CN101767335A - Twin-translation-rotation partial decoupling parallel mechanism - Google Patents
Twin-translation-rotation partial decoupling parallel mechanism Download PDFInfo
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- CN101767335A CN101767335A CN200910231054A CN200910231054A CN101767335A CN 101767335 A CN101767335 A CN 101767335A CN 200910231054 A CN200910231054 A CN 200910231054A CN 200910231054 A CN200910231054 A CN 200910231054A CN 101767335 A CN101767335 A CN 101767335A
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Abstract
The invention relates to a twin-translation-rotation partial decoupling parallel mechanism, relating to a three-degree-freedom parallel mechanism in the field of industrial robots. A movable platform is arranged above a fixed platform; a tail-end actuator is arranged above the movable platform; the fixed platform is connected with the movable platform through three alien branches; a first branch is provided with a rotary pair, and a movable pair of the first branch connected with the fixed platform is a rotary pair; a movable pair in the first branch connected with the movable platform is a universal joint or a ball pair; a movable pair in the second branch connected with the fixed platform is a rotary pair; a movable pair in the second branch connected with the movable platform is a universal joint or a ball pair; a third branch is formed by a branch chain with six degrees of freedom and is provided with a movable pair; a movable pair of the third branch connected with the fixed platform is a universal joint; a movable pair of the third branch connected with the movable platform is a ball pair; and the movable pair, the ball pair and the universal joint in the third branch are connected into UPS branch chain. The invention is suitable for machine tools, robots, and the like.
Description
Technical field
The invention belongs to industrial robot field 3-freedom parallel mechanism, specifically is a kind of twin-translation-rotation partial decoupling parallel mechanism.
Background technology
Parallel institution is meant between moving platform and the fixed platform and is linked to each other by two or more branches that mechanism has two or more frees degree, and the mechanism that drives with parallel way.Parallel institution is widely used in numerous technical fields in recent years owing to have advantages such as rigidity is big, bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation.Early stage parallel institution is the Stewart parallel institution of 6DOF normally, links to each other with six branches between the moving platform of this mechanism and the fixed platform, and each branch two ends is two ball pivots, and the centre is a moving sets.Drive the secondary moving sets that promotes and relatively move, change the length of branch, the position of moving platform and attitude are changed.The Stewart parallel institution has shortcomings such as working space is little, motion normal solution difficulty, complex structure.In order to overcome these shortcomings of 6DOF parallel institution, many in recent years researchers have turned to the lower-mobility parallel institution to notice.3-freedom parallel mechanism with two translations and a rotation is used more extensive in industry.The existing most complex structure of 3-freedom parallel mechanism with two translations and a rotation, the manufacturing cost height, poor practicability, disclose name on March 2nd, 2005 as State Intellectual Property Office and be called a kind of two translations, one rotation 3-freedom parallel mechanism that can be used for imaginary axis Digit Control Machine Tool, robot, number of patent application is the application for a patent for invention of 200410064955.X, wherein moving sets of route and form perpendicular to the parallelogram loop of this moving sets.And for example State Intellectual Property Office disclosed on March 19th, 2008 name be called no coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism, number of patent application is 200710054854.8 application for a patent for invention.These parallel institutions, complex structure, kinematic pair locus complexity, thus make this mechanism's manufacturing cost height, poor practicability.In addition, be coupled between most of each driver element of parallel institution, the moving platform that is parallel institution all is synthetic by moving of all driver elements along moving of either direction, and between the input of parallel institution and the output is non-linear, these have caused parallel institution control complicated, demarcate difficulty, output accuracy is poor.
Summary of the invention
The technical problem that the present invention solves is, in order problem such as to be coupled between the complex structure, kinematic pair locus complexity and the input and output that solve two translating and one-rotating parallel structures, a kind of rigidity height is provided, unsymmetric structure, the rotation decoupling zero of moving platform, be easy to control, the twin-translation-rotation partial decoupling parallel mechanism that dynamic property is good.
Technical scheme of the present invention is, the fixed platform top is provided with moving platform, the moving platform top is provided with end effector, the primary structure characteristics are, fixed platform connects moving platform through three different branches, and first branch is provided with the intermediary movements pair, and the intermediary movements pair is a revolute pair, first branch is a revolute pair with the kinematic pair that fixed platform directly is connected, and the kinematic pair that directly is connected with moving platform in first branch is universal hinge or ball pair; Being revolute pair with kinematic pair that fixed platform directly is connected in second branch, is universal hinge or ball pair with kinematic pair that moving platform directly is connected in second branch; The 3rd branch is made up of the side chain with space six degree of freedom, the 3rd branch is provided with the intermediary movements pair, the intermediary movements pair is a moving sets, the 3rd branch is universal hinge with the kinematic pair that fixed platform directly is connected, the 3rd branch is the ball pair with the kinematic pair that moving platform directly is connected, and the moving sets in the 3rd branch, ball is secondary and universal hinge is connected into the UPS side chain.
The axis of two revolute pairs in first branch of the present invention is parallel to the axis of second revolute pair in the branch.
In the present invention, if first branch all is universal hinge with the kinematic pair with moving platform directly is connected in second branch, then an axis of the universal hinge in first branch is parallel to an axis of second universal hinge in the branch, and they are parallel to the axis of all revolute pairs in these two branches, and another axis coaxle of these two universal hinges.
In the present invention, if directly being connected with moving platform in first branch and second branch all is the ball pair, then the line between the centre of sphere of the ball pair in the centre of sphere of the ball pair in first branch and second branch is perpendicular to the axis of all revolute pairs in these two branches.
In the present invention, if one of the kinematic pair that directly is connected with moving platform in first and second branches is the ball pair, another is universal hinge, and then universal hinge axis is by the centre of sphere of this ball pair, the axis of all revolute pairs in parallel these two branches of another axis.
The invention has the beneficial effects as follows, adopt asymmetrical branched structure, thereby working space is bigger than the parallel institution of symmetry, first branch and second branch have constituted the binary linkage in plane, can realize complicated plane motion, the 3rd branch can realize that moving platform rotates, decoupling zero between the rotation of moving platform and the translation, control is simple, demarcates easily, is easy to control, dynamic property is good, can do complicated plane motion, can rotate by certain axis in this plane again, as the pot utensils ' movement of cooking robot, turning over pot needs pan planar to do complicated plane motion, the pot that inclines needs pan certain axis in the plane to rotate, and the good dish of culinary art to topple over, and has high rigidity, bearing capacity is strong, error accumulation is little, dynamic property is good, characteristics such as compact conformation.The present invention is applicable to lathe, robot etc.
Description of drawings
Fig. 1 is a kind of structural representation of the present invention, also is the schematic diagram of a kind of embodiment.
Fig. 2 is another structural representation of the present invention, also is the schematic diagram of a kind of embodiment.
Fig. 3 is another structural representation of the present invention, also is the schematic diagram of a kind of embodiment.
Fig. 4 is another structural representation of the present invention, also is the schematic diagram of a kind of embodiment.
The specific embodiment
Embodiment 1:
Twin-translation-rotation partial decoupling parallel mechanism as shown in Figure 1, fixed platform 1 top is provided with moving platform 2, and moving platform 2 tops are provided with end effector 3.Fixed platform 1 connects moving platform through three different branches, and first branch is provided with the intermediary movements pair, and the intermediary movements pair is a revolute pair 5; First branch is a revolute pair 4 with the kinematic pair that fixed platform 1 directly is connected; The kinematic pair that directly is connected with moving platform 2 in first branch is universal hinge 6.Be revolute pair 8 with kinematic pair that fixed platform 1 directly is connected in second branch; Be ball pair 10 with kinematic pair that moving platform 2 directly is connected in second branch.The 3rd branch is made up of the side chain with space six degree of freedom, and the 3rd branch is provided with moving sets 11, and as can be seen from the figure, moving sets 11 connects connecting rod 14 and connecting rod 15; The 3rd branch is universal hinge 13 with the kinematic pair that fixed platform 1 directly is connected; The 3rd branch is the ball pair 12 of 12, the three branches of ball pair with the kinematic pair that moving platform 2 directly is connected, and moving sets 11 and universal hinge 13 connect into the UPS side chain.
Embodiment 2:
Twin-translation-rotation partial decoupling parallel mechanism as shown in Figure 2, the kinematic pair that directly is connected with moving platform 2 in first branch are universal hinge 6.Be universal hinge 9 with kinematic pair that moving platform 2 directly is connected in second branch.Other structures repeat no more with embodiment 1.
Embodiment 3:
Twin-translation-rotation partial decoupling parallel mechanism as shown in Figure 3, the kinematic pair that directly is connected with moving platform 2 in first branch are ball pair 7.Be universal hinge 9 with kinematic pair that moving platform 2 directly is connected in second branch.Other structures repeat no more with embodiment 1.
Embodiment 4:
Twin-translation-rotation partial decoupling parallel mechanism as shown in Figure 4, the kinematic pair that directly is connected with moving platform 2 in first branch are ball pair 7.Be ball pair 10 with kinematic pair that moving platform 2 directly is connected in second branch.Other structures repeat no more with embodiment 1.
Claims (6)
1. twin-translation-rotation partial decoupling parallel mechanism, the fixed platform top is provided with moving platform, the moving platform top is provided with end effector, it is characterized in that: fixed platform connects moving platform through three different branches, first branch is provided with the intermediary movements pair, the intermediary movements pair is a revolute pair, and first branch is a revolute pair with the kinematic pair that fixed platform directly is connected, and the kinematic pair that directly is connected with moving platform in first branch is universal hinge or ball pair; Being revolute pair with kinematic pair that fixed platform directly is connected in second branch, is universal hinge or ball pair with kinematic pair that moving platform directly is connected in second branch; The 3rd branch is made up of the side chain with space six degree of freedom, the 3rd branch is provided with the intermediary movements pair, the intermediary movements pair is a moving sets, the 3rd branch is universal hinge with the kinematic pair that fixed platform directly is connected, the 3rd branch is the ball pair with the kinematic pair that moving platform directly is connected, and the moving sets in the 3rd branch, ball is secondary and universal hinge is connected into the UPS side chain.
2. twin-translation-rotation partial decoupling parallel mechanism as claimed in claim 1, it is characterized in that: first branch and second branch have constituted the binary linkage in plane, can realize complicated plane motion, and the 3rd branch mainly realizes the rotation of moving platform, decoupling zero between the rotation of this mechanism and the translation.
3. twin-translation-rotation partial decoupling parallel mechanism as claimed in claim 1 is characterized in that: the axis of the revolute pair in first branch is parallel to the axis of the revolute pair in second branch.
4. twin-translation-rotation partial decoupling parallel mechanism as claimed in claim 1, it is characterized in that: if first branch all is universal hinge with the kinematic pair with moving platform directly is connected in second branch, then an axis of the universal hinge in first branch is parallel to an axis of second universal hinge in the branch, and they are parallel to the axis of all revolute pairs in these two branches, and another axis coaxle of these two universal hinges.
5. twin-translation-rotation partial decoupling parallel mechanism as claimed in claim 1, it is characterized in that: if directly being connected with moving platform in first branch and second branch all is the ball pair, then the line between the centre of sphere of the ball pair in the centre of sphere of the ball pair in first branch and second branch is perpendicular to the axis of all revolute pairs in these two branches.
6. twin-translation-rotation partial decoupling parallel mechanism as claimed in claim 1, it is characterized in that: if one of the kinematic pair that directly is connected with moving platform in first and second branches is the ball pair, another is universal hinge, then universal hinge axis is by the centre of sphere of this ball pair, the axis of all revolute pairs in parallel these two branches of another axis.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN103144097A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel robot mechanism with two rotations and one movement |
| CN103302510A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Parallel mechanism with two floatable staggered spindles |
| CN103381602A (en) * | 2013-07-10 | 2013-11-06 | 燕山大学 | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom |
| CN104015186A (en) * | 2014-06-26 | 2014-09-03 | 山东大学（威海） | Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
| CN104858860A (en) * | 2015-06-01 | 2015-08-26 | 山东理工大学 | Two-transitional-motion one-rotation parallel mechanism |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105689260A (en) * | 2016-04-26 | 2016-06-22 | 吴明洋 | Vibratory screening device |
| CN105711676A (en) * | 2016-01-25 | 2016-06-29 | 山东大学（威海） | Four-degree-of-freedom series-parallel hybrid robot leg configuration and walking robot |
| CN106272359A (en) * | 2016-09-30 | 2017-01-04 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
| CN109531550A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
| CN110813729A (en) * | 2019-10-31 | 2020-02-21 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN112008697A (en) * | 2020-09-18 | 2020-12-01 | 河南科技大学 | Two-rotation one-movement three-freedom-degree decoupling parallel mechanism |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166751A (en) * | 2011-05-20 | 2011-08-31 | 汕头大学 | Branched chain-less and six-freedom degree parallel manipulator |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN103144097A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel robot mechanism with two rotations and one movement |
| CN103302510A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Parallel mechanism with two floatable staggered spindles |
| CN103302510B (en) * | 2013-07-03 | 2015-10-28 | 上海交通大学 | Can be floated containing two the parallel institution of staggered rotating shaft |
| CN103381602A (en) * | 2013-07-10 | 2013-11-06 | 燕山大学 | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom |
| CN103381602B (en) * | 2013-07-10 | 2015-09-16 | 燕山大学 | A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure |
| CN104015186A (en) * | 2014-06-26 | 2014-09-03 | 山东大学（威海） | Four-degree-of-freedom parallel mechanism with three-dimensional translation and one-dimensional rotation |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
| CN104858860A (en) * | 2015-06-01 | 2015-08-26 | 山东理工大学 | Two-transitional-motion one-rotation parallel mechanism |
| CN105711676B (en) * | 2016-01-25 | 2017-08-29 | 山东大学（威海） | Four-degree-of-freedom serial-parallel mirror robot leg configuration and walking robot |
| CN105711676A (en) * | 2016-01-25 | 2016-06-29 | 山东大学（威海） | Four-degree-of-freedom series-parallel hybrid robot leg configuration and walking robot |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105539786B (en) * | 2016-02-01 | 2017-07-04 | 山东大学（威海） | Wheel leg combined shunt leg mechanism and underwater robot |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN105689260A (en) * | 2016-04-26 | 2016-06-22 | 吴明洋 | Vibratory screening device |
| CN106272359A (en) * | 2016-09-30 | 2017-01-04 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN108356802A (en) * | 2018-05-16 | 2018-08-03 | 湖北理工学院 | A kind of two-freedom-degree parallel mechanism of partly decoupled |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
| CN109176471B (en) * | 2018-09-30 | 2023-10-24 | 昆明理工大学 | Four-degree-of-freedom parallel mechanism |
| CN109531550A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
| CN109531550B (en) * | 2019-01-23 | 2024-02-13 | 河南科技大学 | Coupling-free two-rotation parallel mechanism |
| CN110813729A (en) * | 2019-10-31 | 2020-02-21 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN110813729B (en) * | 2019-10-31 | 2022-07-22 | 江苏大学 | 2T2R four-degree-of-freedom vibrating screen based on parallel mechanism |
| CN112008697A (en) * | 2020-09-18 | 2020-12-01 | 河南科技大学 | Two-rotation one-movement three-freedom-degree decoupling parallel mechanism |
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Application publication date: 20100707 |