CN104002298B - A kind of two move a rotating decoupling parallel robot mechanism - Google Patents
A kind of two move a rotating decoupling parallel robot mechanism Download PDFInfo
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- CN104002298B CN104002298B CN201410197867.0A CN201410197867A CN104002298B CN 104002298 B CN104002298 B CN 104002298B CN 201410197867 A CN201410197867 A CN 201410197867A CN 104002298 B CN104002298 B CN 104002298B
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Abstract
A kind of two move a rotating decoupling parallel robot mechanism, they three branches comprising fixed platform, moving platform and connect them, and the identical Liang Ge branch of structure is by a cylindrical pair and two revolute pairs and two the connecting rod compositions being connected them; Another branch is made up of with three connecting rods being connected them four revolute pairs.Two same branches are connected with fixed platform and moving platform with a revolute pair respectively by a cylindrical pair, and another branch is connected with fixed platform and moving platform respectively by two revolute pairs.Structure of the present invention is simple, driving element is few, low cost of manufacture, moving platform two movements can be realized and a rotational motion full decoupled, and be easy to control, reaction speed is fast and bearing capacity is strong.
Description
Technical field
The invention belongs to robot field, particularly a kind of space parallel mechanism.
Background technology
Parallel institution generally by moving platform and fixed platform by least two independently kinematic chain be connected, make mechanism have two or more free degree, and with a kind of close loop mechanism that parallel way drives.Compared with serial mechanism, parallel institution has the advantages such as bearing capacity is large, rigidity is high, movement velocity is fast, accumulated error is little, dynamic performance is good.
Due to the restriction of structure, parallel institution also has the feature of close coupling simultaneously.The strong coupling existence of parallel institution makes mechanism there are problems in mechanism design, computational analysis and motion control etc., as normal solution kinematics problem becomes very difficult, corresponding kinetic model is also very complicated, thus limits the application of some control methods.Therefore, for simplifying the control procedure of parallel institution, the decoupling improving parallel institution has become the hot issue of theory of mechanisms research field.
Domestic scholars is moved in the research of one turn of 3-freedom parallel mechanism decoupling two and is obtained some progress, such as, Chinese patent literature CN102688853A proposes a kind of 3-freedom parallel mechanism tea finishing machine, three Vibration Chains of this mechanism are non-interference, full decoupled, improve the screening efficiency of tealeaves; China Patent Publication No. is that CN102431027A proposition a kind of two moves one turn of three freedom decoupling space parallel mechanism, the three degree of freedom motion of this mechanism is full decoupled, and the direction of two one-movement-freedom-degrees is parallel with fixed platform plane, and the axis of rotational freedom and fixed platform plane orthogonal.In addition, Chinese patent literature CN102922310A it is also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Foregoing invention mechanism decoupling or obtain part and solve, or in mechanism containing ball secondary and moving sets more etc.
Summary of the invention
The object of the present invention is to provide a kind of full decoupled, structure of moving simple, be easy to control two move a rotating decoupling parallel robot mechanism.
The present invention includes fixed platform, moving platform and connect three branches of these two platforms, the opposite side of fixed platform is respectively provided with a cylindrical pair, the centerline parallel of two cylindrical pairs and all parallel with fixed platform bottom surface, and moving platform is triangular structure; In three branches, two branched structures are identical, namely by a cylindrical pair and two revolute pairs and two the connecting rod compositions being connected them; Another branch is made up of with three connecting rods being connected them four revolute pairs.
Wherein, one end of the first connecting rod in the identical Liang Ge branch of structure is connected with fixed platform by cylindrical pair, and the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, and the other end of this second connecting rod is connected with moving platform by revolute pair; First connecting rod in another branch is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair.
The axis being parallel of three kinematic pairs in the identical Liang Ge branch of structure, and all parallel with moving platform with fixed platform; The axes normal of the revolute pair be connected with fixed platform in another branch and other three revolute pairs, and all parallel with moving platform with fixed platform.
In above-mentioned three branches, two kinematic pairs that structure identical Liang Ge branch is connected with fixed platform are respectively that the input motion of each branch is secondary, and wherein, one is mobile input, and another is for rotating input; The revolute pair be connected with fixed platform in another branch is that the input motion of this branch is secondary.The axis being parallel of three input motion pairs, the input cylindrical pair of the identical Liang Ge branch of structure is symmetrically distributed in the input revolute pair both sides of another branch; The axis being parallel of two revolute pairs that two same branches are connected with moving platform, and the revolute pair axes normal be connected with moving platform with another branch.
In the identical Liang Ge branch of said structure, first connecting rod is moved under the driving of cylindrical pair, and drives second connecting rod to be moved, and the mobile moving platform that drives of second connecting rod is moved; In another branch, first connecting rod rotates under the first revolute pair drives, and drives second connecting rod to rotate, and second connecting rod drives again third connecting rod to rotate, and the rotation finally through third connecting rod drives moving platform to rotate; And two of these three directions movements and a rotational motion are decoupling zeros, non-interference.
Can replace with the moving sets that a revolute pair and moving direction are identical with revolute pair axis with the cylindrical pair that fixed platform connects in said structure identical Liang Ge branch; Be connected two nearest revolute pairs in another branch to replace with Hooke's hinge with fixed platform.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, and driving element is few, low cost of manufacture;
2, two, space one-movement-freedom-degree is achieved and a rotational freedom is full decoupled;
3, all input motion pairs are all connected with fixed platform, which reduce the load of rod member, have good motility and higher reaction speed.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
Move in a rotating decoupling parallel robot mechanism schematic diagram in the one two shown in Fig. 1, the opposite side of fixed platform 1 respectively has a cylindrical pair 2,15, the centerline parallel of two cylindrical pairs and all parallel with fixed platform bottom surface, and moving platform 7 is triangular structure; One end of first connecting rod 3,16 in two same branches is connected with fixed platform by cylindrical pair 2,15, the other end of this first connecting rod is connected with one end of second connecting rod 5,18 by revolute pair 4,17, and the other end of this second connecting rod is connected with moving platform by revolute pair 6,19; The first connecting rod 9 of another branch is connected with fixed platform by revolute pair 8, the other end of this first connecting rod is connected with one end of second connecting rod 11 by revolute pair 10, the other end of this second connecting rod is connected with one end of third connecting rod 13 by revolute pair 12, and the other end of this third connecting rod is connected with moving platform by revolute pair 14.
Cylindrical pair 2 in two same branches is parallel with the axis direction of cylindrical pair 15, and with the axis being parallel of the revolute pair 8 in another branch, parallel with fixed platform all the time.
The revolute pair 6 be connected with moving platform in two same branches and the axis being parallel of revolute pair 19, all all the time, parallel with moving platform, the axes normal of the revolute pair 6 that the axis of the revolute pair 14 be connected with moving platform in another branch is connected with another two and moving platform and revolute pair 19, and parallel with moving platform all the time.
In two same branches, the axis direction of cylindrical pair 2,15 and the axis being parallel of the first revolute pair 4,17 and second revolute pair 6,19, and with the axes normal of first connecting rod 3,16 and second connecting rod 5,18; In another branch, the axis being parallel of the second revolute pair 10, the 3rd revolute pair 12 and the 4th revolute pair 14, and with the axes normal of the first revolute pair 8.Four revolute pair axis all with the axes normal of first connecting rod 9, second connecting rod 11, third connecting rod 13.
Claims (2)
1. one kind two is moved a rotating decoupling parallel robot mechanism, they three branches comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: the opposite side of fixed platform is respectively provided with a cylindrical pair, the centerline parallel of two cylindrical pairs and all parallel with fixed platform bottom surface, moving platform is triangular structure, wherein, two branched structures are identical; One end of first connecting rod in two same branches is connected with fixed platform by above-mentioned cylindrical pair, and the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, and the other end of this second connecting rod is connected with moving platform by revolute pair; First connecting rod in another branch is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; In two same branches, the axis being parallel of the axis direction of cylindrical pair and two revolute pairs; In another branch, except the revolute pair be connected with fixed platform, the axis being parallel of other three revolute pairs, and the axes normal of the revolute pair be connected with fixed platform.
2. according to claim 1 a kind of two move a rotating decoupling parallel robot mechanism, it is characterized in that: can replace with the moving sets that a revolute pair and moving direction are identical with revolute pair axis with the cylindrical pair that fixed platform connects in described two same branches; Be connected two nearest revolute pairs in another branch to replace with Hooke's hinge with fixed platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410197867.0A CN104002298B (en) | 2014-05-12 | 2014-05-12 | A kind of two move a rotating decoupling parallel robot mechanism |
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| CN201410197867.0A CN104002298B (en) | 2014-05-12 | 2014-05-12 | A kind of two move a rotating decoupling parallel robot mechanism |
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| CN104002298A CN104002298A (en) | 2014-08-27 |
| CN104002298B true CN104002298B (en) | 2016-01-27 |
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Families Citing this family (15)
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| CN104589308A (en) * | 2014-11-21 | 2015-05-06 | 广西智通节能环保科技有限公司 | Multi-rotating-pair mechanism |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot 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 |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN105936044B (en) * | 2016-06-02 | 2018-04-03 | 燕山大学 | A kind of two turn of one motion three-freedom-degree parallel mechanism of full decoupled formula |
| CN106002956B (en) * | 2016-07-14 | 2018-04-03 | 燕山大学 | A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform |
| CN107511817B (en) * | 2017-09-12 | 2020-10-16 | 北京工业大学 | Two-rotation one-movement asymmetric coupling mechanism |
| CN108748109B (en) * | 2018-07-11 | 2020-04-28 | 燕山大学 | Two-translation one-rotation 2RRR-CRR parallel mechanism |
| CN109015602B (en) * | 2018-08-29 | 2020-08-21 | 燕山大学 | Three-translation 2CPR-URU parallel mechanism |
| CN109015604B (en) * | 2018-09-13 | 2021-03-09 | 西安工程大学 | Two-movement one-rotation three-freedom-degree parallel mechanism |
| CN109499867B (en) * | 2018-10-30 | 2021-12-21 | 江苏大学 | Feed grading parallel vibrating screen |
| CN109571444B (en) * | 2019-01-17 | 2020-06-23 | 燕山大学 | Two-translation one-rotation partial decoupling parallel mechanism |
| CN109940589B (en) * | 2019-04-01 | 2020-12-18 | 燕山大学 | Symmetrical two-rotation one-movement complete decoupling parallel mechanism |
| CN111113384B (en) * | 2020-01-09 | 2022-10-14 | 天津理工大学 | Two-movement one-rotation three-freedom-degree parallel mechanism |
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Effective date of registration: 20190904 Address after: 066004 No. 277-1 Cultural Road, Haigang District, Qinhuangdao City, Hebei Province Patentee after: Qinhuangdao Guansheng Technology Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |
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