CN104669290A - Under-actuated spatial manipulator end effector - Google Patents
Under-actuated spatial manipulator end effector Download PDFInfo
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- CN104669290A CN104669290A CN201410438972.9A CN201410438972A CN104669290A CN 104669290 A CN104669290 A CN 104669290A CN 201410438972 A CN201410438972 A CN 201410438972A CN 104669290 A CN104669290 A CN 104669290A
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- space manipulator
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Abstract
Disclosed is an under-actuated spatial manipulator end effector. A single-sleeve screw nut drives a finger drive platform to drive three mechanical fingers synchronously, and the structural synchronization is improved. By means of parallel-connection transmission arrangement, in other words, a drive motor is arranged on the screw on the same side obliquely through spur gear transmission, the axial length of the end effector is decreased greatly, the entire weight is reduced, and the strength and moving flexibility of the manipulator system are improved.
Description
Technical field
The present invention relates to a kind of space manipulator end effector, be specifically related to a kind of space manipulator lower-mobility miniaturization three and refer to drive lacking end effector mechanism.
Background technology
Along with the development of aerospace industry, the enforcement of a series of plan such as service, Space Attack, survey of deep space especially in-orbit, the research of complicated powerful space manipulator and exploration become the new direction of space research.Wherein, end effector is an important component part of space manipulator, and the operation level of end effector is directly connected to the ability that space manipulator performs complex task.
End effector is the device directly performing work, and it all has a great impact operation function, the range of application of expansion space mechanical arm and increasing work efficiency.Capture the object of different characteristic and the requirement of different operating parameter thereof, all have influence on the key element of end effector, be i.e. the size of structure, Grasp Modes, grasp force and drive unit.
Space manipulator end effector current is both at home and abroad broadly divided into three types: multifinger hand type end effector, flexible terminal actuator, functional form end effector.
Above three kinds of end effectors use maximum also the most extensive with the first multifinger hand type end effector.Multifinger hand type end effector generally adopts linkage to transmit power, captures scope less.Flexible terminal actuator can arrest scope greatly, and be generally all difficult to Reusability, compliant mechanism can drag down overall fundamental frequency, and it is large to control difficulty, and Dynamic Modeling is complicated.May sustained oscillation be there is and should not verify on ground under microgravity environment.Functional form end effector is then the end effector according to the design of special mission requirements, and only for single object and goal task, general uses in specific function occasion.
Under drive lacking mode, finger is upper only can fill a driver, and dependence spring and mechanical stop limiter realize mechanism and normally to work required dynamic constraint condition.At present machine configurations design and optimization aspect is mostly concentrated on to the research of drive lacking multifinger hand.Due to the existence of attitude maintaining body, drive lacking multifinger hand volume is large, heavier-weight.But in order to reduce the impact of space manipulator action on satellite body, quality and the volume General Requirements of space manipulator are little.Especially for small-sized space manipulator, a kind of small-sized, light-weighted end effector designs particularly needs.
Summary of the invention
The object of this invention is to provide the space manipulator end effector of a kind of lower-mobility, small-sized, lightweight, drive lacking, can be used for capturing symmetrical structure object, as spheroid etc.
What the present invention proposed is a kind of innovative design scheme of multifinger hand end effector, and is drive lacking executing agency.Underactuated hand is a kind of novel multipurpose paw.The feature of such paw is the number of degrees of freedom, that driving element number is less than finger-joint.Each finger only has a drive source, and the quantity of the driving element (motor) of whole paw is few, reduces the complexity of structure and operation, has and controls conveniently, to capture the advantages such as in extensive range.Powerful envelope can be realized in drive lacking mode to capture, also can pinch with last joint the mode of getting and realize accurate crawl.
Technical characterstic of the present invention is:
(1) adopt underactuated control, can realize the two-freedom motion of each gripper with a motor, structure is simple.Size similar to staff, volume is little, and quality is light.
(2) utilize the Synchronous Transmission of single cover screw nut driven finger actuation platform realization to three mechanical fingers, improve mechanism's synchronism.
(3) arranged by parallel connection transmission, namely drive motors is offset to leading screw by Spur Gear Driving, and arrange with leading screw homonymy, can reduce the axial length of end effector greatly, to reducing, weight, the rigidity improving mechanical arm system and kinematic dexterity are all very beneficial.
(4) closure state utilizing the self-lock ability of lead screw to realize paw keeps, and eliminates complicated attitude maintaining body.
(5) achieve the holding action of paw with spring structure, holding angle can be changed according to the size and shape of object, there is stronger versatility.
Accompanying drawing explanation
To be described the preferred embodiments of the present invention by reference to the accompanying drawings now, wherein:
Accompanying drawing 1 is the structural representation of end effector, in figure:
1. finger mounted plate, 2. brushless servo motor and decelerator, 3. Sliding leadscrew nut assembly, 4. pinion, 5. gear wheel, 6. controller, 7. mechanical finger, the 8. axis of guide, 9. finger actuation plate, 10. upper shell, 11. motor mounting plates, 12. lower houses, 13. adpting flanges
Accompanying drawing 2 is the crawl schematic diagram of mechanical finger;
Accompanying drawing 3 is the layout schematic diagram of three fingers;
Accompanying drawing 4 is finger linkage layout drawing.
Detailed description of the invention
End effector of the present invention mainly comprises with lower component:
The mechanical finger 7 of three two-freedoms, a brushless servo motor and a planetary reducer 3, one group of reduction gearing, a set of lead screw assembly 3, finger mounted plate 1, finger actuation plate 9, a motor mounting plate 11, three axis of guides 8, controller 6 and adpting flange 13, (conceal two fingers) as shown in Figure 1.Adpting flange 13 is end effector stiff end, is connected with the output of the intelligent switch joint of space manipulator.Controller 6 bottom is coaxially connected with adpting flange 13, and top is connected with lower house 12, and lower house top and motor mounting plate 11 are coaxially fixed.Servomotor, lead screw 3 and the upside-down mounting of axis of guide homonymy on motor mounting plate 11, and are connected with a joggle by large and small gear 5,4.Finger mounted plate 1 is connected with motor mounting plate 11 by the axis of guide 8, and finger actuation plate 9 is connected with Sliding leadscrew nut, and is led by the axis of guide 8.Three cover finger linkages are hinged on same finger actuation plate 9 and finger mounted plate 1 by rotating shaft, and three cover fingers are separated by 120 ° and are arranged, as shown in Figure 3.Like this when finger actuation plate moves up and down, namely there is corresponding swing in finger.
In the course of work, servo-driver sends position command signal according to the control instruction of controller to servomotor, the forward and reverse rotation of drive motors, the rotary motion that motor exports drives pinion to rotate by jackscrew after supporting planetary reducer slows down, pinion 4 and gear wheel 5 engaged transmission, gear wheel is directly connected with lead screw by jackscrew, move feed screw nut by lead screw subband to move up and down, feed screw nut is fixedly connected with finger actuation plate 9 by bolt, drive plate 9 is driven to move up and down, thus change the spacing of drive plate and finger mounted plate 1, three are made to point oscillating motion simultaneously, realize opening and closing action of three fingers.
Drive lacking space manipulator end effector of the present invention utilizes the Synchronous Transmission of single cover screw nut driven finger actuation platform realization to three mechanical fingers, improves mechanism's synchronism.Arranged by parallel connection transmission, namely drive motors is offset to leading screw by Spur Gear Driving, and arrange with leading screw homonymy, can reduce the axial length of end effector greatly, to reducing, weight, the rigidity improving mechanical arm system and kinematic dexterity are all very beneficial.
In addition, in order to reduce developing risk, improve reliability, existing ripe aerospace level product is selected in suggestion as far as possible, and such as motor combination selects army's grade brushless servo motor and supporting planetary gear reduction box thereof; Miniature precision lead screw selected by leading screw, because its feed screw nut adopts special PPS resin material, not only reduces volume and weight, also avoid the cold welding problem in vacuum, can in condition of high vacuum degree and wide temperature range steady operation; In order to cramped construction, strengthen power fan-out capability, reduce drive gap, reduce because complex environment changes the probability causing mechanism completely stuck, speed reducing ratio maximum in the range of models that decelerator all selects volume the compactest.
The operation principle of single finger is explained in detail below by Fig. 2.Single finger is by pole, and 1 bar, 2 bars, 3 bars, 4 bars, curved bar and last bar form.Wherein, last bar is a similar leg-of-mutton platy structure, and circular hole and all the other rod hinge connections are opened in leg-of-mutton three angles.If the central point in three holes is respectively F, G, H point.F point and 4 bar upper end thereof, H point and curved bar upper end thereof.Curved bar is with 4 pole lengths for radius, the circular arc rod member done for radius with 4 bar upper end hinge centres F points.Rod member two ends and centre have three holes and other rod hinge connections.If the center, hole of curved bar lower end is D point, with 2 bar upper ends and 4 bar lower ends hinged, central point is E point, with 3 bar upper end thereof.Remaining connecting rod is all respectively open a hole and other rod hinge connections at upper and lower side.Under 2 bars, stomidium center is A point, is connected with finger mounted platform, is fixing point.1 bar left end is also point articulated with A, and other end stomidium under C point and 3 bars is hinged.Pole lower end B point and finger actuation plate hinged, upper end thereof is hinged at C point and 1 bar, 3 bars.
In addition, the spring of large rigidity is selected 1 bar and 2 bars to be coupled together.When object is spheroid, the length determination principle pointing each connecting rod is: when 2 bars are vertical, spring-compressed, and 2 bars, 4 bars and last bar GF limit are tangent with circle.The length of adjustment three, ensures that 2 bars are that three is the longest.In addition, the length of pole suitably will be longer than the length of 1 bar, to increase by 1 bar around the rotatable scope of A point.In rod member, 3 bars are the longest, support curved bar, only have curved bar H point could be rounding state higher than finger during D point.Point layout and the finger actuation plate of each connecting rod, the position view of finger mounted plate and motor mounting plate is shown in Fig. 4.The size design of finger actuation plate, finger mounted plate should ensure that A point and B point are on a vertical curve.The layout of finger connecting rod claims symmetry structure of parallelogram, adds the stability of mechanism.
The detailed process of finger work is: drive motors, by reduction gear, is driven lead screw transmission, then realized the upward-downward translation of finger actuation plate by the guide effect of three guide posts.Move upward for finger actuation plate.Three pole lower end B points move upward together with drive plate, and now spring claims triangle rock-steady structure with 1 bar, 2 bars, and spring extends naturally.Therefore, along with moving up of pole, A point maintains static, and C point rotates counterclockwise around A point, and namely 1 bar, 2 bars rotate counterclockwise around A point.Moving up of C point, makes 3 bars move up.Realize the closing action in finger first joint.And last bar, 4 bars and curved bar define stable triangular structure, the relative position of their threes is fixed, and can be used as an entirety.When 2 bars touch object, three 2 bars distributed in being separated by 120 ° are vertical, and clamp object, now three 2 bars maintain static.Under the promotion upwards of 3 bars, curved bar and last bar entirety rotate counterclockwise around D point, realize the gathering campaign pointing second joint.Otherwise when finger actuation plate moves downward, manipulator is opened.Pole lower end B point moves downward, 1 bar is driven to rotate clockwise around A fixing point, and extended gradually by the spring compressed, recover nature, larger rigidity is enough to drive 2 bar along with 1 bar is around A point clockwise movement, and 2 bars can be opened to the position of almost horizontal, therefore the scope of arresting of paw is very large.
This description has only been described in detail the preferred preferred embodiment of the present invention.Should recognize, on the basis of the description of this description and claim, those skilled in the art can obtain the technical scheme close or similar to the application when not paying creative effort through improving or combining, and will be appreciated that, this technical scheme and the application there is no significant progressive and outstanding substantive distinguishing features, within the scope that thus should fall into the application.
Claims (7)
1. a drive lacking space manipulator end effector, it comprises:
The mechanical finger (7) of multiple two-freedom, a brushless servo motor and a planetary reducer (3), one group of reduction gearing, a set of lead screw assembly (3), a finger mounted plate (1), a finger actuation plate (9), a motor mounting plate (11), three axis of guides (8), controller (6) and adpting flange (13).
2. a kind of drive lacking space manipulator end effector according to claim 1, wherein said adpting flange (13) is end effector stiff end, is connected with the output of the intelligent switch joint of space manipulator; Controller (6) bottom is coaxially connected with adpting flange (13), and top is connected with lower house (12), and lower house top and motor mounting plate (11) are coaxially fixed; Servomotor, lead screw (3) and the upside-down mounting of axis of guide homonymy on motor mounting plate (11), and are passed through large pinion (5) (4), are connected with a joggle; Finger mounted plate (1) is connected with motor mounting plate (11) by the axis of guide (8), and finger actuation plate (9) is connected with Sliding leadscrew nut, and is led by the axis of guide (8); Many cover finger linkages are hinged on same finger actuation plate (9) and finger mounted plate (1) by rotating shaft.
3. a kind of drive lacking space manipulator end effector according to claim 1, wherein said end effector has three covers finger linkages, and three cover fingers are separated by 120 ° and are arranged.
4. a kind of drive lacking space manipulator end effector according to claim 1, wherein said finger mechanism is by pole, and 1 bar, 2 bars, 3 bars, 4 bars, curved bar and last bar form.
5. a kind of drive lacking space manipulator end effector according to claim 4, wherein, last bar is a similar leg-of-mutton platy structure, and circular hole and all the other rod hinge connections are opened in leg-of-mutton three angles; Curved bar is with 4 pole lengths for radius, the circular arc rod member done for radius with 4 bar upper end hinge centres points; Curved bar lower end and 2 bar upper ends and 4 bar lower ends hinged, its central point and 3 bar upper end thereof; 2 bar lower ends are connected with finger mounted platform and 1 bar left end; The 1 bar other end and 3 bar lower ends hinged; Pole lower end and finger actuation plate hinged, upper end thereof and 1 bar, 3 bars are hinged.
6. a kind of drive lacking space manipulator end effector according to claim 4, is wherein connected by large rigidity spring between 1 bar with 2 bars.
7. a kind of drive lacking space manipulator end effector according to claim 6, wherein when object is spheroid, the length determination principle pointing each connecting rod is: when 2 bars are vertical, spring-compressed, 2 bars, 4 bars and last bar and spheroid cylindrical tangent; The length of adjustment three, ensures that 2 bars are that three is the longest; In addition, the length of pole suitably will be longer than the length of 1 bar, to increase by 1 bar around the rotatable scope of A point; In rod member, 3 bars are the longest, support curved bar, and when only having curved bar and last bar hinged place higher than curved bar and 2 bar hinged place, finger could be rounding state.
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| CN201410438972.9A CN104669290A (en) | 2014-08-29 | 2014-08-29 | Under-actuated spatial manipulator end effector |
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| CN201410438972.9A CN104669290A (en) | 2014-08-29 | 2014-08-29 | Under-actuated spatial manipulator end effector |
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|---|---|---|---|---|
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN106078787A (en) * | 2016-06-14 | 2016-11-09 | 东莞市联洲知识产权运营管理有限公司 | A kind of mechanical hand jaw being applied to egg type part |
| CN106272501A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN106272494A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Chute elbow connection rod straight line flat folder adaptive robot finger apparatus |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN106826888A (en) * | 2017-03-07 | 2017-06-13 | 北京林业大学 | A kind of coordinated type elastic mechanical paw |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN107414841A (en) * | 2017-09-27 | 2017-12-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical complaisant grasping manipulator based on multistage metamorphic mechanisms |
| CN108934439A (en) * | 2018-04-27 | 2018-12-07 | 昆明理工大学 | A kind of drive lacking flexible retainer |
| CN109333576A (en) * | 2018-10-17 | 2019-02-15 | 北京控制工程研究所 | A kind of used by space manipulator end arrests gripper and arrests method |
| CN109732639A (en) * | 2019-02-20 | 2019-05-10 | 西安理工大学 | A kind of liquid equipressure under-actuated bionic robot gripper |
| CN111588573A (en) * | 2020-05-29 | 2020-08-28 | 燕山大学 | Multi-arm cooperative transfer nursing robot |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging holding state of flexible manipulator by obtaining angular displacement through distance measurement |
| CN112621802A (en) * | 2020-12-04 | 2021-04-09 | 江苏科技大学 | Robot end effector and structure optimization method thereof |
| CN113386115A (en) * | 2021-07-14 | 2021-09-14 | 董尹凯 | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
| CN113400289A (en) * | 2021-07-14 | 2021-09-17 | 董尹凯 | Series-parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN116277099A (en) * | 2023-05-22 | 2023-06-23 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
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Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN106078787B (en) * | 2016-06-14 | 2018-09-04 | 李东航 | A kind of manipulator clamping jaw applied to egg type part |
| CN106078787A (en) * | 2016-06-14 | 2016-11-09 | 东莞市联洲知识产权运营管理有限公司 | A kind of mechanical hand jaw being applied to egg type part |
| CN106272501A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN106272494A (en) * | 2016-08-31 | 2017-01-04 | 清华大学 | Chute elbow connection rod straight line flat folder adaptive robot finger apparatus |
| CN106272501B (en) * | 2016-08-31 | 2018-12-18 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN106272494B (en) * | 2016-08-31 | 2018-10-16 | 清华大学 | The flat folder adaptive robot finger apparatus of sliding slot elbow connection rod straight line |
| CN106584498A (en) * | 2016-11-23 | 2017-04-26 | 西北工业大学 | Grapping mechanism and method for spatial targets |
| CN106826888A (en) * | 2017-03-07 | 2017-06-13 | 北京林业大学 | A kind of coordinated type elastic mechanical paw |
| CN106826888B (en) * | 2017-03-07 | 2023-09-08 | 北京林业大学 | Linkage elastic mechanical gripper |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN107414841A (en) * | 2017-09-27 | 2017-12-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical complaisant grasping manipulator based on multistage metamorphic mechanisms |
| CN107414841B (en) * | 2017-09-27 | 2024-02-06 | 合肥哈工图南智控机器人有限公司 | Bionic flexible grabbing manipulator based on multistage metamorphic mechanism |
| CN108934439A (en) * | 2018-04-27 | 2018-12-07 | 昆明理工大学 | A kind of drive lacking flexible retainer |
| CN109333576A (en) * | 2018-10-17 | 2019-02-15 | 北京控制工程研究所 | A kind of used by space manipulator end arrests gripper and arrests method |
| CN109732639A (en) * | 2019-02-20 | 2019-05-10 | 西安理工大学 | A kind of liquid equipressure under-actuated bionic robot gripper |
| CN109732639B (en) * | 2019-02-20 | 2020-12-18 | 西安理工大学 | Liquid isobaric underactuated bionic robot paw |
| CN111588573A (en) * | 2020-05-29 | 2020-08-28 | 燕山大学 | Multi-arm cooperative transfer nursing robot |
| CN111844095B (en) * | 2020-07-24 | 2021-08-03 | 江南大学 | Method and structure for judging holding state of flexible manipulator by obtaining angular displacement through distance measurement |
| CN111844095A (en) * | 2020-07-24 | 2020-10-30 | 江南大学 | Method and structure for judging holding state of flexible manipulator by obtaining angular displacement through distance measurement |
| CN112621802A (en) * | 2020-12-04 | 2021-04-09 | 江苏科技大学 | Robot end effector and structure optimization method thereof |
| CN112621802B (en) * | 2020-12-04 | 2022-03-11 | 江苏科技大学 | Robot end effector and structure optimization method thereof |
| WO2022116788A1 (en) * | 2020-12-04 | 2022-06-09 | 江苏科技大学 | Robotic end effector and structure optimization method therefor |
| CN113386115A (en) * | 2021-07-14 | 2021-09-14 | 董尹凯 | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
| CN113400289A (en) * | 2021-07-14 | 2021-09-17 | 董尹凯 | Series-parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| CN113386115B (en) * | 2021-07-14 | 2022-03-18 | 董尹凯 | Connecting rod type three-path parallel linear parallel clamping self-adaptive robot finger device |
| CN113400289B (en) * | 2021-07-14 | 2022-04-15 | 董尹凯 | Series-parallel connection connecting rod linear parallel clamping self-adaptive robot finger device |
| CN113561215A (en) * | 2021-09-26 | 2021-10-29 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN113561215B (en) * | 2021-09-26 | 2021-12-07 | 西南科技大学 | Posture-changing articulated dexterous hand |
| CN116277099B (en) * | 2023-05-22 | 2023-07-25 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
| CN116277099A (en) * | 2023-05-22 | 2023-06-23 | 季华实验室 | Under-actuated manipulator based on flexible rack transmission |
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Application publication date: 20150603 |