CN102922511A - Three-move one-rotation four-freedom degree space parallel connection mechanism - Google Patents
Three-move one-rotation four-freedom degree space parallel connection mechanism Download PDFInfo
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Abstract
The invention discloses a three-move one-rotation four-freedom degree space parallel connection mechanism and belongs to the technical field of parallel connection robots. The mechanism comprises a moving platform, a fixed platform, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain, wherein the moving platform and the fixed platform are used for installing an actuator, the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are connected between the moving platform and the fixed platform and provided with the same structure, and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain all contain a moving pair which is driven actively; and the first branch chain, the second branch chain, the third branch chain and the fourth branch chain are respectively connected with the fixed platform and the moving platform to form a space parallel connection closed-loop mechanism, the space parallel connection closed-loop mechanism moves through four output moving driving platforms, three-dimensional translation and one-dimensional rotation in the space can be achieved, the space parallel connection mechanism has a structural characteristic of a single platform, a high-speed high-dynamic response characteristic is achieved, and mechanism can be used in a sorting production line to achieve rapid capture motion.
Description
Technical field
The invention belongs to the parallel robot field, particularly a kind ofly be applied to pack, make, the four-freedom space parallel mechanism that can realize high-speed motion of the production line such as assembling and material pick up.
Background technology
Parallel institution is the close loop mechanism that is made of a plurality of side chains, a plurality of frees degree that adopt single fisher's formula structure to realize terminal of traditional mechanism correspondingly more, and this class mechanism is commonly called serial mechanism.And in the parallel institution, number of degrees of freedom, is less than six mechanism and is called as the lower-mobility parallel institution, and four-freedom parallel mechanism of the present invention just belongs to this type of mechanism.In recent years, the lower-mobility parallel institution more and more is subject to researcher's attention and favor, Clavel has proposed the Delta mechanism of the three-dimensional translating realized that is made of three symmetrical side chains the earliest, the rear sorting operation of being promoted and be applied to replace in the production line such as packaging for foodstuff manually finish food etc. by ABB AB, this type of mechanism has the characteristic that can realize high-speed motion.And for the sorting production line, its arrangement of product of carrying is usually disorderly and unsystematic, need manipulator to have turning power flexibly to increase flexibility and the efficient of picking action, for this reason, Pierrot etc. have proposed to have four side chains, the H4 type parallel institution of the realized SCARA of two moving platform features (Selective Compliance Assembly Robot Arm) motion, and with its commercialization, based on the Adept Quattro of this mechanism
TMThe S650H manipulator has been successfully applied to production line.But the three-dimensional translating of this mechanism implementation space and one-dimensional rotation, this rotational freedom are to be produced by the relative motion of two platforms, have satisfied the demand of sorting production line for the manipulator turning power.But because two platform structures of H4 mechanism, so that its complex structure, the while has also increased kinematic complexity, and the characteristic of its high speed high dynamic response is had a negative impact, and is unfavorable for the further raising of production efficiency when production line is used.
Summary of the invention
The objective of the invention is in order to overcome two platform structures in the above-mentioned H4 mechanism to the adverse effect of manipulator high-speed high dynamic response, proposing a kind of three moves one and turns four-freedom space parallel mechanism, has single action platform structure feature, can realize the parallel institution in three translations, the one rotation four-degree-of-freedom space of SCARA motion, this mechanism structure is simplified, and then reaches the simplification kinematics and improve the purpose of its high speed high dynamic response.
A kind of three of the present invention's proposition moves one and turns four-freedom space parallel mechanism, it is characterized in that: this mechanism comprises moving platform and a fixed platform that actuator is installed, connects four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: connecting rod, parallel-crank mechanism, connector and kinematic pair; Described kinematic pair has four, one is the revolute pair (R) that is connected between fixed platform and the connecting rod, one is the revolute pair (R) that is connected between connecting rod and the parallel-crank mechanism, one is the revolute pair (R) that is connected between parallel-crank mechanism and the connector, one is the revolute pair that is connected between connector and the moving platform, and these four side chains are
RR (Pa) RR type movement branched chain; Described parallel-crank mechanism (Pa) is the closed-loop mechanism that is connected and composed in turn by revolute pair (R) head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod; Wherein, the revolute pair (R) that is connected between fixed platform and the connecting rod is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
The present invention also proposes another kind of three and moves one and turn four-freedom space parallel mechanism, and it is characterized in that: this mechanism comprises moving platform and a fixed platform that actuator is installed, connects four side chains between described moving platform and the fixed platform; The described first, second, third and the 4th side chain includes: slide block, parallel-crank mechanism, connector and kinematic pair.Described kinematic pair has four, one is the moving sets (P) that is connected between fixed platform and the slide block, one is the revolute pair (R) that is connected between slide block and the parallel-crank mechanism, one is the revolute pair (R) that is connected between parallel-crank mechanism and the connector, and one is the revolute pair (R) that is connected between connector and the moving platform.Described parallel-crank mechanism (Pa) is the closed-loop mechanism that is connected and composed in turn by revolute pair (R) head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod, and these four side chains are
PR (Pa) RR type movement branched chain; Wherein, the moving sets P that is connected between fixed platform and the slide block is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
Characteristics of the present invention and technique effect
The present invention proposes a kind of three translations one that can realize the SCARA motion with single platform structure feature and rotates four-freedom space parallel mechanism.
Of the present invention three move one turns four-freedom space parallel mechanism by the kinematic pair driving moving platform motion of four active drive, three-dimensional translating motion in the implementation space and one-dimensional rotation motion, this mechanism has single platform structure, simple for structure, kinematics is relatively simple, be conducive to its at a high speed raising of the high dynamic response characteristic that accelerates, but Effective Raise production efficiency when being applied to sort production line.Simultaneously, cases of engineering shows that the parallel institution with mechanism of the present invention branched structure feature more easily realizes the high speed high acceleration moving.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention one.
Fig. 2 is the structural representation of the embodiment of the invention two.
The specific embodiment
Of the present invention a kind of three move one turns four-freedom space parallel mechanism and reaches by reference to the accompanying drawings embodiment and be described in detail as follows:
Two kind three of the present invention's proposition is moved one and turns four-freedom space parallel mechanism, comprise moving platform and a fixed platform that actuator is installed, connect the first, second, third and the 4th side chain with same structure between described moving platform and the fixed platform, this first, second, third and the 4th side chain all contains the kinematic pair of an active drive; The first, second, third and the 4th side chain is
RR (Pa) RR type movement branched chain or
PR (Pa) RR type movement branched chain (wherein, R represents revolute pair, and Pa represents parallel-crank mechanism, and P represents moving sets, and
RWith
PRepresenting this kinematic pair is active drive).Be described as follows:
The first, second, third and the 4th side chain of the first mechanism includes: connecting rod, parallel-crank mechanism, connector and kinematic pair.Described kinematic pair has four, one is the revolute pair R that is connected between fixed platform and the connecting rod, one is the revolute pair R that is connected between connecting rod and the parallel-crank mechanism, one is the revolute pair R that is connected between parallel-crank mechanism and the connector, and one is the revolute pair R that is connected between connector and the moving platform.Described parallel-crank mechanism is the closed-loop mechanism that is connected and composed in turn by the revolute pair head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod.Wherein, the revolute pair R that is connected between fixed platform and the connecting rod is active drive, and this side chain is
RR (Pa) RR type movement branched chain.
The first, second, third and the 4th side chain of the second mechanism also can comprise: slide block, parallel-crank mechanism, connector and kinematic pair.Described kinematic pair has four, one is the moving sets P that is connected between fixed platform and the slide block, one is the revolute pair R that is connected between slide block and the parallel-crank mechanism, one is the revolute pair R that is connected between parallel-crank mechanism and the connector, and one is the revolute pair R that is connected between connector and the moving platform.Described parallel-crank mechanism is the closed-loop mechanism that is connected and composed in turn by the revolute pair head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod.Wherein, the moving sets P that is connected between fixed platform and the slide block is active drive, and this side chain is
PR (Pa) RR type movement branched chain.
Embodiment one:
A kind of three of the present embodiment moves a structure that turns four-freedom space parallel mechanism as shown in Figure 1, comprise fixed platform 18, moving platform 11 and the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV, described four side chains are connected between fixed platform 18 and the moving platform 11, and with fixed platform 18 and moving platform 11 Special composition close loop mechanisms.
Described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV structure are identical, are
RR (Pa) RR type movement branched chain, among the figure, the first side chain I comprises: connecting rod 17, parallel-crank mechanism Pa, connector 12 and kinematic pair.Described kinematic pair has four, one is the revolute pair R that is connected between fixed platform 18 and the connecting rod 17, one is the revolute pair R that is connected between connecting rod 17 and the parallel-crank mechanism Pa, one is the revolute pair R that is connected between parallel-crank mechanism Pa and the connector 12, and one is the revolute pair R that is connected between connector 12 and the moving platform 11.Described parallel-crank mechanism Pa is the closed-loop mechanism that is connected and composed in turn by the revolute pair head and the tail by upper connecting rod 16, lower link 13, left connecting rod 14 and right connecting rod 15.Wherein, the revolute pair R that is connected between fixed platform 18 and the connecting rod 17 is active drive.
Be connected in that four revolute pairs between described moving platform 11 and described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV are parallel to each other and be non-square at described moving platform 11 arranges, mechanism occurs unusually when being arranged in squares, and this moment, mechanism was invalid.Therefore, all are non-square layout situation and all belong to protection domain of the present invention.
Embodiment two:
A kind of three of the present embodiment moves a structure that turns four-freedom space parallel mechanism as shown in Figure 2, and is similar with embodiment one, comprises equally identical the first side chain I of structure, the second side chain II, the 3rd side chain III and the 4th side chain IV.What the present embodiment and embodiment one were different is: described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV are
PR (Pa) RR type movement branched chain, the i.e. different drive forms that are to adopt the moving sets active drive of the present embodiment and embodiment one.Be embodied on the concrete structure and be: the slide block 22 of its first side chain I and the upper connecting rod of described parallel-crank mechanism Pa 21 are connected by revolute pair, and slide block 22 is connected by moving sets with fixed platform 23 and this moving sets is active drive.In the present embodiment, fixed platform is comprised of the fixed flat planar (23,24,25 and 26) of four separation, and these four fixed flat planars are all vertically placed and are symmetrically layout at circumference.
Claims (4)
1. one kind three is moved one and turn four-freedom space parallel mechanism, it is characterized in that: this mechanism comprises moving platform and a fixed platform that actuator is installed, connects four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: connecting rod, parallel-crank mechanism, connector and kinematic pair; Described kinematic pair has four, one is the revolute pair (R) that is connected between fixed platform and the connecting rod, one is the revolute pair (R) that is connected between connecting rod and the parallel-crank mechanism, one is the revolute pair (R) that is connected between parallel-crank mechanism and the connector, and one is the revolute pair that is connected between connector and the moving platform; Described parallel-crank mechanism (Pa) is the closed-loop mechanism that is connected and composed in turn by revolute pair (R) head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod; Wherein, the revolute pair (R) that is connected between fixed platform and the connecting rod is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
2. one kind three is moved one and turn four-freedom space parallel mechanism, it is characterized in that: this mechanism comprises moving platform and a fixed platform that actuator is installed, connects four side chains between described moving platform and the fixed platform; The described first, second, third and the 4th side chain includes: slide block, parallel-crank mechanism, connector and kinematic pair; Described kinematic pair has four, one is the moving sets (P) that is connected between fixed platform and the slide block, one is the revolute pair (R) that is connected between slide block and the parallel-crank mechanism, one is the revolute pair (R) that is connected between parallel-crank mechanism and the connector, and one is the revolute pair (R) that is connected between connector and the moving platform; Described parallel-crank mechanism (Pa) is the closed-loop mechanism that is connected and composed in turn by revolute pair (R) head and the tail by upper connecting rod, lower link, left connecting rod and right connecting rod; Wherein, the moving sets P that is connected between fixed platform and the slide block is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
3. mechanism as claimed in claim 2 is characterized in that, fixed platform is comprised of the fixed flat planar of four separation, and these four fixed flat planars are all vertically placed and are symmetrically at circumference and arrange.
4. mechanism as claimed in claim 1 or 2, it is characterized in that, be connected in four revolute pairs between described moving platform and described the first side chain, the second side chain, the 3rd side chain and the 4th side chain or moving sets is parallel to each other and be non-square at described moving platform arranges.
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| CN103231370A (en) * | 2013-04-23 | 2013-08-07 | 广州中国科学院先进技术研究所 | Parallel robot and mounting method thereof |
| CN103231362A (en) * | 2013-04-23 | 2013-08-07 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN103465255A (en) * | 2013-09-24 | 2013-12-25 | 北京交通大学 | Hydraulic drive parallel moving robot |
| CN104942800A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127999A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation one-rotation parallel robot catcher |
| CN105234924A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
| CN105522566A (en) * | 2016-01-28 | 2016-04-27 | 东莞理工学院 | Accurate M-shaped four-degree-of-freedom parallel positioning device |
| CN105563458A (en) * | 2014-10-10 | 2016-05-11 | 上海沃迪自动化装备股份有限公司 | Parallel robot of plane four-bar mechanism |
| CN105643599A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Single-input three-translation one-rotation parallel robot mechanism |
| CN106346444A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Four degrees of freedom parallelly connected robot mechanism with three-dimensional horizontal movement and one-dimensional rotation |
| CN106671063A (en) * | 2017-01-03 | 2017-05-17 | 山东大学 | Translational parallel mechanism |
| CN108161948A (en) * | 2016-06-23 | 2018-06-15 | 泉州市泉港凯威信息技术咨询有限公司 | A kind of robot |
| CN108858139A (en) * | 2018-06-27 | 2018-11-23 | 大连理工大学 | A kind of high speed parallel institution of the multiple motion platforms with restructural characteristic |
| CN109352627A (en) * | 2018-11-06 | 2019-02-19 | 昆明理工大学 | A kind of space three-dimensional parallel manipulator hand |
| CN111267077A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | Non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism |
| CN111438683A (en) * | 2020-04-10 | 2020-07-24 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
| CN112659099A (en) * | 2020-11-17 | 2021-04-16 | 燕山大学 | Local two-degree-of-freedom rigid-soft coupling bionic robot waist joint |
| CN112743519A (en) * | 2020-12-28 | 2021-05-04 | 哈尔滨工业大学（深圳） | Space three-movement and one-rotation four-freedom-degree parallel mechanism with pitching rotation |
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| CN114802521B (en) * | 2022-04-25 | 2023-04-07 | 清华大学 | Parallel-driven all-elbow type quadruped robot |
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Application publication date: 20130213 |