CN102689304A - Three-freedom-degree mobile parallel robot mechanism - Google Patents
Three-freedom-degree mobile parallel robot mechanism Download PDFInfo
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- CN102689304A CN102689304A CN2012100104711A CN201210010471A CN102689304A CN 102689304 A CN102689304 A CN 102689304A CN 2012100104711 A CN2012100104711 A CN 2012100104711A CN 201210010471 A CN201210010471 A CN 201210010471A CN 102689304 A CN102689304 A CN 102689304A
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Abstract
The invention relates to a three-freedom-degree mobile parallel robot mechanism comprising a mobile platform and an immobile platform, wherein three branch mobile chains which are the same in structure form and are orthogonally distributed in a space are arranged between the mobile platform and the immobile platform; between the mobile platform and the immobile platform, each branch mobile chain is formed by sequentially connecting a first mobile pair, a first rotating pair, a second rotating pair, a parallelogram structure and a movement pair in series; and moving directions of the three first mobile pairs corresponding to the three branch mobile chains are vertical and are orthogonally distributed in the space. The mechanism can be used as a terminal executing mechanism of an industrial robot, a medical robot and a micro-operation robot; and the mechanism has the advantages of simple structure, good kinematic decoupling performance and high movement performance.
Description
Technical field
The present invention relates to the industrial robot field, relate in particular to a kind of non-mistake and retrain full decoupled three-freedom parallel robot mechanism.
Background technology
Parallel robot mechanism generally is made up of moving platform, fixed platform and some branches (general 2 ~ 6).With respect to traditional serial mechanism, parallel robot mechanism has that bearing capacity is strong, precision is high, rigidity is big, speed responsive is fast and advantage such as the deadweight duty ratio is little.Parallel robot mechanism has become recent two decades theory of mechanisms and robot field's research focus.
For general parallel robot mechanism, its kinematics coupling is all very strong, and one of moving platform motion output often needs a plurality of inputs controls, and kinematics separates complicacy, and like famous 6DOF Steward parallel institution, this motion of mechanism has been separated 40 groups; 3DOF moves the Delta parallel institution for another example, and this mechanism is made up of 12 ball pairs, 3 revolute pairs and 14 rod members, and structure comparatively compound movement has been separated 16 groups.Tsai L-W has designed a kind of novel three-dimensional mobile parallel connection mechanism (open day is 1997.08.12 for United States Patent (USP), No.5656905) on the basis of Delta mechanism, though structure is comparatively simple with respect to the former, its kinematics solution is eight times.Parallel robot mechanism kinematics coupling is strong more, and the number that kinematics is separated is many relatively more, and its working space is then more little with respect to the volume of mechanism, and mechanism path is planned and precision control is more difficult.Kong X-W designs the 3-CRR parallel institution; Have only 3 cylindrical pairs, 6 revolute pairs and 6 rod members to form; Relatively simple for structure; But the normal angle theoretical value on the axis of its revolute pair and cylindrical pair and moving platform plane is 54.7356 degree, and this processing and assembling for correlated parts has proposed requirements at the higher level.
Domestic scholars is also obtaining a series of achievement aspect the research of three-dimensional moving parallel structure; Like Chinese patent 201010225496.4 disclosed a kind of " a kind of three-translation spatial parallel robotic mechanism "; Though this mechanism's structure is comparatively simple; But the motion coupling is stronger, so the parallel institution that project organization is simple, kinematic decoupling property is good and exercise performance is high has become the new problem of this area research.
Summary of the invention
The object of the present invention is to provide a kind of non-mistake to retrain full decoupled three-freedom parallel robot mechanism, with limited, the baroque problem of the decoupling that solves parallel robot mechanism of the prior art.
In order to address the above problem, technical scheme of the present invention is:
A kind of three free degree moving parallel connected robot mechanism; Comprise moving platform and fixed platform; It is identical and be the sub-chain that orthogonal space distributes to be provided with three version between described moving, fixed platform; Between from the fixed platform to the moving platform; Each sub-chain is in series by first moving sets, first revolute pair, second revolute pair, parallelogram sturcutre and kinematic pair in proper order; Between said first moving sets and first revolute pair, be connected with the 3rd member by second member respectively between second revolute pair and the kinematic pair; Described parallelogram sturcutre and kinematic pair are by following two kinds of forms: first kind of form; Described parallelogram sturcutre comprises the quadrangle revolute pair that four axis are parallel to each other and is connected in first, second, third and fourth connecting elements between four quadrangle revolute pairs, and the axis of described each quadrangle revolute pair, first revolute pair, second revolute pair all is parallel to each other with the moving direction of corresponding first moving sets, and described second revolute pair is installed in the middle part of said first connecting elements; The 3rd connecting elements in the described parallelogram sturcutre is installed on the described moving platform through described kinematic pair, and said kinematic pair is made up of the revolute pair of the central lines of axis and said the 3rd connecting elements; Second kind of form; Described parallelogram sturcutre by first and second, four connecting elements and moving platform surround; Described second, four connecting elements are the two ends that are arranged at said first connecting elements that are parallel to each other of the quadrangle revolute pair through correspondence respectively; The axis of described each quadrangle revolute pair, first revolute pair, second revolute pair all is parallel to each other with the moving direction of corresponding first moving sets; Described second revolute pair is installed in the middle part of said first connecting elements, and the other end of said second, four connecting elements links to each other with moving platform through the corresponding sports pair respectively, and described kinematic pair is universal hinge or ball pivot;
The moving direction of three first moving sets that said three sub-chains are corresponding is vertical each other, and is the orthogonal space distribution.
Described moving platform is the regular hexagonal that the parallel and non-conterminous edge lengths of opposite side equates, three corresponding kinematic pairs of described each sub-chain are arranged at respectively on the non-conterminous limit of said moving platform.
Described moving platform is provided with three guide direction and is three guide rails that orthogonal space distributes, and three first corresponding moving sets of described each sub-chain are assemblied in respectively on three corresponding guide rails.
Described three free degree moving parallel connected robot mechanism also comprises respectively with corresponding first moving sets and being in transmission connection to drive each first moving sets along the straight-line linear electric motors of corresponding guide rail or by the ball-screw transmission mechanism of driven by servomotor.
Beneficial effect of the present invention is: three sub-chains are respectively first and second and three sub-chains; The moving direction of first moving sets of three sub-chain correspondences is respectively orthogonal directions X in the space, Y direction and Z direction; When the said moving platform of needs when directions X moves back and forth; Can move along directions X through first moving sets that drives first sub-chain and drive said moving platform, in this process, described second, third sub-chain is done adaptive motion; When the needs moving platform along Y when moving reciprocatingly, can move along the Y direction through second moving sets that drives second sub-chain and drive said moving platform, in this process, said the first, the 3rd sub-chain is done adaptive motion; When the needs moving platform when track Z direction moves reciprocatingly, can move along the Z direction through the three moving sets that drives the 3rd sub-chain and drive moving platform, in this process, said first, second sub-chain is done adaptive motion; Final realization non-mistake of the present invention retrains full decoupled three free degree moving parallel connected robot mechanism.Parallel robot mechanism kinematics along any direction in whole working space is all identical with mechanical property; Can realize man-to-man control relation between the input and output of this motion of mechanism; A motion output that is moving platform only needs a driver control; It is poor to have solved existing robots motion of mechanism decoupling, and an output of mechanism's moving platform needs the problem of a plurality of input controls.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the structural representation of the embodiment of the invention 2;
Fig. 3 is the structural representation of the embodiment of the invention 3.
The specific embodiment
A kind of embodiment 1 of three free degree moving parallel connected robot mechanism is as shown in Figure 1: comprise fixed platform 10, moving platform 20 and connect three versions of fixed platform 10 and moving platform 20 identical and be orthogonal space respectively sub-chain form the regular hexagonal structure that moving platform 10 adopts the parallel and non-conterminous edge lengths of opposite side to equate.Described three sub-chains are the first sub-chain L1, the second sub-chain L2 and the 3rd sub-chain L3.
Orthogonal three directions in the space are defined as directions X, Y direction and Z direction respectively; Fixed platform 10 be provided with X that guide direction extends along directions X, Y direction and Z direction respectively to guide rail 1-1, Y to guide rail 1-2 and Z to guide rail 1-3; The first sub-chain L1 and X are to the corresponding setting of guide rail 1-1; The second sub-chain L2 and Y be to the corresponding setting of guide rail 1-2, and the 3rd sub-chain L3 and Z are to the corresponding setting of guide rail 1-3.Article three, sub-chain has identical version, and every sub-chain is in series by the first moving sets P1, the first revolute pair R1, the second revolute pair R2, parallelogram sturcutre Pa and kinematic pair R3 in proper order; Parallelogram sturcutre Pa is by the quadrangle revolute pair that comprises four parallel axes and be connected in the first connecting elements 4a, the second connecting elements 4b, the 3rd connecting elements 4d and the 4th connecting elements 4c between four quadrangle revolute pairs; Four quadrangle revolute pairs and four connecting elements are formed loop; Four quadrangle revolute pairs are respectively the first quadrangle revolute pair Ra1, the second quadrangle revolute pair Ra2, the 3rd quadrangle revolute pair Ra3 and the 4th quadrangle revolute pair Ra4; The axis of four quadrangle revolute pairs is parallel to each other in the moving direction of the first moving sets P1 and the corresponding first revolute pair R1, the second revolute pair R2 and the parallelogram sturcutre, and perpendicular to the axis of kinematic pair R3; Correspondingly between the first moving sets P1 and the first revolute pair R1, between the first revolute pair R1 and the second revolute pair R2 connect through second member 2, the 3rd member 3; Second revolute pair is installed in the point midway of member 4a; Parallelogram linkage is installed on the moving platform through kinematic pair R3, and kinematic pair R3 is made up of the revolute pair of the central lines of axis and the 3rd connecting elements 4d, and kinematic pair R3 directly is fixed on the moving platform 20; Article three, the first moving sets P1 axis of sub-chain is the orthogonal space distribution, and promptly X is vertical each other to guide rail 1-3 to guide rail 1-2 and Z to 1-1, Y; The first moving sets P1 of each sub-chain is a driving pair, and its way of output is linear, is used to control moving platform moving along himself slideway direction; The clutch end that drive unit the is employed in servomotor decelerator that is in transmission connection, the form that the ball screw framework that is in transmission connection on the decelerator, ball screw framework and corresponding moving sets are in transmission connection.(perhaps servomotor+ball screw arrangement, perhaps linear electric motors, perhaps linear slide unit).
Non-mistake of the present invention retrains full decoupled three free degree moving parallel connected robot mechanism in the work engineering; When the said moving platform of needs along X when guide rail 1-1 moves back and forth; Can drive said moving platform 20 through the first moving sets P1 that drives the said first sub-chain L1; In this process, described second, third sub-chain is done adaptive motion; When the needs moving platform along Y when guide rail 1-2 moves reciprocatingly, can drive said moving platform 20 through second moving sets that drives said second sub-chain L2, in this process, said the first, the 3rd sub-chain is done adaptive motion; When needs moving platform 20 along Z when guide rail 1-3 moves reciprocatingly, can drive said moving platform 20 through the three moving sets that drives the 3rd sub-chain L3, in this process, said first, second sub-chain is done adaptive motion; Final realization non-mistake of the present invention retrains full decoupled three free degree moving parallel connected robot mechanism.Because mechanism's Jacobian matrix is a unit matrix; The value of its conditional number and determinant is constantly equal to 1; Therefore this kinematics of mechanism is not only full decoupledly, also has the completely isotropic performance, and promptly mechanism's kinematics along any direction in whole working space is all identical with mechanical property; Can realize man-to-man control relation between the input and output of this motion of mechanism; A motion output that is moving platform 20 only needs a driver control; It is poor to have solved existing robots motion of mechanism decoupling, and an output of the moving platform of mechanism needs the problem of a plurality of input controls; In addition, the existence of kinematic pair R3 in each branch not only makes mechanism become the non-constraint mechanism of crossing by crossing constraint mechanism, the more important thing is to make the assembly relation of each sub-chain and moving platform 20 simplify greatly.The three-dimensional that the present invention relates to fields such as can be used as industrial robot, Medical Robot, micro-manipulating robot, virtual lathe moves terminal executing agency.
A kind of embodiment 2 of three free degree moving parallel connected robot mechanism is as shown in Figure 2: embodiment 2 is with the difference of embodiment 1; Described parallelogram sturcutre is by the first quadrangle revolute pair Ra1, the second quadrangle revolute pair Ra2, the first universal hinge U1, the second universal hinge U2; And the first connecting elements 4a, the second connecting elements 4b, the 4th connecting elements 4c and moving platform 20 surround; Described parallelogram second, four connecting elements are the two ends that are arranged at the said first connecting elements 4a that are parallel to each other of the first quadrangle revolute pair Ra1 and the second quadrangle revolute pair Ra2 through correspondence respectively; The axis of described each quadrangle revolute pair, the first revolute pair R1, the second revolute pair R2 all is parallel to each other with the moving direction of the corresponding first moving sets P1; The described second revolute pair R2 is installed in the point midway of the said first connecting elements 4a, and the other end of said second, four connecting elements is installed on the described moving platform 20 through the described first universal hinge U1, the second universal hinge U2 respectively.The second turning cylinder U1-2 that the first universal hinge U1 has the first turning cylinder U1-1 that parallels with the moving direction of the corresponding first moving sets P1 and parallels with the center line of the said first connecting elements 4a; The second turning cylinder U2-2 that the second universal hinge U2 has the first turning cylinder U2-1 that parallels with the moving direction of the corresponding first moving sets P1 and parallels with the center line of the first connecting elements 4a.
A kind of embodiment 3 of three free degree moving parallel connected robot mechanism is as shown in Figure 3, and: embodiment 3 is with the difference of embodiment 2, is connected in that the first universal U1 of hinge between the second connecting elements 4b and the moving platform 20 is transformed into the first ball pivot S1 and the second universal hinge U2 that is connected between the 4th connecting elements 4c and the moving platform 20 is transformed into the second ball pivot S2.
Claims (4)
1. three free degree moving parallel connected robot mechanism; Comprise moving platform and fixed platform; It is characterized in that: it is identical and be the sub-chain that orthogonal space distributes to be provided with three version between described moving, fixed platform; Between from the fixed platform to the moving platform; Each sub-chain is in series by first moving sets, first revolute pair, second revolute pair, parallelogram sturcutre and kinematic pair in proper order; Between said first moving sets and first revolute pair, be connected with the 3rd member by second member respectively between second revolute pair and the kinematic pair; Described parallelogram sturcutre and kinematic pair are by following two kinds of forms: first kind of form; Described parallelogram sturcutre comprises the quadrangle revolute pair that four axis are parallel to each other and is connected in first, second, third and fourth connecting elements between four quadrangle revolute pairs, and the axis of described each quadrangle revolute pair, first revolute pair, second revolute pair all is parallel to each other with the moving direction of corresponding first moving sets, and described second revolute pair is installed in the middle part of said first connecting elements; The 3rd connecting elements in the described parallelogram sturcutre is installed on the described moving platform through described kinematic pair, and said kinematic pair is made up of the revolute pair of the central lines of axis and said the 3rd connecting elements; Second kind of form; Described parallelogram sturcutre by first and second, four connecting elements and moving platform surround; Described second, four connecting elements are the two ends that are arranged at said first connecting elements that are parallel to each other of the quadrangle revolute pair through correspondence respectively; The axis of described each quadrangle revolute pair, first revolute pair, second revolute pair all is parallel to each other with the moving direction of corresponding first moving sets; Described second revolute pair is installed in the middle part of said first connecting elements, and the other end of said second, four connecting elements links to each other with moving platform through the corresponding sports pair respectively, and described kinematic pair is universal hinge or ball pivot;
The moving direction of three first moving sets that said three sub-chains are corresponding is vertical each other, and is the orthogonal space distribution.
2. three free degree moving parallel connected robot mechanism according to claim 1; It is characterized in that: described moving platform is the regular hexagonal that the parallel and non-conterminous edge lengths of opposite side equates, three corresponding kinematic pairs of described each sub-chain are arranged at respectively on the non-conterminous limit of said moving platform.
3. three free degree moving parallel connected robot mechanism according to claim 1; It is characterized in that: described moving platform is provided with three guide direction and is three guide rails that orthogonal space distributes, and three first corresponding moving sets of described each sub-chain are assemblied in respectively on three corresponding guide rails.
4. three free degree moving parallel connected robot mechanism according to claim 3 is characterized in that: described three free degree moving parallel connected robot mechanism also comprises respectively with corresponding first moving sets and being in transmission connection to drive each first moving sets along the straight-line linear electric motors of corresponding guide rail or by the ball-screw transmission mechanism of driven by servomotor.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN103737576A (en) * | 2014-01-08 | 2014-04-23 | 北京邮电大学 | Six freedom degree force feedback hand controller |
| CN104021718A (en) * | 2014-04-30 | 2014-09-03 | 燕山大学 | Closed-loop subchain contained three-freedom-degree parallel swing platform |
| CN104526686A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism |
| CN104626119A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (2R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN105364910A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel sorting robot driven by rotation pairs |
| CN109176471A (en) * | 2018-09-30 | 2019-01-11 | 昆明理工大学 | A kind of four-freedom parallel mechanism |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN103737576A (en) * | 2014-01-08 | 2014-04-23 | 北京邮电大学 | Six freedom degree force feedback hand controller |
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| CN104526686A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism |
| CN104626119A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (2R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN105364910A (en) * | 2015-10-26 | 2016-03-02 | 浙江理工大学 | Four-freedom-degree parallel sorting robot driven by rotation pairs |
| CN105364910B (en) * | 2015-10-26 | 2017-06-13 | 浙江理工大学 | It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving |
| 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 |
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