CN101704243B - 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) - Google Patents
2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) Download PDFInfo
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- CN101704243B CN101704243B CN2009102283254A CN200910228325A CN101704243B CN 101704243 B CN101704243 B CN 101704243B CN 2009102283254 A CN2009102283254 A CN 2009102283254A CN 200910228325 A CN200910228325 A CN 200910228325A CN 101704243 B CN101704243 B CN 101704243B
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Abstract
The invention discloses a spatial parallel robotic mechanism with three degrees of freedom (DOF). The mechanism consists of a motion platform, a fixed platform and three branched chains for linking the two platforms; two of the three branched chains have the same structure and respectively comprise a hooke joint, two prismatic joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the hooke joint and the prismatic joints; and the other branched chain comprises a ball joint, two prismatic joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the ball joint and the two prismatic joints. A working platform of the mechanism can realize motion output with one translational DOF and two rotations; and the mechanism has less joints and a motion pair only has 13 DOFs in total, thereby effectively solving the problem that a parallel mechanism is easy to bend, reverse and deform due to overabundance of DOFs of the motion pair. In addition, a rotating head with two DOFs is connected in series to the motion platform, and therefore, a hybrid robot with five DOFs, which can be used in occasions of machining complex curved surfaces, can be designed.
Description
[technical field]
The present invention relates to robot and advanced manufacturing technology field, the lower-mobility parallel robot mechanism that one translation two of particularly a kind of implementation space is rotated.
[background technology]
Parallel robot mechanism may be defined as: go up between the lower platform (fixed platform and motion platform) continuous with two or more movement branched chain, each movement branched chain is made up of connecting rod and kinematic pair, motion platform has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is widely used in technical fields such as large-scale analog machine, robot, Digit Control Machine Tool, sensor, micromanipulator, engraving machine and measuring machine.The Stewart platform is a kind of typical parallel robot mechanism, this mechanism has 6 frees degree, be used for the revolution that parallel robot and Digit Control Machine Tool have been considered to machine tool structure since the twentieth century first, after this, invented multiple 6DOF parallel institution.
Because it is the restriction of structure, 6DOF parallel institution have the fine solution of failing of many technical problems, strong as the motion coupling, forward kinematics solution is complicated, working space is little, drive characteristic difference etc.The lower-mobility parallel robot mechanism has broad application prospects in industrial production, many scholar's research the mechanism of multiple the type, as Delta mechanism, Star Like mechanism etc.The Chinese scholar is also obtaining a large amount of achievements in research (as number of patent application: 01108297.6 aspect the research of lower-mobility parallel robot mechanism; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7 etc.).
At present based on 3DOF parallel institution robot mechanism as positioning element, construct the series-parallel robot of 5DOF at the swivel head of a 2DOF of its motion platform serial connection, in the High-speed machining field, have a wide range of applications, cause insufficient rigidity this problem for the positioning element that overcomes the parallel-connection structure form exists that rod member is many, kinematic pair more, need create and satisfy the forms of motion requirement and kinematic pair is few, rigidity is high new architecture.
[summary of the invention]
The purpose of this invention is to provide a kind of simple in structure, the kinematic pair number is few, cost is lower, realize the spatial parallel robot mechanism that a translation two is rotated.
The present invention is that to address the above problem the scheme that is adopted be a kind of secondary spatial parallel robot mechanism of realizing that a translation two is rotated of less physical activities that utilizes of design.This mechanism is by motion platform 1, fixed platform 2 and connect three side chains of above-mentioned two platforms: side chain M1, side chain M2, side chain M3 form; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two mobile hinge P1, and P4, P2, P5 and the connecting rod L1 between them, L2, L3, L4 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1, two mobile hinge P3, P6 and the connecting rod L5 between them, and L6 forms; Wherein:
Said rod member L1, L3, L5 pass through mobile hinge P1, P2 respectively, P3 and rod member L2, L4, L6 links, and the axis normal of the axis of mobile hinge P1 and mobile hinge P4, and the axis normal of the axis of mobile hinge P2 and mobile hinge P5, and the axis normal of the axis of mobile hinge P3 and mobile hinge P6;
Said rod member L1, L3, L5 is respectively by Hooke's hinge T1, T2 and spherical hinge S1 and motion platform 1 link, Hooke's hinge T1, the axis of two axles on the T2 and motion platform 1 coplane, and one of them axis respectively with mobile hinge P1, the axis normal of P2, the axis of spherical hinge S1 and the axis normal of mobile hinge P3;
Said motion platform 1 is similar triangles with fixed platform 2, and is isosceles right triangle, and satisfies: Hooke's hinge T1 central point is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 central point with the line of spherical hinge S1 central point; Mobile hinge P4 central point is vertical with the line of mobile hinge P6 central point with mobile hinge P5 central point with the line of mobile hinge P6 central point.
The invention has the beneficial effects as follows:
1, mechanism's workbench can be realized the motion output that a translation two is rotated.
2, mechanism is simple, and kinematic pair is lower pair, the mechanism joint is few, and the degree of freedom of kinematic pair sum has only 13.
3, can effectively improve the easy generation deflection that parallel institution too much causes because of degree of freedom of kinematic pair and the problem of torsional deflection.
4, by binary swivel head of serial connection on motion platform, can design the series-parallel robot of five degree of freedom thus, can be used for occasions such as complex-curved.
5, on the translation direction, can realize long distance motion, be particularly useful for major axis shape Machining of Curved Surface.
[description of drawings]
Figure 12-PPT﹠amp; PPS three-freedom degree spatial parallel robot mechanism schematic diagram.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
[specific embodiment]
Utilize the secondary spatial parallel robot mechanism of realizing that a translation two is rotated of less physical activities.This mechanism is by motion platform 1, fixed platform 2 and connect three side chains of above-mentioned two platforms: side chain M1, side chain M2, side chain M3 form; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two mobile hinge P1, and P4, P2, P5 and the connecting rod L1 between them, L2, L3, L4 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1, two mobile hinge P3, P6 and the connecting rod L5 between them, and L6 forms.Connecting rod L2, L4, L6 and fixed platform 2 link, mobile hinge P4, P5, P6 are the driving pair of mechanism, with the mobile hinge P1 that drives the parafacies neighbour, P2, P3 axis are vertical with the driving secondary axis respectively, by Hooke's hinge T1, T2 and spherical hinge S1 are with rod member L1, L3, L5 and motion platform 1 link, and Hooke's hinge T1, two axis of T2 and motion platform 1 coplane, and one of them axis and mobile hinge P1, P2 axis normal, the axis of spherical hinge S1 and mobile hinge P3 axis normal.Motion platform 1 is similar triangles with fixed platform 2, and is isosceles right triangle, and Hooke's hinge T1 central point is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 central point with the line of spherical hinge S1 central point; Mobile hinge P4 central point is vertical with the line of mobile hinge P6 central point with mobile hinge P5 central point with the line of mobile hinge P6 central point.
As shown in Figure 1, the mobile hinge P4 that links to each other with fixed platform, P5, P6 is secondary for driving, and drives by the driven by motor ball screw.When each drove the displacement of moving different under secondary the control, all the other each moving sets, Hooke's hinge, spherical hinge then under the pulling of connecting rod and motion platform, were done corresponding motion, thereby the realization motion platform is done a translation two rotational motions in working space.
Claims (1)
1. 2-PPT﹠amp; The PPS three-freedom degree spatial parallel robot mechanism is characterized in that, this mechanism is by motion platform (1), fixed platform (2) and connect three side chains of above-mentioned two platforms: side chain M1, side chain M2, side chain M3 form; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two mobile hinge P1, and P4, P2, P5 and the connecting rod L1 between them, L2, L3, L4 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1, two mobile hinge P3, P6 and the connecting rod L5 between them, and L6 forms; Wherein: motion platform (1) is similar isosceles right triangle with fixed platform (2);
Connecting rod L2, L4, L6 pass through mobile hinge P4 respectively, P5, and P6 and fixed platform link, and mobile hinge P4, P5, P6 are that three of mechanism drive pair, and rod member L2, L4, axis of movement and the fixed platform of L6 are perpendicular;
Rod member L1, L3, L5 pass through mobile hinge P1, P2 respectively, P3 and rod member L2, L4, L6 links, and the axis normal of the axis of mobile hinge P1 and mobile hinge P4, and the axis normal of the axis of mobile hinge P2 and mobile hinge P5, and the axis normal of the axis of mobile hinge P3 and mobile hinge P6;
Rod member L1, L3, L5 is respectively by Hooke's hinge T1, T2 and spherical hinge S1 and motion platform (1) link, Hooke's hinge T1, the axis of two axles on the T2 and motion platform (1) coplane, and one of them axis respectively with mobile hinge P1, the axis normal of P2, the axis of spherical hinge S1 and the axis normal of mobile hinge P3;
Hooke's hinge T1 central point is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 central point with the line of spherical hinge S1 central point; Mobile hinge P4 central point is vertical with the line of mobile hinge P6 central point with mobile hinge P5 central point with the line of mobile hinge P6 central point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102283254A CN101704243B (en) | 2009-11-19 | 2009-11-19 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102283254A CN101704243B (en) | 2009-11-19 | 2009-11-19 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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| CN101704243A CN101704243A (en) | 2010-05-12 |
| CN101704243B true CN101704243B (en) | 2011-06-01 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102881338B (en) * | 2012-09-21 | 2014-12-03 | 江苏大学 | 1T2R parallel three-degree-of-freedom pose alignment platform |
| CN104875193A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
| CN105619389B (en) * | 2016-03-17 | 2017-06-20 | 西安理工大学 | A kind of symmetric parallel mechanism without Singularity |
| CN110287627B (en) * | 2019-06-28 | 2022-09-27 | 浙江大学 | Envelope-based large-scale series transmission mechanism generation method |
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