like.
The conception, specific composition and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the objects, features and effects of the present invention.
Drawings
FIG. 1 is a three-dimensional view of a preferred embodiment of the present invention;
FIG. 2 is a three-dimensional exploded view of a preferred embodiment of the present invention;
FIG. 3 is a schematic transmission diagram of a preferred embodiment of the present invention.
Description of the reference numerals
1-servo steering engine, 101-steering engine fixing piece, 102-first tendon fixing piece, 103-second tendon fixing piece, 2-bionic tendon, 3-rotary joint, 301-joint fixing piece, 302-joint rotating piece, 303-electromagnetic rotary encoder, 304-encoder support, 305-magnet support and 4-base.
Detailed Description
The following examples are provided to further illustrate the present invention, and the examples are implemented on the premise of the technical solution of the present invention, and the embodiments and the operation procedures are given, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1, in a preferred embodiment of the present invention, a series viscoelastic actuator based on a bionic tendon is provided, which includes a driving steering engine 1, a bionic tendon 2, a rotary joint 3 and a base 4. The driving steering engine 1 and the rotating joint 3 are fixedly installed on the base 4, and the driving steering engine 1 is connected with the rotating joint 3 in series through the bionic tendon 2. The base 4 is a columnar member with a rectangular cross section, grooves are formed in four sides of the columnar member, and the distances between the grooves formed in the columnar member are equal.
As shown in fig. 2, the driving steering engine 1 is fixedly mounted on the base 4 through a steering engine fixing member 101. Steering wheel mounting 101 adopts bolt mode and base 4 fixed connection. The driving steering engine 1 is a servo steering engine. The first tendon fixing part 102 is a pair of sheet members with grooves at two ends, and the pair of sheet members are fixed on two sides of the driving steering engine 1 through bearings and bolts respectively. The number of the bolts can be set randomly according to needs, and preferably, the number of the bolts is 4.
The revolute joint 3 comprises a non-revolute part, a revolute part and a rotary coding device. The non-rotating part is used as a fixed supporting base of the rotating joint 3, is fixed on the base 4 and keeps a fixed distance with the driving steering engine 1. The fixed distance can be adjusted as desired, and preferably, the fixed distance is set to be the length of the human tendon, for example, 15 cm. In the present embodiment, a structural form of the rotational joint 3 is provided, and as shown in fig. 2, the non-rotational part is a U-shaped joint fixing member 301. The rotating part is used as a movable supporting base of the rotating joint 3 and is connected with the non-rotating part, and the rotating part and the non-rotating part can freely rotate relative to each other. In this embodiment, a form of turning part structure is provided, such as a U-shaped joint rotating member 302 shown in fig. 2. The joint rotating member 302 is connected to the joint fixing member 301 through a bearing and a bolt, and the joint rotating member and the joint fixing member can freely rotate relative to each other.
The rotary encoder device includes an electromagnetic rotary encoder 303, an encoder support 304, and a magnet support 305. The magnet holder 305 is a cylindrical structure, which is fixed to the joint rotary 302 by a bolt, and the magnet holder 305 embeds the magnet of the electromagnetic rotary encoder 303. The encoder mount 304 fixes the electromagnetic rotary encoder 303 on the other side of the joint fixture 301. When the rotary joint 3 rotates, the magnet embedded in the magnet holder 305 and the electromagnetic rotary encoder 303 rotate relative to each other. The second tendon fixing members 103 are disposed on two outermost sides of the rotary joint 3, the second tendon fixing members 103 are a pair of sheet structures with grooves at two ends, and preferably, the second tendon fixing members 103 are the same as the first tendon fixing members 102. The pair of plate-like structures of the second tendon fixing member 103 is fixed to the joint rotating member 302 by a bearing and a bolt. The grooves of the first tendon fixing part 102 and the second tendon fixing part 103 are arranged in a back-to-back direction, and the relative heights between the grooves can be arbitrarily set, and preferably, the relative heights of the grooves are the same.
The bionic tendon 2 is composed of a pair of viscoelastic elements made of viscoelastic polymer materials, and has a flexible adaptation effect in a dynamic deformation process. A viscoelastic element of the bionic tendon 2 is arranged in the upper end grooves of the first tendon fixing part 102 and the second tendon fixing part 103, and the other elastic element is arranged in the lower end grooves of the first tendon fixing part 102 and the second tendon fixing part 103, so that the driving steering engine 1 and the rotating joint 3 are combined in series. The flexible torque transmission is realized between the rotary joint 3 and the driving steering engine 1 through the bionic tendon 2, and then the control effect of the motion and the strength of the bionic flexible joint is realized. The bionic tendon 2 is used in pairs, and produces similar muscle antagonism effect in the process of transmitting torque. The bionic tendon 2 forms pretightening force through pretensioning, and avoids force and movement mutation caused by relaxation generated in movement.
As shown in fig. 3, when the rotation angles of the driving steering engine 1 and the rotating joint 3 are inconsistent, the lengths of the bionic tendons 2 are inconsistent, and a rotating torque is generated, and by using the mechanism, the driver can stably output the torque.
By using the rotary encoder in the rotary joint 3, the absolute angle of the rotary joint 3 can be controlled, and the driver can stably output the rotation angle.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580937.9A CN108789395B (en) | 2018-06-07 | 2018-06-07 | Series viscoelastic driver based on bionic tendon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580937.9A CN108789395B (en) | 2018-06-07 | 2018-06-07 | Series viscoelastic driver based on bionic tendon |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789395A CN108789395A (en) | 2018-11-13 |
| CN108789395B true CN108789395B (en) | 2021-03-30 |
Family
ID=64087642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810580937.9A Active CN108789395B (en) | 2018-06-07 | 2018-06-07 | Series viscoelastic driver based on bionic tendon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789395B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196785A (en) * | 2008-08-28 | 2011-09-21 | 雷神公司 | A biomimetic mechanical joint |
| CN102481194A (en) * | 2009-01-30 | 2012-05-30 | 麻省理工学院 | Powered artificial knee with agonist-antagonist actuation |
| JP2012125847A (en) * | 2010-12-13 | 2012-07-05 | Canon Inc | Joint driving device |
| US9194403B2 (en) * | 2014-02-23 | 2015-11-24 | Dylan Pierre Neyme | Modular hinged joint for use with agonist-antagonist tensile inputs |
| CN106426149A (en) * | 2016-11-05 | 2017-02-22 | 上海大学 | 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator |
| CN106514646A (en) * | 2016-11-10 | 2017-03-22 | 深圳市迈步机器人科技有限公司 | Serial connection elastic drive and robot joint |
| CN107443381A (en) * | 2017-09-05 | 2017-12-08 | 中科新松有限公司 | A kind of torque of elastic driving joint seeks zero method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6153372B2 (en) * | 2013-04-19 | 2017-06-28 | キヤノン株式会社 | Robot apparatus, robot control method, program, and recording medium |
-
2018
- 2018-06-07 CN CN201810580937.9A patent/CN108789395B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102196785A (en) * | 2008-08-28 | 2011-09-21 | 雷神公司 | A biomimetic mechanical joint |
| CN102481194A (en) * | 2009-01-30 | 2012-05-30 | 麻省理工学院 | Powered artificial knee with agonist-antagonist actuation |
| JP2012125847A (en) * | 2010-12-13 | 2012-07-05 | Canon Inc | Joint driving device |
| US9194403B2 (en) * | 2014-02-23 | 2015-11-24 | Dylan Pierre Neyme | Modular hinged joint for use with agonist-antagonist tensile inputs |
| CN106426149A (en) * | 2016-11-05 | 2017-02-22 | 上海大学 | 2-DOF flexible mechanical arm based on antagonism type variable stiffness actuator |
| CN106514646A (en) * | 2016-11-10 | 2017-03-22 | 深圳市迈步机器人科技有限公司 | Serial connection elastic drive and robot joint |
| CN107443381A (en) * | 2017-09-05 | 2017-12-08 | 中科新松有限公司 | A kind of torque of elastic driving joint seeks zero method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108789395A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Schiele et al. | Bowden cable actuator for force-feedback exoskeletons | |
| CN105082172A (en) | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators | |
| Fumagalli et al. | The mVSA-UT: A miniaturized differential mechanism for a continuous rotational variable stiffness actuator | |
| CN108890689B (en) | Variable-rigidity joint of flexible robot | |
| EP2209595B1 (en) | Device for movement between an input member and an output member | |
| US8251863B2 (en) | Continuously variable transmission with multiple outputs | |
| CN109476023B (en) | Variable stiffness tandem spring actuator | |
| CN104578901B (en) | A kind of walking piezoelectricity rotation motor | |
| Akagi et al. | Development of a rodless type flexible pneumatic cylinder and its application | |
| CN102152319A (en) | Elastically-driven rotational joint | |
| CN108169872A (en) | A kind of high-precision based on flexible hinge, high stable reflector adjusting apparatus | |
| CN107972014A (en) | A kind of bionic arm of Pneumatic artificial muscle driving | |
| JP5493110B2 (en) | Upper limb movement assist device | |
| CN108789395B (en) | Series viscoelastic driver based on bionic tendon | |
| Inoue et al. | Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts | |
| CN1669744A (en) | Six-freedom-degree precision positioning workbench | |
| KR20150078303A (en) | Series elastic actuator device | |
| CN101045302A (en) | Multi-freedon arm of human imitating robot | |
| CN108608458A (en) | A kind of submissive joint of mechanical arm of tandem drive | |
| JP2007307686A (en) | Robot arm and robot | |
| Casas et al. | Comparison of two series elastic actuator designs incorporated into a shoulder exoskeleton | |
| CN202097742U (en) | Elastic driving revolute joint | |
| Inoue et al. | Antagonistically twisted round belt actuator system for robotic joints | |
| CN113635291A (en) | A three-degree-of-freedom hybrid anthropomorphic wrist device | |
| CN111759679B (en) | Multi-degree-of-freedom robot for knee joint rehabilitation training |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |