CN111941394A - A flexible and dexterous manipulator based on parallel continuum mechanism - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明设计一种柔性灵巧操作手，具体涉及一种基于并联连续体机构的柔性灵巧操作手。该机构可应用于安全人机交互操作以及限定空间中的抓取任务等方面。The invention designs a flexible and dexterous manipulator, in particular to a flexible and dexterous manipulator based on a parallel continuum mechanism. The mechanism can be applied to safe human-computer interaction and grasping tasks in confined spaces.
背景技术Background technique
连续体机器人整体形状连续变化，结构单元多样，并且各个单元组合能够形成多元化的机构形态，由于其具有小型、灵活以及柔性等特点，使得其应用范围十分广泛，从手术机器人的远程操作到工业机器人的灵活抓取。其中并联连续体机构作为其中一个分支，其由边界约束平台以及并联排列的柔性支链组成，由于结构的固有柔性和低质量，基于该机构设计而成的操作手在与人交互时更加的安全，并且在限定空间中提供准确的多自由度运动，增强环境适应性，同时可以利用自身柔性抵抗外界环境的冲击，避免损坏。The overall shape of the continuum robot changes continuously, the structural units are diverse, and the combination of each unit can form a diversified mechanism form. Because of its small size, flexibility and flexibility, its application range is very wide, from the remote operation of surgical robots to industrial Flexible grasping of robots. Among them, the parallel continuum mechanism is one of the branches, which is composed of a boundary constraint platform and flexible branches arranged in parallel. Due to the inherent flexibility and low quality of the structure, the operator designed based on this mechanism is safer when interacting with people. , and provides accurate multi-degree-of-freedom motion in a limited space, enhancing environmental adaptability, and at the same time, it can use its own flexibility to resist the impact of the external environment and avoid damage.
国外对连续体机器人的研究较为成熟，已有的很多产品应用于工业焊接、深腔探测、手术机器人以及航空发动机检测等领域；国内尚处于起步阶段，对连续体机器人较为成熟的研究多用于工业深腔机械臂、肩部康复外骨骼、假肢手以及基于连续体关节的并联机构等方面。近些年对于单段多自由度连续体机器人的研究成为热点，即并联连续体机器人，由于多条支链的相互约束，以及多样的连接形式，使得连续体机器人能够更加灵活的实现各种操作，如将小型化的并联连续体应用于狭小空间的手术操作中，以及将6自由度的并联连续体应用于传递触觉线索等等。基于此，由于并联连续体机器人具有柔顺、多自由度灵活等特点，将其与机械手结合，能够实现操作手柔顺灵活的抓取，使其在人机交互的环境中更加的安全，以及完成在限定空间中的抓取任务。Foreign research on continuum robots is relatively mature, and many existing products are used in industrial welding, deep cavity detection, surgical robots, and aero-engine inspection. Deep cavity robotic arms, shoulder rehabilitation exoskeletons, prosthetic hands, and parallel mechanisms based on continuum joints. In recent years, the research on single-segment multi-degree-of-freedom continuum robots has become a hot topic, that is, parallel continuum robots. Due to the mutual constraints of multiple branches and various connection forms, continuum robots can be more flexibly realized various operations. , such as the application of miniaturized parallel continuum in surgical operations in small spaces, and the application of 6-DOF parallel continuum in transmitting tactile cues, etc. Based on this, since the parallel continuum robot has the characteristics of being compliant and flexible with multiple degrees of freedom, combining it with the manipulator can realize the supple and flexible grasping of the operator, making it safer in the environment of human-computer interaction, and completing the Grab tasks in confined spaces.
发明内容SUMMARY OF THE INVENTION
针对现有单片段连续体机器人仅具有3自由度的特点，本发明提出一种具有4自由度的并联连续体机构，将该机构与末端机械手相结合，设计完成柔性灵巧操作手，该操作手具有柔性灵活的特点，其并联连续体机构具有4个自由度，末端抓手通过张开闭合实现物体的抓取，整体能够实现空间中灵活多变的抓取任务。Aiming at the feature that the existing single-segment continuum robot only has 3 degrees of freedom, the present invention proposes a parallel continuum mechanism with 4 degrees of freedom, which is combined with the end manipulator to design a flexible and dexterous manipulator. It has the characteristics of flexibility and flexibility. Its parallel continuum mechanism has 4 degrees of freedom. The end gripper realizes the grasping of objects by opening and closing, and the whole can realize flexible and changeable grasping tasks in space.
本发明提出的一种基于并联连续体机构的柔性灵巧操作手，其包括固定平台、第一柔性驱动支链、第二柔性驱动支链、第三柔性驱动支链、第四柔性驱动支链、绳驱动系统、动平台以及末端双指操作手模块，其特征在于：第一、二、三柔性驱动支链的结构和材料参数相同，并且与动平台和固定平台的连接方式相同，为无轴线力矩约束的连接。第四柔性运动支链为空心的柔性管，与动平台和固定平台分别采用螺旋副和固定副连接。绳驱动系统中，绳子穿过空心的柔性管驱动，通过固定在固定平台上的电机驱动末端双指操作手闭合。末端双指操作手通过操作手基座与动平台固定连接，绳驱动连接件与基座通过滑动副进行连接，回位弹簧实现抓手的张开运动。A flexible and dexterous manipulator based on a parallel continuum mechanism proposed by the present invention includes a fixed platform, a first flexible drive branch, a second flexible drive branch, a third flexible drive branch, a fourth flexible drive branch, The rope drive system, the moving platform and the end two-finger operating hand module are characterized in that: the first, second and third flexible drive branch chains have the same structure and material parameters, and are connected in the same way as the moving platform and the fixed platform, and are axis-free. Moment-constrained connections. The fourth flexible moving branch chain is a hollow flexible tube, and is connected with the moving platform and the fixed platform by a spiral pair and a fixed pair respectively. In the rope drive system, the rope is driven through a hollow flexible tube, and the two-finger operator at the end is driven by a motor fixed on a fixed platform to close. The two-finger operator at the end is fixedly connected to the moving platform through the operator base, the rope-driven connecting piece is connected to the base through a sliding pair, and the return spring realizes the opening movement of the gripper.
所述第一柔性驱动支链包括第一驱动电机模块、第一基座连接件、第一基座约束环、第一弹性驱动杆、第一平台连接件、第一平台约束环，其中第一驱动电机模块与第一基座连接件固定连接，电机模块实现沿丝杆的直线运动；第一弹性驱动杆与第一基座约束环和第一平台约束环同轴固定连接，分别与第一基座连接件和第一平台连接件采用无轴线力矩约束的同轴连接方式，第一平台连接件与动平台固定连接。所属第二、三柔性驱动支链与第一柔性驱动支链相同，三个支链同轴均匀排列，周向间隔120°。The first flexible drive branch chain includes a first drive motor module, a first base connecting piece, a first base constraining ring, a first elastic drive rod, a first platform connecting piece, and a first platform constraining ring, wherein the first The driving motor module is fixedly connected with the first base connecting piece, and the motor module realizes linear movement along the screw rod; the first elastic driving rod is coaxially and fixedly connected with the first base restraint ring and the first platform restraint ring, and is The base connecting piece and the first platform connecting piece adopt a coaxial connection mode without axial moment constraint, and the first platform connecting piece is fixedly connected with the moving platform. The second and third flexible drive branch chains are the same as the first flexible drive branch chain, and the three branch chains are arranged coaxially and uniformly, with a circumferential interval of 120°.
所述第四柔性驱动支链包括第四驱动电机模块、第四基座连接件、第四基座约束环、第四弹性驱动管、第四平台连接件、第四平台约束环、连接轴、联轴器、螺纹丝杠和螺母，其中第四驱动电机模块与第四基座连接件固定链接，电机模块实现沿丝杠的直线运动；第四弹性驱动管与第四基座约束环和第四平台约束环同轴固定链接，分别与第四基座连接件和第四平台连接件采用同轴固定连接，第四平台连接件与连接轴固定连接，连接轴通过联轴器与螺纹丝杠连接，螺纹丝杠与螺母配合实现螺旋运动，螺母与动平台固定连接。该支链处于其余三个支链的轴线处。The fourth flexible drive branch chain includes a fourth drive motor module, a fourth base connecting piece, a fourth base constraining ring, a fourth elastic drive tube, a fourth platform connecting piece, a fourth platform constraining ring, a connecting shaft, A coupling, a threaded lead screw and a nut, wherein the fourth drive motor module is fixedly linked with the fourth base connecting piece, and the motor module realizes linear movement along the lead screw; the fourth elastic drive tube is connected with the fourth base constraining ring and the fourth base The confinement rings of the four platforms are coaxially fixedly connected, and are respectively coaxially fixedly connected with the fourth base connecting piece and the fourth platform connecting piece. Connection, the threaded screw and the nut cooperate to realize the spiral movement, and the nut is fixedly connected with the moving platform. This branch is at the axis of the remaining three branches.
所述绳驱动系统包括绳驱动电机模块、绕线轮、驱动绳和末端连接块，驱动绳与末端连接块和绕线轮固定连接，绳驱动电机模块电机输出轴与绕线轮同轴固定连接，并且驱动绳子实现伸长和缩短。The rope drive system includes a rope drive motor module, a reel, a drive rope and an end connection block, the drive rope is fixedly connected to the end connection block and the reel, and the motor output shaft of the rope drive motor module is coaxially and fixedly connected to the reel , and drive the rope to achieve elongation and shortening.
所述固定平台除了具有约束电机模块的功能，还具有约束各个支链运动的功能，使各个支链相对于固定平台滑动。The fixed platform not only has the function of constraining the motor module, but also has the function of constraining the movement of each branch chain, so that each branch chain slides relative to the fixed platform.
所述末端操作手模块包括指端连接基座、固定约束杆、回位弹簧、机械抓手以及末端连接块，机械抓手与指端连接座和末端连接块连接，末端连接块在驱动作用下，由于固定约束杆、回位弹簧和机械结构的影响下实现机械抓手的张开与闭合。The end operator module includes a finger end connection base, a fixed restraint rod, a return spring, a mechanical gripper and an end connection block. The mechanical gripper is connected with the finger end connection seat and the end connection block, and the end connection block is driven by the action. , the opening and closing of the mechanical gripper is realized under the influence of the fixed restraint rod, the return spring and the mechanical structure.
本发明提出的基于并联连续体机构的柔性灵巧操作手，其特征在于：四个弹性杆构成并联连续体机构，他们即作为结构杆件也作为驱动杆件，能够实现4自由度的灵活运动。通过与绳驱动系统和末端机械手相结合，使得操作手具有柔性的同时实现灵活的抓取任务。The flexible and dexterous manipulator based on the parallel continuum mechanism proposed by the present invention is characterized in that: four elastic rods constitute the parallel continuum mechanism, which serve as both structural rods and driving rods, and can realize flexible motion with 4 degrees of freedom. By combining with the rope drive system and the end manipulator, the manipulator is flexible and realizes flexible grasping tasks.
本发明提出的基于并联连续体机构的柔性灵巧操作手有如下优点：(1)结构对称、简单，易于加工和装配，加工成本低；(2)具有多个自由度，面对复杂多变的抓取任务都能灵活应对；(3)操作性好，由于螺旋副的设计，使得并联连续体机构具有更高的可操作度，并且有效避免机构的奇异位形；(4)具有柔顺性，弹性连杆作为结构部件以及驱动构件，使该机构在执行人机交互的任务中更加安全。上述优点使操作手加工简单，操作容易，能够实现操作手柔性灵活抓取的特点。The flexible and dexterous manipulator based on the parallel continuum mechanism proposed by the present invention has the following advantages: (1) the structure is symmetrical and simple, easy to process and assemble, and the processing cost is low; (2) it has multiple degrees of freedom, and faces complex and changeable The grasping tasks can be handled flexibly; (3) The operability is good, due to the design of the helical pair, the parallel continuum mechanism has a higher degree of operability, and effectively avoids the singular configuration of the mechanism; (4) It has flexibility, The elastic link acts as a structural component as well as a driving member, making the mechanism safer in the task of performing human-computer interaction. The above advantages make the operator simple to process and operate, and can realize the characteristics of the operator's flexible and flexible grasping.
附图说明Description of drawings
图1是本发明的并联连续体操作手的整体结构示意图Fig. 1 is the overall structure schematic diagram of the parallel continuum manipulator of the present invention
图2是本发明的第一柔性驱动支链的爆炸示意图，第二、三柔性驱动支链的结构与此相同Figure 2 is an exploded schematic view of the first flexible drive branch of the present invention, and the structures of the second and third flexible drive branches are the same
图3是本发明的第四柔性驱动支链的爆炸示意图。FIG. 3 is an exploded schematic view of the fourth flexible drive branch chain of the present invention.
图4是本发明的绳驱动系统的爆炸示意图。Figure 4 is an exploded schematic view of the rope drive system of the present invention.
图5是本发明的末端操作手模块的爆炸示意图。FIG. 5 is an exploded schematic view of the terminal operator module of the present invention.
图6是本发明的固定平台示意图。FIG. 6 is a schematic diagram of the fixed platform of the present invention.
图7是本发明的动平台示意图。FIG. 7 is a schematic diagram of a moving platform of the present invention.
图1中：第一柔性驱动支链1，第二柔性驱动支链2，第三柔性驱动支链3，第四柔性驱动支链4，绳驱动系统5，末端操作手模块6，固定平台7，动平台8。In Fig. 1: the first
图2中：第一驱动电机模块1-1，第一基座连接件1-2，第一基座约束环1-4，第一基座紧固螺栓1-5，第一弹性驱动杆1-3，第一平台约束环1-6，第一平台紧固螺栓1-7，第一平台连接件1-8。第二、三柔性驱动支链的结构和组成与此相同。In FIG. 2: the first drive motor module 1-1, the first base connector 1-2, the first base restraint ring 1-4, the first base fastening bolt 1-5, the first elastic drive rod 1 -3, the first platform restraining ring 1-6, the first platform fastening bolt 1-7, the first platform connecting piece 1-8. The structure and composition of the second and third flexible actuating branches are the same.
图3中：第四驱动电机模块4-1，第四基座连接件4-2，第四基座约束环4-4，第四基座紧固螺旋4-5，第四弹性驱动管4-3，第四平台连接件4-6，第四平台固定环4-7，第四平台紧固螺栓4-8，连接轴4-9，联轴器4-10，螺纹丝杠4-11，螺母4-12。In FIG. 3 : the fourth drive motor module 4-1, the fourth base connector 4-2, the fourth base restraint ring 4-4, the fourth base fastening screw 4-5, the fourth elastic drive tube 4 -3, the fourth platform connecting piece 4-6, the fourth platform fixing ring 4-7, the fourth platform fastening bolt 4-8, the connecting shaft 4-9, the coupling 4-10, the threaded screw 4-11 , Nuts 4-12.
图4中：舵机连接件5-1，舵机模块(包括舵机、舵机支架和舵盘)5-2，绕线轮5-3，驱动绳5-4，末端连接块5-5。In Figure 4: steering gear connector 5-1, steering gear module (including steering gear, steering gear bracket and steering wheel) 5-2, reel 5-3, drive rope 5-4, end connecting block 5-5 .
图5中：指端连接基座6-1，固定约束杆6-2，回位弹簧6-3，机械抓手6-4，末端连接块5-5。In Figure 5: finger end connecting base 6-1, fixed restraint rod 6-2, return spring 6-3, mechanical gripper 6-4, end connecting block 5-5.
图6中：驱动电机基座定位孔6-1，弹性杆约束孔6-2。In Fig. 6: the driving motor base positioning hole 6-1, the elastic rod restraining hole 6-2.
图7中：螺栓定位槽7-1，支链平台连接件定位孔7-2，指端连接基座定位孔7-3。In Fig. 7: bolt positioning groove 7-1, branch chain platform connecting piece positioning hole 7-2, finger end connecting base positioning hole 7-3.
具体实施方式Detailed ways
本发明的一种基于并联连续体机构的柔性灵巧操作手结合附图及实施例进一步详细说明。A flexible and dexterous manipulator based on a parallel continuum mechanism of the present invention is further described in detail with reference to the accompanying drawings and embodiments.
如图1所示的一种基于并联连续体机构的柔性灵巧操作手整体结构示意图，其包括第一柔性驱动支链1，第二柔性驱动支链2，第三柔性驱动支链3，第四柔性驱动支链4，绳驱动系统5，末端操作手模块6，固定平台7及动平台8，其中第一柔性驱动支链1、第二柔性驱动支链2和第三柔性驱动支链3组成和结构相同，三个支链同轴均匀排列，周向间隔120°，第四柔性驱动支链4位于该轴线处。As shown in FIG. 1, a schematic diagram of the overall structure of a flexible dexterous manipulator based on a parallel continuum mechanism, which includes a first
如图2所示，第一基座连接件1-2与第一驱动电机模块1-1固定连接，第一弹性驱动杆1-3一端通过第一基座紧固螺栓1-5与第一基座约束环1-4固定连接，第一弹性驱动杆1-3和第一基座约束环1-4与第一基座连接件1-2通过无轴线扭矩的约束连接，同时第一弹性驱动杆1-3另一端通过第一平台紧固螺栓1-7与第一平台约束环1-6固定连接，第一弹性驱动杆1-3和第一平台约束环1-6与第一平台连接件1-8通过无轴线扭矩的约束连接。第二、三柔性驱动支链的组成和连接方式与此相同。As shown in FIG. 2, the first base connector 1-2 is fixedly connected to the first drive motor module 1-1, and one end of the first elastic drive rod 1-3 is connected to the first base through the first base fastening bolt 1-5. The base confinement ring 1-4 is fixedly connected, the first elastic driving rod 1-3 and the first base confinement ring 1-4 are connected with the first base connecting piece 1-2 through the constraint of no axis torque, while the first elastic The other end of the driving rod 1-3 is fixedly connected to the first platform restraint ring 1-6 through the first platform fastening bolt 1-7, and the first elastic driving rod 1-3 and the first platform restraint ring 1-6 are connected to the first platform Links 1-8 are connected by restraint without axial torque. The composition and connection methods of the second and third flexible actuating branches are the same.
如图3所示，第四基座连接件4-2与第四驱动电机模块4-1固定连接，第四弹性驱动管4-3一端通过第四基座紧固螺栓4-8与第四基座约束环4-4固定连接，第四基座紧固螺栓4-8通过第一基座连接件4-2上的定位孔与第四基座约束环4-4固定连接，使得第四弹性驱动管4-3与第一基座连接件4-2固定连接，同时第四弹性驱动管4-3另一端通过第四平台紧固螺栓4-8与第四平台约束环4-7固定连接，第四平台约束环4-7通过第四平台紧固螺栓4-8与第四平台连接件4-6固定连接，使得第四弹性驱动管4-3与第四平台连接件4-6固定连接，连接轴4-9的基座与第四平台连接件4-6固定连接，联轴器4-10同轴连接连接轴4-9一端和螺纹丝杠4-11一端，螺纹丝杠4-11与螺母4-12配合连接，实现螺旋运动。As shown in FIG. 3 , the fourth base connector 4-2 is fixedly connected to the fourth drive motor module 4-1, and one end of the fourth elastic drive tube 4-3 is connected to the fourth base through the fourth base fastening bolt 4-8. The base confinement ring 4-4 is fixedly connected, and the fourth base fastening bolt 4-8 is fixedly connected to the fourth base confinement ring 4-4 through the positioning hole on the first base connecting piece 4-2, so that the fourth base confinement ring 4-4 is fixedly connected. The elastic driving tube 4-3 is fixedly connected to the first base connecting piece 4-2, and the other end of the fourth elastic driving tube 4-3 is fixed to the fourth platform constraining ring 4-7 through the fourth platform fastening bolt 4-8 Connection, the fourth platform restraining ring 4-7 is fixedly connected with the fourth platform connecting piece 4-6 through the fourth platform tightening bolt 4-8, so that the fourth elastic driving tube 4-3 is connected with the fourth platform connecting piece 4-6 Fixed connection, the base of the connecting shaft 4-9 is fixedly connected with the fourth platform connecting piece 4-6, and the coupling 4-10 is coaxially connected to one end of the connecting shaft 4-9 and one end of the threaded screw 4-11. 4-11 is connected with the nut 4-12 to realize the spiral movement.
如图4所示，舵机连接件5-1固定于固定平台上，与舵机模块5-2固定连接，绕线轮5-3与舵盘同轴连接，绳子5-4一端固定于绕线轮5-3上，并且缠绕连接，绳子5-4穿过第四弹性驱动管4-3，其另一端与末端连接块5-5固定连接。As shown in Figure 4, the steering gear connector 5-1 is fixed on the fixed platform, and is fixedly connected to the steering gear module 5-2, the reel 5-3 is coaxially connected to the steering wheel, and one end of the rope 5-4 is fixed to the winding The wire pulley 5-3 is wound and connected, the rope 5-4 is passed through the fourth elastic driving tube 4-3, and the other end of the rope 5-4 is fixedly connected with the end connecting block 5-5.
图5所示，指端连接基座6-1与动平台8固定连接，机械抓手6-4分别与指端连接基座6-1和末端连接块5-5通过转动轴连接，固定约束杆6-2底端约束在指端连接基座6-1上的轴孔中，顶部细轴处于末端连接块5-5的中心轴孔中，使末端连接块5-5沿着轴向移动，回位弹簧6-3一端与指端连接基座6-1接触连接，另一端与末端连接块5-5接触连接，使绳子驱动系统不起作用时，张开抓手。As shown in FIG. 5 , the finger end connecting base 6-1 is fixedly connected with the moving platform 8, and the mechanical gripper 6-4 is respectively connected with the finger end connecting base 6-1 and the end connecting block 5-5 through the rotating shaft, and the fixed restraint The bottom end of the rod 6-2 is constrained in the shaft hole on the finger end connecting base 6-1, and the top thin shaft is in the central shaft hole of the end connecting block 5-5, so that the end connecting block 5-5 moves along the axial direction , one end of the return spring 6-3 is in contact with the finger end connecting base 6-1, and the other end is in contact with the end connecting block 5-5, so that when the rope drive system does not work, open the gripper.
图6所示，驱动电机基座定位孔6-1分别固定第一驱动电机模块1-1、第二驱动电机模块、第三驱动电机模块和第四驱动电机模块4-1，其中第一驱动电机模块1-1、第二驱动电机模块和第三驱动电机模块的定位孔周向均匀分布。弹性杆约束孔6-2分别约束第一弹性驱动杆1-3、第二弹性驱动杆、第三弹性驱动杆和第四弹性驱动管4-3，其中第一弹性驱动杆1-3、第二弹性驱动杆和第三弹性驱动杆的约束孔周向均匀分布，第四弹性驱动管4-3的定位孔位于中心轴线处。As shown in FIG. 6 , the positioning holes 6-1 of the driving motor base are respectively fixed to the first driving motor module 1-1, the second driving motor module, the third driving motor module and the fourth driving motor module 4-1, wherein the first driving motor module The positioning holes of the motor module 1-1, the second driving motor module and the third driving motor module are evenly distributed in the circumferential direction. The elastic rod constraining holes 6-2 constrain the first elastic driving rod 1-3, the second elastic driving rod, the third elastic driving rod and the fourth elastic driving tube 4-3 respectively, wherein the first elastic driving rod 1-3, the third elastic driving rod The constraining holes of the second elastic driving rod and the third elastic driving rod are evenly distributed in the circumferential direction, and the positioning hole of the fourth elastic driving pipe 4-3 is located at the central axis.
图7所示，螺母4-12位于螺母定位槽7-1中，并通过螺栓与动平台8固定连接。第一平台连接件1-8、第二平台连接件和第三平台连接件通过支链平台连接件定位孔7-2与动平台8固定连接。这个三个平台连接件的定位孔周向均匀分布。指端连接基座6-1通过指端连接基座定位孔7-与动平台8固定连接。As shown in FIG. 7 , the nut 4-12 is located in the nut positioning groove 7-1, and is fixedly connected to the movable platform 8 through bolts. The first platform connector 1-8, the second platform connector and the third platform connector are fixedly connected to the movable platform 8 through the positioning hole 7-2 of the branched platform connector. The positioning holes of the three platform connecting pieces are evenly distributed in the circumferential direction. The finger end connection base 6-1 is fixedly connected to the moving platform 8 through the finger end connection base positioning hole 7-.
本发明的一种基于并联连续体机构的柔性灵巧操作手在使用过程中，可使用定位移动平台实现大范围的移动，该操作手能够在小范围内完成准确、柔性和智能的抓取任务。During use, a flexible and dexterous operator based on a parallel continuum mechanism of the present invention can use a positioning moving platform to achieve a wide range of movement, and the operator can complete accurate, flexible and intelligent grasping tasks in a small range.
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