KR101867763B1 - Bending stiffness control device for joint device - Google Patents
Bending stiffness control device for joint device Download PDFInfo
- Publication number
- KR101867763B1 KR101867763B1 KR1020170045126A KR20170045126A KR101867763B1 KR 101867763 B1 KR101867763 B1 KR 101867763B1 KR 1020170045126 A KR1020170045126 A KR 1020170045126A KR 20170045126 A KR20170045126 A KR 20170045126A KR 101867763 B1 KR101867763 B1 KR 101867763B1
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- KR
- South Korea
- Prior art keywords
- variable
- rigid body
- coupled
- arm
- stiffness
- Prior art date
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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
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
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- 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)
Abstract
Description
The present invention relates to a bending stiffness control apparatus for a joint mechanism, and more particularly to a bending stiffness control apparatus for a bending stiffness control apparatus of a joint mechanism which is capable of controlling bending stiffness according to movement of a joint mechanism, And a control device.
In addition to the development of industrial robots, in addition to the industrial robots that have been exercising with the existing degrees of freedom, there is a need for various purpose remote control robots and human robots having many degrees of freedom to perform various tasks on behalf of human beings And the research and development thereof is progressing actively. In addition, research on alternate bio-robot arm and bio-robot bridge for the handicapped as a potential use field of robotic engineering is continuing.
In order to realize various movements of the robot, a manipulator called a multi-joint arm composed of a link and a joint, which is generally used, is used. The energy supplied to the robot is realized as an actual motion in the manipulator. The manipulator can move through various types of actuators.
On the other hand, bending stiffness control in a movement of a manipulator provided in a robot or the like or an exercise assist device for assisting human motion is an important factor in the manipulation precision and safety of the manipulator.
Nowadays, much research has been made on techniques for controlling and assisting the movement of the manipulator or the motion assist device. However, there is insufficient research and development on motion assist technology by controlling the flexural rigidity of the joint mechanism provided in these devices.
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a bending rigidity control device of a joint mechanism which can be simply applied to a joint mechanism of various apparatuses to control flexural rigidity according to movement of a joint mechanism .
In order to achieve the above object, a bending rigidity control apparatus of a joint mechanism according to the present invention is provided in a joint mechanism in which first and second arms are jointed to each other to control flexural rigidity of the joint mechanism, A variable stiffness unit having a variable rigid body in the form of a mesh capable of varying the rigidity according to a twisted state and a rotation support member coupled to one end of the variable rigid body; A first variable rigid unit holder coupled to the first arm of the articulation mechanism to rotatably support the rotation support member; A second variable rigid unit holder coupled to a second arm of the articulation mechanism to support the other end of the variable rigid body; And a variable rigid body rotating unit at least a part of which is coupled to the first variable rigidity unit holder and which rotates the rotation supporting member so as to twist the variable rigid body to change the stiffness of the variable rigid body.
Wherein the variable rigid body rotating unit includes: a driven gear coupled to the rotation support member so as to rotate about a longitudinal direction segment of the variable rigid body; a drive gear that is gear-connected to the driven gear; And a motor coupled to the unit holder for rotating the driving gear.
The variable rigid body may be formed in a cylindrical shape.
The variable stiffness body may be coupled to at least a portion of the first arm, at least a portion of the second arm, and the joint mechanism to wrap the joint.
The variable rigid body rotating unit includes a driven gear provided with a through hole in the middle so that the first arm can penetrate and coupled to the rotation support member so as to rotate about the first arm, And a motor coupled to the first variable stiffness unit holder for rotating the driving gear.
According to another aspect of the present invention, there is provided an apparatus for controlling bending rigidity of a joint mechanism, the apparatus including a first arm and a second arm mounted on joint mechanisms connected to each other by joints, A first rotating support member coupled to one end of the variable rigid body, and a second rotating support member coupled to one end of the variable rigid body, wherein the variable stiffness member has a mesh shape variable in rigidity according to a twisted state, A variable stiffness unit having a rotation support member; A first variable rigidity unit holder coupled to a first arm of the articulation mechanism to rotatably support the first rotation support member; A second variable rigidity unit holder coupled to a second arm of the articulation mechanism and rotatably supporting the second rotation support member; A first variable rigid body rotating unit coupled to at least a portion of the first variable rigidity unit holder for rotating the first rotating support member so as to twist the variable rigid body to change rigidity of the variable rigid body; And a second variable rigid body rotating unit coupled to at least a part of the second variable stiffness unit holder and twisting the variable rigid body to rotate the second rotary supporting member so as to change rigidity of the variable rigid body .
The flexural rigidity control apparatus according to the present invention can vary the flexural rigidity of the articulated mechanism by varying the stiffness of the variable rigid body with a simple twist motion. Therefore, it can be applied to a robot or an athletic aiding device to effectively assist the movement of a robot or an athletic aiding device.
Further, the flexural rigidity control apparatus according to the present invention can effectively limit the joint motion of the joint mechanism by increasing the rigidity of the variable rigid body by simple torsional motion, and can easily control the range of motion of the joint mechanism according to the degree of twist of the variable rigid body .
1 is a side view showing a bending rigidity control apparatus of a joint mechanism according to an embodiment of the present invention.
2 is an exploded view showing a bending rigidity control apparatus of a joint mechanism according to an embodiment of the present invention.
3 is a view for explaining the action of the variable stiffness unit provided in the bending rigidity control apparatus of the joint mechanism according to the embodiment of the present invention.
4 is for explaining a change in stiffness of the variable rigid body of the variable stiffness unit shown in Fig.
5 shows a state in which a bending rigidity control apparatus of a joint mechanism according to an embodiment of the present invention is installed in a joint mechanism.
6 is a view showing a bending rigidity control device of a joint mechanism according to an embodiment of the present invention installed in a joint mechanism.
7 is a side view showing a bending rigidity control apparatus of a joint mechanism according to another embodiment of the present invention.
Hereinafter, a bending rigidity control apparatus of a joint mechanism according to the present invention will be described in detail with reference to the drawings.
2 is an exploded view showing a bending rigidity control apparatus of a joint mechanism according to an embodiment of the present invention, and FIG. 3 is a sectional view of the bending rigidity control apparatus of the articulated mechanism according to an embodiment of the present invention. FIG. 4 is a view for explaining a change in stiffness of the variable rigid body of the variable stiffness unit shown in FIG. 3, and FIG. And FIG. 5 is a view showing a state where a bending rigidity control device of a joint mechanism according to an embodiment of the present invention is installed in a joint mechanism.
As shown in the figure, a flexural
The
The variable
The
The variable rigid
One end of the
As shown in Fig. 3 (a), the variable
3 (b), if one end of the variable
1 and 2, the first variable
The second variable
The variable rigid
The variable rigid
The driven
The variable stiff
The operation of the variable rigid
Hereinafter, the operation of the flexural
5, the flexural
6, when the
When the
As described above, the flexural
Also, the flexural
7 is a side view showing a bending rigidity control apparatus of a joint mechanism according to another embodiment of the present invention.
7, the flexural
The
The first
One end of the
The first variable
The first variable stiffness
The second variable rigidity
The flexural
Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to those described and illustrated above.
For example, although the variable
The figure also shows that the variable rigid body rotating unit for twisting the variable
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will appreciate that numerous modifications and variations can be made in the present invention without departing from the spirit and scope of the appended claims.
10:
13: joint 100, 200: flexural rigidity control device
110, 210: variable stiffness unit 111: variable rigid body
112: rotation support member 114: variable rigid body support member
120: first variable rigidity unit holder 130: second variable rigidity unit holder
140: variable rigid body rotating unit 141: driven gear
143: driving gear 144: motor
211, 212: first and second rotation supporting members
220, 230: first and second variable rigidity unit holders
240, 250: first and second variable rigid body rotating units
Claims (6)
A variable stiffness unit having a variable stiffness in the form of a mesh capable of varying the stiffness according to a torsional state and a rotation support member coupled to one end of the variable stiffness;
A first variable rigid unit holder coupled to the first arm of the articulation mechanism to rotatably support the rotation support member;
A second variable rigid unit holder coupled to a second arm of the articulation mechanism to support the other end of the variable rigid body; And
And a variable rigid body rotating unit coupled to at least a portion of the first variable stiffness unit holder and rotating the rotation supporting member to twist the variable rigid body to change rigidity of the variable rigid body. A device for controlling the flexural rigidity of a joint mechanism.
The variable rigid body rotating unit includes:
A driven gear coupled to the rotation support member so as to rotate about a longitudinal direction segment of the variable rigid body,
A driving gear that is gear-connected to the driven gear,
And a motor coupled to the first variable stiffness unit holder to rotate the driving gear.
Wherein the variable rigid body is formed in a cylindrical shape.
Wherein the variable stiffness body is coupled to at least a part of the first arm, at least a part of the second arm, and the joint mechanism so as to surround the joint.
The variable rigid body rotating unit includes:
A driven gear provided with a through hole at an intermediate portion thereof so as to allow the first arm to penetrate therethrough and coupled to the rotation support member so as to rotate about the first arm,
A driving gear that is gear-connected to the driven gear,
And a motor coupled to the first variable stiffness unit holder to rotate the driving gear.
A first rotating support member coupled to one end of the variable rigid body and a second rotation support member coupled to the other end of the variable rigid body, wherein the variable stiffness body has a mesh shape variable in rigidity according to a torsional state, A variable stiffness unit;
A first variable rigidity unit holder coupled to a first arm of the articulation mechanism to rotatably support the first rotation support member;
A second variable rigidity unit holder coupled to a second arm of the articulation mechanism and rotatably supporting the second rotation support member;
A first variable rigid body rotating unit coupled to at least a portion of the first variable rigidity unit holder for rotating the first rotating support member so as to twist the variable rigid body to change rigidity of the variable rigid body; And
And a second variable rigid body rotating unit coupled to at least a portion of the second variable stiffness unit holder to rotate the second rotating support member so as to twist the variable rigid body to change rigidity of the variable rigid body And the bending rigidity of the joint mechanism.
Priority Applications (1)
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KR1020170045126A KR101867763B1 (en) | 2017-04-07 | 2017-04-07 | Bending stiffness control device for joint device |
Applications Claiming Priority (1)
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KR1020170045126A KR101867763B1 (en) | 2017-04-07 | 2017-04-07 | Bending stiffness control device for joint device |
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KR101867763B1 true KR101867763B1 (en) | 2018-06-15 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
Citations (3)
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JP2010505637A (en) * | 2006-10-13 | 2010-02-25 | ロボティクス テクノロジー リーダーズ ゲーエムベーハー | Hookworm mechanism |
KR101038473B1 (en) | 2007-12-05 | 2011-06-01 | 한국수력원자력 주식회사 | Cable-driven Manipulator |
JP2011131305A (en) * | 2009-12-22 | 2011-07-07 | Tokyo Kogei Univ | Artificial muscle and flexible joint mechanism |
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2017
- 2017-04-07 KR KR1020170045126A patent/KR101867763B1/en active IP Right Grant
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010505637A (en) * | 2006-10-13 | 2010-02-25 | ロボティクス テクノロジー リーダーズ ゲーエムベーハー | Hookworm mechanism |
KR101038473B1 (en) | 2007-12-05 | 2011-06-01 | 한국수력원자력 주식회사 | Cable-driven Manipulator |
JP2011131305A (en) * | 2009-12-22 | 2011-07-07 | Tokyo Kogei Univ | Artificial muscle and flexible joint mechanism |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
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