CN100519107C - Revolute joints non-overconstraint four-freedom parallel robot mechanism - Google Patents
Revolute joints non-overconstraint four-freedom parallel robot mechanism Download PDFInfo
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- CN100519107C CN100519107C CNB2007101195971A CN200710119597A CN100519107C CN 100519107 C CN100519107 C CN 100519107C CN B2007101195971 A CNB2007101195971 A CN B2007101195971A CN 200710119597 A CN200710119597 A CN 200710119597A CN 100519107 C CN100519107 C CN 100519107C
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Abstract
The present invention relates to one kind of rotating pair non-overconstrained four freedom degree parallel robot mechanism, which consists of one fixed platform, one movable platform, one secondary platform, branched motion chains and rotating pairs. All the branched motion chains are in identical structure, and all the motion pairs in the mechanism are rotating pairs. When the mechanism moves, the movable platform is subjected to two independent constrains, and the mechanism is one non-overconstrained mechanism with four freedom degrees. The present invention has the advantages of symmetrical structure, easy assembling, low design and manufacture cost, great work space, etc, and may be applied in parallel robot, parallel machine tool and other industrial fields.
Description
Technical field
The present invention relates to Robotics, is a kind of non-overconstraint four-freedom parallel device robot mechanism that is made of revolute pair specifically.
Background technology
Parallel robot is made of moving platform, fixed platform and two or more the movement branched chain that connects the two.Each bar movement branched chain connects rod member by some kinematic pairs and forms.
4DOF robot with 3 translations, 1 rotation can realize complicated arbitrarily space extracting, put operation, and the SCARA robot that widely uses on streamline promptly is the serial machine people with this kinetic characteristic.But industry is wished to develop always and can be realized moving equally and have more high bearing capacity, working space symmetry, structure and the stable parallel robot mechanism of control.Yet holosymmetric the type 4DOF parallel robot mechanism synthtic price index is one of disclosed theory of mechanisms difficult problem always.
At present, 23 of the applications for a patent for invention relevant that China Intellectual Property Office announces, 7 of utility model applications with the 4DOF parallel institution.Typical mechanism comprises: (Chinese patent application number: 00105935.1) such as Liu Xinjun.This mechanism is made up of the movement branched chain of RPS and two kinds of structures of UPS.The movement branched chain of its structure inequality has caused the working space of motion platform asymmetric; (Chinese patent application number: 00101494.3) drawn 3 translations, 1 that constitute by three TRT branches and SPS branch and rotated 4 free mechanisms such as Huang Zhen.(Chinese patent application number: 02158043.X) drawn a series of constraint 4DOF parallel robot mechanisms of crossing, the structure of four movement branched chain is identical, and every movement branched chain is made up of revolute pair, universal joint and cylindrical pair for Fang Yuefa.Zhang Xianmin etc. (Chinese patent application number: 200510101133.9) also drawn a kind of 3 move, 1 parallel institution that rotates.In addition, Jin Qiong etc. has proposed also that some can realize 3 moving, 1 parallel institution that rotates.But above mechanism all belonged to constraint mechanism.Its confinement features is: for guarantee mechanism have 4 can independent installation of driver movement branched chain and 4 self-movement frees degree, must make the mechanism of 2 side chains of original needs increase by 2 the same side chains again, so, the effect of contraction to moving platform is provided by a pair of side chain simultaneously.If there are error in the manufacturing of side chain and installation, the condition that so this constraint mechanism excessively exists is just destroyed, and the characteristic of mechanism just changes.
The non-characteristics of crossing constraint mechanism are that constraint number that mechanism is subjected to just in time meets the requirement of free degree characteristic.In mechanism design, do not need to allow the constraint linear correlation.Pierrot and Company proposed four-degree-of-freedom H4 parallel institution in 1999.In whole design process, then be to carry out according to traditional Gr ü bler-Kutzbach free degree formula fully about design considerations such as secondary number of motion of mechanism and side chain numbers.And utilize this formula, some necessary conditions and several mutation design that mechanism keeps 4 frees degree have also been proposed.Belong to the non-constraint 4DOF parallel institution of crossing that first satisfies traditional freedom calculation method.In addition, Rolland proposes the two kinds of four-freedom parallel mechanism that is used for material handling: Kanuk and Manta.Sebastien krut has proposed I4 mechanism on the design basis of H4.More than several configurations all belong to the non-constraint mechanism of crossing.Their characteristics are all to have the peculiar parallelogram closed-loop structure of Delta mechanism in the side chain.The existence of closed-loop structure causes inconvenience to mechanism's assembling.The four-degree-of-freedom parallel manipulator that is used to produce schonflies motion of application Chinese patent (Chinese patent application number: 200380105362.7) belong to the non-constraint mechanism of crossing.This mechanism utilizes the secondary combination, uses parallel array and produces the four-degree-of-freedom motion.
Summary of the invention
The purpose of this invention is to provide a kind of non-overconstraint four-freedom parallel device robot mechanism that constitutes by revolute pair.The present invention utilizes revolute pair to realize the mechanism kinematic transmission fully, is design means with two-stage motion topology, has overcome four-degree-of-freedom mechanism and has crossed the design challenges of constraint, has realized the non-constraint four-degree-of-freedom motion of crossing.
Technical scheme of the present invention is:
The present invention is made up of fixed platform, moving platform, secondary platform and movement branched chain; Fixed platform and moving platform are located at mechanism top and bottom respectively, and moving platform is provided with the secondary platform, and movement branched chain connects secondary platform and fixed platform.
Each movement branched chain all is the four-bar mechanism with symmetrical structure, all is made up of revolute pair, and Standalone Drives is installed on the revolute pair at movement branched chain top; Revolute pair forms group with the different sets of parallel that its axis constitutes.
Movement branched chain connects the revolute pair of secondary platform in same plane, wherein has the revolute pair axis not parallel; Movement branched chain is connected and fixed the revolute pair axis of platform in same plane, wherein has the revolute pair axis not parallel;
The revolute pair axis that connects moving platform and secondary platform is parallel to each other, and perpendicular to the secondary platform.
Robot mechanism of the present invention is driven by four Standalone Drives, three of energy implementation spaces are moved and are moved around totally four frees degree that reach the rotation of moving platform and secondary platform vertical line, have advantages such as symmetrical configuration, assembling is easy, design and manufacture cost is low, working space is big, can be applicable to industrial circles such as parallel robot, parallel machine, assembling line.
Description of drawings
Fig. 1 is a revolute joints non-overconstraint four-freedom parallel device robot mechanism schematic diagram.
Fig. 2 is a revolute pair structural representation of forming mechanism.
The specific embodiment
Robot mechanism of the present invention is made up of fixed platform (1), moving platform (4) and two secondary platforms (2) and (3), revolute pair (5) and (6) and four movement branched chain (I, II, III and IV).Fixed platform (1) is located at mechanism top and bottom respectively with moving platform (4), and moving platform (4) is provided with secondary platform (2), (3), and movement branched chain (I, II, III and IV) connects secondary platform (2), (3) and fixed platform (1).Article four, the structure of movement branched chain is identical, and all side chains all are the four-bar mechanisms that a class has symmetrical structure, and every movement branched chain all is made up of revolute pair.
Movement branched chain (I) is connected secondary platform (3) and fixed platform (1) with movement branched chain (III):
Movement branched chain (I) is made up of five revolute pairs (7,8,9,10,11), and wherein one group of parallel lines, revolute pair axis (9), (10) and 11 are formed in revolute pair axis (7) and (8)) the other one group of parallel lines of composition.
Movement branched chain (III) is made up of five revolute pairs (17,18,19,20,21), and wherein one group of parallel lines is formed in revolute pair axis (17) and (18), and other one group of parallel lines are formed in revolute pair axis (19), (20) and (21).
Movement branched chain (II) is connected secondary platform (2) and fixed platform (1) with movement branched chain (IV):
Movement branched chain (II) is made up of five revolute pairs (12,13,14,15,16), and wherein one group of parallel lines, kinematic pair axis (14), (15) and 16 are formed in revolute pair axis (12) and (13)) the other one group of parallel lines of composition.
Movement branched chain (IV) is made up of five revolute pairs (22,23,24,25,26), and wherein one group of parallel lines is formed in revolute pair axis (22) and (23), and other one group of parallel lines are formed in revolute pair axis (24), (25) and (26).
Movement branched chain (I, II, III and IV) connects four revolute pair axis (7,17,12 and 22) of two secondary platforms in same plane, and wherein revolute pair axis (7) and (17) are not parallel, and revolute pair axis (12) and (22) are not parallel.
Movement branched chain (I, II, III and IV) is connected and fixed four revolute pair axis (11,21,26 and 16) of platform in same plane, and wherein revolute pair axis (11) and (21) are not parallel, and revolute pair axis (16) and (26) are not parallel.
The revolute pair axis (5) and (6) that connect moving platform (4) and secondary platform (2), (3) are parallel to each other, and perpendicular to secondary platform (2) and (3).
When mechanism kinematic, moving platform is subjected to two independently constraints, belongs to the non-constraint mechanism of crossing.Motion is driven by four Standalone Drives that are installed on revolute pair (11), (21), (26) and (16), make mechanism's moving platform carry out according to the motion of control, three one-movement-freedom-degrees in energy implementation space, and around the rotational motion that reaches revolute pair (5) axis parallel, totally four frees degree with (6) axis.
Claims (2)
1. revolute joints non-overconstraint four-freedom parallel device robot mechanism is characterized in that it is made up of fixed platform (1), moving platform (4), secondary platform (2,3) and the first movement branched chain I, the second movement branched chain II, the 3rd movement branched chain III and the 4th movement branched chain IV;
Fixed platform (1) is located at mechanism top and bottom respectively with moving platform (4), moving platform (4) is provided with secondary platform (2,3), and the first movement branched chain I, the second movement branched chain II, the 3rd movement branched chain III and the 4th movement branched chain IV connect secondary platform (2,3) and fixed platform (1);
The first movement branched chain I, the second movement branched chain II, the 3rd movement branched chain III, the 4th movement branched chain IV are the four-bar mechanisms with symmetrical structure, all are made up of revolute pair, and Standalone Drives is installed on the revolute pair at movement branched chain top; Revolute pair forms group with the different sets of parallel that its axis constitutes;
The axis of first revolute pair (5) of connection moving platform (4) and secondary platform (2,3) and the axis of second revolute pair (6) are parallel to each other, and perpendicular to secondary platform (2,3);
The first movement branched chain I is made up of the 3rd revolute pair (7), the 4th revolute pair (8), the 5th revolute pair (9), the 6th revolute pair (10), the 7th revolute pair (11), wherein the 3rd revolute pair (7) and the 4th revolute pair (8) are formed one group of parallel lines, and the 5th revolute pair (9), the 6th revolute pair (10) and the 7th revolute pair (11) are formed other one group of parallel lines;
The 3rd movement branched chain III is made up of the 8th revolute pair (17), the 9th revolute pair (18), the tenth revolute pair (19), the 11 revolute pair (20), the 12 revolute pair (21), wherein the 8th revolute pair (17) and the 9th revolute pair (18) are formed one group of parallel lines, and the tenth revolute pair (19), the 11 revolute pair (20) and the 12 revolute pair (21) are formed other one group of parallel lines;
The second movement branched chain II is made up of the 13 revolute pair (12), the 14 revolute pair (13), the 15 revolute pair (14), the 16 revolute pair (15), the 17 revolute pair (16), wherein the 13 revolute pair (12) and the 14 revolute pair (13) are formed one group of parallel lines, and the 15 revolute pair (14), the 16 revolute pair (15) and the 17 revolute pair (16) are formed other one group of parallel lines;
The 4th movement branched chain IV is made up of the 18 revolute pair (22), the 19 revolute pair (23), the 20 revolute pair (24), the 21 revolute pair (25), the 22 revolute pair (26), wherein the 18 revolute pair (22) and the 19 revolute pair (23) are formed one group of parallel lines, and the 20 revolute pair (24), the 21 revolute pair (25) and the 22 revolute pair (26) are formed other one group of parallel lines;
The axis of the axis of the 3rd revolute pair (7) of the first movement branched chain I, the second movement branched chain II, the 3rd movement branched chain III and the 4th movement branched chain IV connection secondary platform (2,3), the axis of the 8th revolute pair (17), the 13 revolute pair (12) and the axis of the 18 revolute pair (22) are in same plane, wherein the axis of the axis of the 3rd revolute pair (7) and the 8th revolute pair (17) is not parallel, and the axis of the 13 revolute pair (12) and the axis of the 18 revolute pair (22) are not parallel;
The first movement branched chain I, the second movement branched chain II, the 3rd movement branched chain III, the 4th movement branched chain IV are connected and fixed the axis of the axis of axis, the 22 revolute pair (26) of axis, the 12 revolute pair (21) of the 7th revolute pair (11) of platform (1) and the 17 revolute pair (16) in same plane, wherein the axis of the axis of the 7th revolute pair (11) and the 12 revolute pair (21) is not parallel, and the axis of the 17 revolute pair (16) and the axis of the 22 revolute pair (26) are not parallel.
2. revolute joints non-overconstraint four-freedom parallel device robot mechanism according to claim 1, it is characterized in that connecting secondary platform (2,3) and be parallel to each other with the axis of first revolute pair (5) of moving platform (4) and the axis of second revolute pair (6), and perpendicular to secondary platform (2,3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101195971A CN100519107C (en) | 2007-07-26 | 2007-07-26 | Revolute joints non-overconstraint four-freedom parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101195971A CN100519107C (en) | 2007-07-26 | 2007-07-26 | Revolute joints non-overconstraint four-freedom parallel robot mechanism |
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| CN101100065A CN101100065A (en) | 2008-01-09 |
| CN100519107C true CN100519107C (en) | 2009-07-29 |
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| CNB2007101195971A Expired - Fee Related CN100519107C (en) | 2007-07-26 | 2007-07-26 | Revolute joints non-overconstraint four-freedom parallel robot mechanism |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101780670B (en) * | 2009-01-19 | 2011-09-14 | 上海工程技术大学 | Two-rotation one-movement-freedom-degree decoupling parallel mechanism |
| CN102328313A (en) * | 2011-08-31 | 2012-01-25 | 天津大学 | Three degree of translation freedom robot mechanism only containing rotating pair |
| CN103770103B (en) * | 2014-01-21 | 2015-11-18 | 燕山大学 | Three-rotational-freedom space serial parallel mechanism |
| CN105234933B (en) * | 2015-10-08 | 2017-01-18 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105599002A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Four-branch-chain two-rotation parallel robot joint |
| CN105599000A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Four-branch-chain parallel spray robot joint |
| CN105773579A (en) * | 2016-03-24 | 2016-07-20 | 褚宏鹏 | Multi-branch chain coupled spherical two-rotating parallel mechanism |
| CN105598997A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | Spherical two-degree-of-freedom parallel robot joint |
| CN105619391A (en) * | 2016-03-24 | 2016-06-01 | 褚宏鹏 | Two-degree-of-freedom in-parallel mechanism |
| CN105598711A (en) * | 2016-03-24 | 2016-05-25 | 褚宏鹏 | High-precision numerical control machine tool spindle head |
| CN105690420A (en) * | 2016-03-24 | 2016-06-22 | 褚宏鹏 | Joint of parallel spray painting robot |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN113799104B (en) * | 2021-11-09 | 2023-09-29 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with symmetrical branched chains |
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