CN104440921A - Multi-translational-degree-of-freedom parallelogram complex kinematic pair - Google Patents
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Abstract
The invention discloses a multi-translational-degree-of-freedom parallelogram complex kinematic pair. The multi-translational-degree-of-freedom parallelogram complex kinematic pair comprises a machine frame, an output member, side chains and synchronous transmitting devices. The machine frame is connected with the output member through the two or more side chains to form a whole, a kinematic pair body formed by connecting the side chains with the machine frame is a rotary type kinematic pair body, a kinematic pair body formed by connecting the side chains with the output member is also a rotary type kinematic pair body, the machine frame is parallel to the output member, the axes of the side chains are parallel, related rotary pair main bodies of the rotary type kinematic pair bodies are correspondingly parallel, a generalized prismatic pair is connected between the two end point kinematic pair main bodies of each side chain in series, and the synchronous transmitting devices are connected between at least two or three of the generalized prismatic pairs. The multi-translational-degree-of-freedom parallelogram complex kinematic pair has the multiple translational degrees of freedom, can be conveniently used as a driving pair and is a basic kinematic pair which is simple in function, short in force transmitting line and high in universality, brings convenience to standardization and can be independently used.
Description
technical field:
The present invention relates to a kind of robot motion secondary, especially disclose a kind of many translation freedoms parallelogram compound movement secondary, additionally provide the robot that the kinematic pair described in two utilizations is made simultaneously, belong to robot mechanism technical field.
technical background:
Existing kinematic pair, comprises two large type kinematic pairs, namely rotates type kinematic pair and translation type kinematic pair.
Existing rotation type kinematic pair comprises revolute pair, Hooke's hinge, ball pair and screw pair.Revolute pair has a rotational freedom, represents revolute pair below with R, is called for short R secondary; When screw pair uses as revolute pair, also there is a rotational freedom, represent screw pair with H below, be called for short H secondary, as the screw pair that revolute pair uses, represent with symbol Hr; Hooke's hinge has two rotational freedoms, represents Hooke's hinge, is called for short U pair below with U; Ball pair has three rotational freedoms, represents that ball is secondary below, be called for short S secondary with S.
Existing translation type kinematic pair, only have the moving sets of single translation freedoms (representing moving sets with P below) and the screw pair Hp as moving sets application, single flat one-movement-freedom-degree parallelogram compound movement secondary Pa or two translational degree of freedom parallelogram compound movement secondary U*.
Present parallelogram class compound movement pair is made up of frame, output link and side chain.Side chain is in series by two rotation type kinematic pairs, connects between two rotation type kinematic pairs with rod member.Frame and output link are linked together by two or more side chain.During installation, have three requirements: 1, frame and output link parallel to each other; 2, output link is identical with the geometric figure that frame coercive mechanism is formed, and each side chain axis is parallel to each other; 3, the revolute pair be directly connected with frame and output link is parallel to each other; If there is two or more U secondary, so except with frame and the direct connection of rotating of output link secondary parallel to each other except, another group revolute pair is also parallel to each other; If there is two or more ball secondary, so except above-mentioned two groups of revolute pairs are parallel to each other, remaining 3rd group of revolute pair is also parallel.In general, ball pair can meet this requirement naturally.This is the basic demand of a prior art, and the present invention is without any change.For being concise in expression, for these three requirements, hereinafter referred to as " frame and output link parallel to each other "; " side chain axis is parallel to each other "; " each related rotation secondary axis correspondence of rotating type kinematic pair is parallel ".
According to the structure of side chain, side chain mainly contains four kinds: with revolute pair for main formation one class, be called revolute pair class, and such as the compound movement of [2RR] parallelogram is secondary.In [2RR], bracket represents that parallelogram compound movement is secondary, the number of the numeral side chain in bracket, string representation side chain after numeral, letter representation forms the kinematic pair of side chain, the kinematic pair that letter representation is above connected with frame, also referred to as lower extreme point kinematic pair (be sometimes referred to as first and rotate type kinematic pair), the kinematic pair that letter representation is below connected with output link, also referred to as lower extreme point kinematic pair, lower same.With Hooke's hinge for main formation one class, be called Hooke's hinge class, such as [3UU] parallelogram compound movement secondary U* etc.With ball pivot for main formation one class, be called ball pivot class, such as, [3SS], [2SS].With screw pair for main formation one class, be called screw pair class, [2HH], [3HR] etc.So-called is that " master " refers to that " who " is for " master ", and " who ", just plays a leading role.Such as, first is rotated type kinematic pair is that R is secondary and U is secondary respectively, then R pair plays a leading role.Usually, for the moving sets of " master " is identical moving sets.Usually, upper extreme point kinematic pair is also identical moving sets.Namely the side chain of parallelogram compound movement pair is identical.
Existing parallelogram class compound movement pair can be divided into two kinds according to number of degrees of freedom.Be a single translation freedoms, a kind of is two translation freedoms.Only have a translation freedoms to rotate the parallelogram motion pair that type kinematic pair is main formation, only have two translation freedoms with the parallelogram compound movement pair that universal hinge (Hooke's hinge) or ball pair are main formation.
The compound movement of parallelogram class is secondary, is divided into line segment output link and plane output link two kinds according to the structure of output link.Line segment output link, its side chain axis in one plane, is called that the compound movement of planar parallelogram class is secondary: such as, and [2RR] (1T0R) compound movement is secondary.Plane output link, its side chain axis not in one plane, is called that space parallelogram class compound movement is secondary: such as, [3UU] (2T1R), [4US] (2T1R) compound movement pair etc.Above-mentioned two kinds of output links, corresponding different side chains, its output is likely containing one or two rotational freedom.
Existing parallelogram class compound movement is secondary, leading reference " modern mechanisms progress ", the first volume/Zou Huijun, and peak is edited.Beijing: Higher Education Publishing House, 2007.4, P.129-200, P.299-337, hereinafter referred to as document 1." modern mechanisms progress ", volume Two/Zou Huijun, peak is edited.Beijing: Higher Education Publishing House, 2011.10, P.281-300, P.304-256 hereinafter referred to as document 2.
These kinematic pairs, no matter be that simple motion is secondary, or compound movement is secondary, and all have function simple, well stressed, highly versatile, is convenient to standardization, and when single driving pair drives, or when moving sets puts upside down use, still keep the features such as the symmetry of kinematic pair.Therefore, these kinematic pairs, as basic kinematic pair independent utility, and can have long history, to the design of mechanism with comprehensively bring great convenience.
For sake of convenience, represent rotational freedom below with R, such as, Hooke's hinge has 2R the free degree.Meanwhile, represent translation freedoms below with T, such as, 3T represents three translation freedoms.
Existingly pure flatly move degree of freedom robot, comprise series connection translating machinery people and translating machinery people in parallel two kinds.
Serial manipulator, in series by two or three moving sets, the axis of each moving sets not point-blank, complex structure and stressed bad.
The technical scheme of parallel robot is the parallel institution containing two or more side chains.Existing is be made up of two or more side chain parallel connection containing two translations of two or more side chains or the technical scheme of three translation freedoms parallel institution, forms the parallel institution of two translations or many translation freedoms.This kind of parallel institution, have two or three to drive pair to work alone separately, or output link is different from the shape of frame, or side chain is not parallel to each other.
Existing pure translating machinery people, leading reference, " Fundamentals of Mathematics of robot mechanism " China Machine Press Beijing, 2008.7 in quiet army etc., hereinafter referred to as document 3, robot architecture's topological structure, Yang Tingli, Beijing: China Machine Press in March, 2004, hereinafter referred to as document 4.
, there is the problem of two aspects in existing kinematic pair and pure flat moving mechanism.
First, from the angle views of theory of mechanisms kinematic pair, there is the problem that the compound movement of disappearance three translation freedoms is secondary and the application of two translation freedoms compound movements pair is inconvenient.
From theoretic, ball pair should have the three translation freedoms antithesis kinematic pair corresponding with it, the two translation freedoms antithesis kinematic pairs that Hooke's hinge also should have the function corresponding with it suitable.In fact, the three translation freedoms antithesis kinematic pair 1, met the demands does not exist.2, also there is the problem of some application aspect in existing two translation freedoms compound movement pairs (U*), and such as, its working space is sphere, instead of plane; Its output link is single spherical, can not be designed to line segment type output link; It is also inconvenient applies as driving pair.This brings difficulty and restriction with comprehensive and theoretical research to the design of some mechanisms.
From application, owing to not having three translation freedoms moving sets, three translation mechanisms comprehensively gone out at present are many containing broken line side chain.Such as, five degree of freedom (3T2R) parallel institution, four-degree-of-freedom (3T1R) parallel institution (document 1-4).
Secondly, from the angle views of robot mechanism, existing series connection translating machinery people's technical scheme and existing parallel robot translation mechanism scheme, all can not as basic moving sets application (document 3).1 existing serial manipulator technical scheme, its common shortcoming is its power transmission axis is a broken line, multiple driving subtask, complex structure.All there is no the basic demand that can meet structure simple, stressed good (load path is the shortest or shorter), can not apply as basic kinematic pair.2, existing translation parallel robot, although more translation freedoms (comprising three translation freedoms) can be provided, but problem is, when independent driving subtask, parallel institution can lose symmetry, and be not easy to standardization, generalization, should not as the secondary independent utility of a basic exercise.
Comprehensive above analysis, knows, existing many translation freedoms compound movement pair and robot thereof, and simultaneously its common shortcoming to meet following three:
1, provide more translation freedoms, particularly, provide three translation freedoms;
2, secondary application can be driven as one easily, there is the symmetry in the 26S Proteasome Structure and Function of input and output;
3, function is simple, mechanism is compact, load path is shorter, highly versatile and be convenient to standardization.
summary of the invention:
The invention provides a kind of many translation freedoms parallelogram compound movement secondary, object overcomes above-mentioned shortcoming, there is more translation freedoms, secondary application can be driven as one easily, function is simple, load path is shorter, be convenient to standardization and highly versatile can the basic exercise of independent utility secondary.
One many translation freedoms parallelogram compound movement of the present invention is secondary, comprise frame, output link, side chain, synchronous transmission device, frame and output link are linked together by two or more side chain, and the kinematic pair that side chain is connected with frame rotates type kinematic pair; The kinematic pair that side chain is connected with output link is also rotate type kinematic pair, frame and output link parallel to each other, side chain axis is parallel to each other, each related rotation of rotating type kinematic pair is secondary corresponding parallel, connect between each side chain two end points kinematic pairs a Generalized Moving pair, these Generalized Moving pairs have at least between two or three and are connected with synchronous transmission device.
Generalized Moving pair comprises moving sets P, cylindrical pair C, the screw pair that the screw pair Hp(as moving sets application uses as moving sets, represents with symbol Hp).Such as oil cylinder, cylinder, electric cylinder, linear electric motors, piezoelectricity, electrostriction actuator, magnetostriction linear actuator, stretch actuator and mechanical type fine motion of electric heating is stretched actuator etc.Sometimes, screw pair uses as moving sets, and revolute pair R, a H pair of also will connecting in the end of screw pair H overlaps with R secondary axis.The said kinematic pair of the present invention, not only comprises traditional kinematic pair, also comprises various general motion secondary, as submissive (flexibility) kinematic pair, and microoperation kinematic pair (see document 2).
The side chain of series connection Generalized Moving pair mainly contains four kinds: with revolute pair for main formation one class, be called revolute pair class; With Hooke's hinge for main formation one class, be called Hooke's hinge class; With ball pivot for main formation one class, be called ball pivot class; With screw pair for main formation one class, be called screw pair class.
What is called is " master ", and loose restriction refers to: who is " master ", and who just plays a leading role.Such as, first is rotated type kinematic pair is that R is secondary and U is secondary respectively, then R pair plays a leading role.First is rotated type kinematic pair is that U is secondary and S is secondary respectively, then U pair plays a leading role.
Strict restriction is: so-called is that " master " refers to: " who " is " master ", and " who " rotates type kinematic pair is exactly.Such as, revolute pair is " master ", then first kinematic pair is exactly R pair, and R pair plays a leading role naturally.Such as, screw pair is " master ", then first kinematic pair is exactly screw pair, and screw pair plays a leading role naturally.Under strict restriction, first rotation type kinematic pair of side chain is all identical.Usually, upper extreme point rotates type kinematic pair is also identical.Namely, under stricter restriction, the side chain of complex parallel quadrangle kinematic pair is identical.
Such as, two parallelogram compound movement pairs [2RR] and [RR & UR] be based on revolute pair, but the former restriction are stricter.For revolute pair, Hooke's hinge, ball is secondary, and content disclosed by the invention adopts loose restriction: for screw pair, and content disclosed by the invention adopts stricter restriction.Under strict restriction, kinematic pair stress is good, and symmetry is good, and processability is good.
Revolute pair class: under loose restriction, the lower extreme point kinematic pair of side chain is based on revolute pair, and such as, [RPR & UPR] compound movement is secondary.Under strict restriction, its scheme is:
The compound movement of many translation freedoms parallelogram is secondary, and its side chain is followed in series to form by revolute pair, Generalized Moving pair and rotation type kinematic pair.Synchronous transmission device is connected with between the Generalized Moving pair of at least two side chains.According to the structure of frame and output link, revolute pair class can be divided into two kinds again.Output link is line segment, side chain axis in one plane: such as, [2RPR] (2T0R), [3RPR] (2T0R); [2RPU] (2T1R); [3RPU] (2T1R); [2RPS] (2T1R), [3RPS] (2T1R), [2HPH] (2T0R), [2HPR] (2T0R); [2HPS] (2T1R) etc.Embodiment 1 is one of example of this kind of scheme.Output link is plane, and as triangle or polygon, three or more side chain axis is not in one plane.Such as, [3RPR], [3RPU] and [3RPS]; [4RPR], [4RPU] [3HPR], [3HPH] and [3RPS]; [4RPR], [4RPU] and [4RPS] etc.Their translation freedoms only has two.Or the rotational freedom of output link is parallel to containing one.
Hooke's hinge class: be divided into two kinds according to the structure of output link.A kind of output link is line segment, and the axis of all side chains in one plane; Another kind of output link is plane, the axis having a side chain at least not with other chain axis in one plane.Hooke's hinge class: limit according to the structure of side chain, be also divided into two kinds.Under loose restriction, the lower extreme point kinematic pair of side chain is based on Hooke's hinge, and such as [UPR & SPR] compound movement is secondary.
Hooke's hinge class, under strict restriction, to be the scheme of line segment be its output link:
Described many translation freedoms parallelogram compound movement is secondary, and its side chain comprises two or more side chain, and side chain is followed in series to form by Hooke's hinge, Generalized Moving pair and rotation type kinematic pair, and all side chain axis in one plane.Synchronous transmission device is connected with between moving sets at least two side chains.Such as, [2UPR] (3T0R), [2UPU] (3T1R), [3UPU] (3T1R), [2UPS] (3T1R); [3UPS] (3T1R) etc.Embodiment 8 is one of examples of this kind of scheme.This kind of compound movement pair has three translation freedoms, or, also have a rotational freedom being parallel to output link.
Hooke's hinge class, under strict restriction, to be the scheme of plane be its output link:
Described many translation freedoms parallelogram compound movement is secondary, its side chain comprises three or more side chains, side chain is secondary by Hooke's hinge, Generalized Moving and Hooke's hinge or ball pair are followed in series to form, the axis having a side chain at least not with other side chain copline.Have 3 side chains at least, comprising one not with the side chain that other side chain is coplanar, link together with synchronous transmission device.Such as, [3UPU] (3T0R), [3UPS], [4UPU] (3T0R).Embodiment 2 is one of examples of this kind of scheme.They only have three translation freedoms, do not have rotational freedom.
Ball pivot class: the compound movement of many translation freedoms parallelogram is secondary, described side chain is followed in series to form by ball pivot, Generalized Moving pair and Hooke's hinge or ball pair.This is the complicated moving sets of the class of end points kinematic pair based on ball pivot of side chain.Comprise two classes: line segment output link and plane output link.Line segment output link: such as, [2SPS] (3T2R), [3SPS] (3T2R) compound movement pair etc.Output link is that the compound movement pair of line segment may contain two rotational freedoms perpendicular to output link.Plane output link: such as, [3SPS] (3T1R), [4SPS] (3T1R) compound movement pair etc.Output link is that leg-of-mutton compound movement pair may contain a rotational freedom perpendicular to output link.Embodiment 9,10 is two examples in this kind of scheme.
Screw pair class: under strict restriction, side chain is followed in series to form by screw pair, Generalized Moving pair and revolute pair type kinematic pair.Synchronous transmission device is connected with between at least two side chains.Screw pair class also has two kinds.A kind of output link is line segment, such as, and [2HrPR] (2T0R), [2HrPU] (2T0R), [2HrPS] (2T1R).Another kind of output link is plane.Such as [3HrPHr] (2T0R).This be a class end points kinematic pair based on screw pair, and the identical class compound movement of side chain is secondary.In [2HrPR], if screw pair is also as kinematic pair application, then [2HrPR] becomes three translation freedoms compound movement pair [2HPR] (3T0R).Embodiment 11 is one of examples in this kind of scheme.At this moment, also will connect two revolute pairs in the two ends of two screw pairs.Such as, when sometimes, screw pair has a latching characteristics.Also want the device that guaranteed screw pair is synchronized with the movement.
Hereinafter, above-mentioned all kinds of novel parallel quadrangle compound movement is secondary, referred to as New Complex kinematic pair, has representing with symbol I of two translation freedoms, is called for short I secondary, has representing by symbol M of three translation freedoms, be called for short M secondary.
In order to realize being synchronized with the movement, after Generalized Moving pair that side chain is connected, contact (association) should be set up between the moving sets of side chain, ensure to be synchronized with the movement.Set up contact and namely synchronous transmission device is installed.
Planar parallelogram compound movement is secondary, and its side chain axis, in a plane, has two or more side chain, is redundancy side chain more than the side chains of two, and have at least two side chains to install synchronous transmission device, the side chain installing synchronous transmission device is called association side chain.The association of redundancy side chain is redundant associations.Such as, [2RPR] is that planar parallelogram compound movement is secondary, and it has two P pairs, and two P pairs must associate.For another example, it is secondary that [3RPR] also belongs to planar parallelogram compound movement, and it has three P pairs, at least will have two moving sets associations.A remaining side chain is redundancy side chain.So planar parallelogram compound movement is secondary, the association of two broad sense P pairs at least to be had.
Space parallelogram compound movement is secondary, has three or more side chains, the axis having a side chain at least not with other chain axis in one plane.They have three or more P secondary, have at least three P pairs to associate, and comprise one not with other chain axis side chain in one plane.Such as, [3UPU], three P pairs must associate.For another example, [4UPU], has a redundancy branched chain, and the P pair of redundancy branched chain can associate.So space parallelogram compound movement is secondary, at least to has between three Generalized Moving pairs and be associated, or perhaps have at least three side chains that synchronous transmission device is installed.
Redundancy side chain is not generally associated.Redundancy side chain, also can be associated.But this association is redundancy.Redundancy side chain can use SPS side chain, UPU side chain or other chain substitutions.The moving sets of redundancy side chain, can be secondary as passiveness, also can be secondary as driving.
Space parallelogram compound movement is secondary, and the parallelogram compound movement also comprising class two translation freedoms is secondary.Such as, [3RPR] and [3HPH].Three P pairs of this class compound movement pair, have the association of two P pairs to be feasible program, but stress are not good, has larger moment of flexure yet.If the association of three P pairs is then preferred plan.So, this situation is included into the association of three P pairs.
Synchronous transmission device can select mechanical synchronized driving device or electric synchronization transmission device.
(1), mechanical synchronized driving device, be applicable to electric cylinder or linear electric motors, concrete scheme is:
Described many translation freedoms parallelogram compound movement is secondary, its Generalized Moving pair is linear electric motors or electric cylinder, its synchronous transmission device comprises cylinder body connection for transmission case, flexible axle, side chain association transmission case, cylinder body connection for transmission case has two or three, except the cylinder body on redundancy side chain, a cylinder body installs a cylinder body connection for transmission case, the rectilinear motion of moving sets is converted to rotation, each cylinder body connection for transmission case is connected with a flexible axle, and all flexible axles all associate transmission case with side chain and link together.
Flexible axle comprises Bowden cable, spring flexible shaft, Hooks coupling universal coupling flexible axle etc.Such as, flexible axle by shaft coupling, universal joint, the compositions such as scalable shaft coupling.Rectilinear motion on each cylinder body, after being converted to rotation, is delivered to a side chain association transmission case.In side chain association transmission case, being rotatably connected on same transmission device of flexible axle, realizes the association of two or more side chain and is synchronized with the movement.(mechanical synchronized driving device).
If driving pair, motor is preferably arranged on pedestal, and such as, motor is fixed on the middle part of frame, and power is passed to side chain association transmission device.Become two or more output shaft by transmission case, each output shaft is connected with flexible axle (scalable shaft coupling), is connected to electric cylinder finally by the cylinder body case that is in transmission connection.Rotation is become rectilinear motion by the transmission device of self by electric cylinder.
Mechanical synchronized driving device completes to be synchronized with the movement can diversified implementation.Different Generalized Movings is secondary, realizes synchronous scheme also different.Such as, side chain association transmission device can be a gear, also can be a shaft coupling etc.The motion Complete Synchronization of the general motion pair after connection.
(2), electric or electronic synchronizer transmission: synchronous driving control device mainly comprises computer hardware, software systems, driver, sensing system, signal input-output system etc.Computer system produces a drive singal, outputs to each side chain.General motion is secondary to move under the acting in conjunction of drive singal (usually also containing feedback signal), ensures that the amount of movement of each kinematic pair is identical.Such as, the control system of stepper motor, servo electric jar, the control system etc. of servo-cylinder.Electronic synchronizer transmission, such as, drives piezoelectric ceramic actuator with the signal of telecommunication; Magnetic signal drives magnetostrictive actuator etc.The technology that electric or electronic synchronizer drives is known technology, does not describe in detail.Other Synchronous Transmission, comprises chemical method and drives artificial-muscle, by the use of thermal means etc., is also included within above-mentioned electrically or in electronic synchronizer transmission scheme.
The application of New Complex kinematic pair is many-sided: comprise serial manipulator, parallel robot and series-parallel robot.
New Complex kinematic pair (M is secondary and I is secondary) can as the secondary independent use of a basic exercise.And, standardized designs can be carried out easily.When carrying out standardized designs and abundant hour of spacing between side chain, novel parallel quadrangle compound movement slave function is simple, compact conformation, just as Hooke's hinge or ball pivot, can as one independently parts use.Therefore, New Complex kinematic pair M is secondary and I is secondary as a basic exercise pair, and with R pair, U is secondary, S is secondary, P is secondary the same, has the effect of basic exercise pair, other kinematic pair is irreplaceable.New Complex kinematic pair belongs to generation mechanism field.
The application of novel parallel quadrangle compound movement pair (claim 1,2,3,4,5,6,7 embodiment 1 to embodiment 4) mainly comprises three aspects.One is form serial manipulator (claim 8,9, embodiment 4,5), and two is form parallel robot (claim 10,11, embodiment 6,7).In addition, series-parallel robot can also be formed.
Independent formation parallel robot 1
New Complex kinematic pair I is a basic compound motion pair, is also a parallel robot, and similarly, compound movement secondary M is a basic compound movement pair, is also a parallel robot.I Fu Zuo robot, the location of I pair, except association moving sets is as except driving pair, also will have a R secondary as driving pair.M is secondary as robot, the location of M pair, except association moving sets is as except a driving pair, also will have two different R pairs (can not on a side chain) as driving pair.
New Complex kinematic pair I pair or secondary the series connection with other kinematic pairs of M can form serial manipulator (claim 8,9) (embodiment 4,5)
Secondary at New Complex kinematic pair I or that M is secondary one end is also in series with Generalized Moving pair.Generalized Moving pair can be that P is secondary, 2P is secondary, 2H is secondary, 2C is secondary, 3P is secondary, and 3C is secondary, 3H is secondary.2P is secondary, 2H is secondary, 2C is secondary, 3C is secondary, 3H is secondary is called that one group of Generalized Moving is secondary, with the moving sets axis being parallel of group.
An I pair series connection Generalized Moving pair, the angle between the axis of Generalized Moving pair and the axis of revolute pair is less than 90 degree, preferably 0 degree, i.e. two axis being parallel, and a more outstanding scheme is:
A kind of serial manipulator, comprise described many translation freedoms parallelogram compound movement pair and one or one group of Generalized Moving secondary, many translation freedoms parallelogram compound movement pair is that a rotation class parallelogram compound movement with two translation freedoms is secondary, Generalized Moving pair is also in series with, the axis being parallel of first revolute pair on the axis of Generalized Moving pair and side chain in the one end of rotating class many translation freedoms parallelogram compound movement pair.Such as, connect with P pair, obtain P [2RPR] (3T0R), connect with 2C pair, obtain 2C [2RPR] (3T0R), 2C [2RPU] (3T1R).Embodiment 4 is one of examples in this kind of scheme.
One end of New Complex kinematic pair I is in series with moving sets, under the restriction of the axis of moving sets and the axis being parallel of lower rotational pair, also has several special assembling mode.Such as, the moving sets of series connection is with 2, its axis being parallel is in the axis of revolute pair, obtain one three translation serial manipulator 2P [2RPR] (3T0R), and after the axis of moving sets overlaps with the lower rotational secondary axis of I pair, be actually a cylindrical pair, so the structure of compound movement pair is at this moment [2CPR].Or by two screw pairs, the axis of screw pair overlaps with the lower rotational secondary axis of I pair, obtain three translation serial manipulator.And this scheme, be exactly that the C pair screw pair in [2CPR] is replaced, obtain [2HPR].
A M pair series connection Generalized Moving pair, obtains the three translation serial manipulator that has larger working space.A M pair series connection moving sets, the angle between the axis of moving sets and the axis of revolute pair can arbitrary disposition.Such as, P [3UPU] (3T0R), 2H [3UPU] (3T0R), 2C [3SPS] (3T1R).For 2H pair, 2C is secondary, 3C is secondary, 3H is secondary secondary as Generalized Moving, sometimes needs to install the device be synchronized with the movement.
Many translation freedoms parallelogram compound movement pair and the series connection of a rotation type kinematic pair, form a class serial manipulator, its scheme is:
A kind of serial manipulator, comprise described many translation freedoms parallelogram compound movement pair and a rotation type kinematic pair, many translation freedoms parallelogram compound movement pair is one and has N1(N1=2, 3) many translation freedoms parallelogram compound movement of the free degree is secondary, rotation type kinematic pair is one and has N2(N2=1, 2, 3) the rotation type kinematic pair of the free degree, the compound movement of many translation freedoms parallelogram is secondary connects with rotation type kinematic pair, form a N3=(N1+N2) free degree serial manipulator, serial manipulator output installs actuator, many translation freedoms parallelogram compound movement pair has N1 driving pair, wherein moving sets is a driving pair, N1-1 revolute pair in end points kinematic pair is driving pair, revolute pair in the rotation type kinematic pair of series connection is all driving pair.
Above-mentioned three kinds of serial manipulator can as a side chain, for comprehensive parallel robot.Such as, MS(3T3R) serial manipulator (a kind), MU(3T2R) parallel robot (3 kinds), MR(3T1R) parallel robot (3 kinds), M(3T0R) parallel robot (a kind), IS(2T3R) parallel robot (3 kinds), IU(2T2R) parallel robot (9 kinds), IR(2T1R) parallel robot (9 kinds), I(2T0R) parallel robot (3 kinds).Have 32 kinds.The serial manipulator that these novel parallel quadrangle compound movement pairs are formed can be applied as the side chain of parallel institution.Be characterized in that structure is simple, load path is short.In the serial mechanism of 57 kinds of (2-6) frees degree, only use the secondary class side chain of novel parallel quadrangle compound movement, the present invention just comprehensively can go out wherein 32 kinds.Embodiment 5 is one of examples in this kind of scheme.
Many translation freedoms parallelogram compound movement secondary I is secondary or M is secondary in parallel without retraining free degree side chain with one or two, and form a class parallel robot, its scheme is:
A kind of parallel robot, comprise described many translation freedoms parallelogram compound movement secondary, one or two is without constraint free degree side chain, a Triangle platform and a triangle basic platform, many translation freedoms parallelogram compound movement pair is one and has N3(N3=2, 3) compound movement of translation freedoms is secondary, the triangle of moving platform is less, basic platform triangle is larger, the compound movement of N3 translation freedoms is secondary as a side chain, individual without retraining free degree side chain with other (N3-1), form a side chain group, N3 side chain connects basic platform and moving platform, prop up chain axis to be not parallel to each other, non-cross, obtain 2 translation freedoms or 3 translation freedoms parallel robots.Have two schemes: a scheme is that I is secondary in parallel without retraining free degree side chain with one, forms a two-degree-of-freedoparallel parallel robot, another scheme is that M is secondary in parallel without retraining free degree side chain with two, forms a 3-dof parallel robot.Embodiment 6 is one of examples in this kind of scheme.
Secondary or the secondary elder generation of M of many translation freedoms parallelogram compound movement secondary I rotates type kinematic pair connect with one, and then retrain free degree side chain with several nothings in parallel, form a class parallel robot, its scheme is:
A kind of parallel robot, comprises described many translation freedoms parallelogram compound movement secondary, and one is rotated type kinematic pair, and several are without constraint free degree side chain, moving platform, a basic platform.Many translation freedoms parallelogram compound movement pair is one and has N1(N1=2, 3) many translation freedoms parallelogram compound movement of the free degree is secondary, rotation type kinematic pair is one and has N2(N2=1, 2, 3) the rotation type kinematic pair of the free degree, parallelogram compound movement pair is rotated type kinematic pair with this and is connected, form a N3(N3=N1+N2) free degree series connection side chain, this side chain, individual without retraining free degree side chain with other (N3-1), form a side chain group, N3 side chain of side chain group connects basic platform and moving platform, each chain axis is not parallel to each other, non-cross, obtain a parallel robot.
A New Complex kinematic pair and one rotate type kinematic pair side chain in series and are called novel parallel quadrangle side chain.One of novel parallel quadrangle side chain (such as M side chain, MR side chain, MU side chain, MS side chain, I side chain, IR side chain, IU side chain, IS side chain etc.) can form multiple parallel institution with without constrained branched chain.SPS side chain, UPS side chain, PSS side chain, PUS side chain, SCS side chain, UCU side chain, CSS side chain SRS side chain etc. is all without constrained branched chain.More typical parallel institution, is made up of basic platform, moving platform and two or more side chain, and side chain group is one of following side chain combination:
1,1 MS side chain forms a 6DOF parallel institution (3T3R, a kind of) with 5 without constrained branched chain is in parallel;
2,1 MU side chain forms a 5DOF parallel institution (3T2R, three kinds) with 4 without constrained branched chain is in parallel;
3,1 MR side chain forms a 4DOF parallel institution (3T1R, three kinds) with 3 without constrained branched chain is in parallel;
4,1 M side chain forms a 3DOF parallel institution (3T0R, a kind of) with 2 without constrained branched chain (or 2 M side chains are in parallel with 1 SPS, or 3 M side chains are in parallel) in parallel;
5,1 IS side chain forms a 5DOF parallel institution (2T3R, three kinds) with 4 without constrained branched chain is in parallel;
6,1 IU side chain forms a 4DOF parallel institution (2T2R, nine kinds) with 3 without constrained branched chain is in parallel;
7,1 IR side chain forms a 3DOF parallel institution (2T1R, nine kinds) with 2 without constrained branched chain is in parallel.
8,1 I side chain forms a 2DOF parallel institution (2T0R, three kinds) with 1 without constrained branched chain (or 2 I side chains are in parallel) in parallel.
Embodiment 7 is one of examples in this kind of scheme.
U pair in above-mentioned side chain comprises three kinds of degrees of freedom combination: Uxy (RxRy), Uxz (RxRz) or Uyz (RyRz).In Uxy (RxRy), the subscript of U or R represents the axis of rotation, and subscript x represents the rotational freedom around X-axis, and subscript y represents the rotational freedom around Y-axis, and subscript z represents the rotational freedom around Z axis.
I pair in above-mentioned side chain also comprises three kinds of degrees of freedom combination: Ixy (TxTy), Ixz (TzTx), Iyz (TyTz).In Ixy (TxTy), the subscript of T or I represents the direction of translation movement.Subscript x represents the translation freedoms moved in the X-axis direction, and subscript y represents the translation freedoms along Y direction translation, and subscript z represents the free degree along Z-direction translation.
Form mixed connection robot and Limited-DOF Parallel Robot.
Application New Complex kinematic pair can also form series-parallel robot, and such as 3 M side chain parallel connections form 3 translation freedoms parallel institutions (3T0R), and moving platform installs a 0T3R serial machine hand again.
Application New Complex kinematic pair can also form few side chain parallel institution (side chain number is less than the parallel institution of number of degrees of freedom), and such as, a MU side chain and two PRPS side chains form 5DOF (3T2R) parallel institution.Two P pairs of PRPS side chain are all driving pair.This parallel institution has three side chains, five frees degree.
Novel parallel quadrangle compound movement pair comprehensively can also go out other numerous novel serial or parallel connection mechanism.
The course of work:
1, for machinery association compound movement pair [2RPR] (see Fig. 1)
Secondary as driving, [2RPR] is using two moving sets that are mutually related as driving pair.The output shaft of motor 8.3, through side chain association transmission case 8.2, becomes two output shafts, 8.1, two output shaft 8.1 synchronous axial system, drives respective flexible axle to rotate.The drive path of flexible axle is: shaft coupling 7.4, universal joint 7.1, scalable shaft coupling 7.2, universal joint 7.3, shaft coupling 7.4.Then, be delivered to cylinder body 5.1 through the cylinder body case 6 that is in transmission connection, cylinder body is the rectilinear motion changing cylinder bar 5.2 into.The distance of output link and frame changes, but frame and output link are still parallel, and side chain axis is still parallel.Meanwhile, the revolute pair of end points, not by the impact of moving sets length variations, can freely be rotated.When side chain rotates clockwise (in for Fig. 1 left side side chain), cylinder body is in transmission connection the Distance Shortened between case and soft axle transmission connecting box output shaft.For adapting to this change, scalable shaft coupling A shortens, scalable shaft coupling B moves up, see dotted portion in Fig. 1.When side chain rotates counterclockwise, the cylinder body distance be in transmission connection between case and soft axle transmission connecting box output shaft becomes large.For adapting to this change, scalable shaft coupling A extends, scalable shaft coupling B moves down.See dotted portion in Fig. 1.Thus ensure that association part does not affect complicated moving sets and normally works.So two frees degree are separate.
Secondary as passiveness, in FIG, dismounting motor 8.3, two cylinder body connecting boxs 6 associate transmission case 8 by two cover flexible axles 7 with side chain and link together.If the pulling force that applying one is parallel with moving sets P on output link, two P pairs can be extended simultaneously.The cylinder body transmission device that is displaced through extended changes rotation into.Then, rotate the side chain association transmission case being delivered to frame through outside flexible axle, the motion of two moving sets converges here.Because the gearratio in the two transmission process is identical, ensure that output link can only do the movement being parallel to frame.No matter be that when moving sets moves or moving sets fixes, association part does not affect the rotation of R pair, and the rotation of revolute pair, do not affect the work of moving sets and synchronous transmission device yet.So the motion of two frees degree does not interfere with each other.The working space of compound movement pair be one fan-shaped.
2, for [3UPU] (3T0R) parallel institution of electrical correlation
For compound movement pair [3UPU] (3T0R), secondary as driving pair using the P of three associations.Under same signal drives, moving sets synchronizing moving, output link translation.Meanwhile, three groups of U pairs can freely be rotated.And during three groups of U pair rotations, do not disturb the work of moving sets yet.So the motion of three degree of freedom does not interfere with each other.When moving sets is fixed, the working space of output link is a sphere.During moving sets motion, the working space of output link to be overlapped the ball-crown body formed by unlimited multiple spherical calotte.
3, for [2SPS], [3SPS] parallel institution
Some are based on the operative scenario of the New Complex kinematic pair of S pair: such as [2SPS], and as the application conditions of [2SS] (see document 3, DELTA parallel institution), external condition of its application requires that two side chains remain plane.[3SPS], as the application conditions of [3SS], is ensure not perpendicular to the rotational freedom of output link.Like this, in motion process, as long as remain parallelogram between each side chain, the course of work with above-mentioned [2RR], [3UU] compound movement parafacies seemingly.
good effect of the present invention is:
1, provide a kind of compound movement pair with two or three translation freedoms, advantage is:
(1), perfect translation class basic exercise is secondary, defines a complete translation moving sets series.On the basis of the P pair of original single-degree-of-freedom, two translation freedoms class compound movement secondary U*, the I M that is secondary and three translation freedoms giving new two translation freedoms is secondary.
(2), define the complete antithesis rotating type kinematic pair and translation type kinematic pair: R is secondary secondary with P, U is secondary secondary with I, and S is secondary defines one_to_one corresponding with M pair, achieves the antithesis rotating type kinematic pair and translation type kinematic pair.
(3), obtain a class complete comprise the double-movement-pair side chain of 3DOF to 6DOF.Such as, MS, MU, MR, IS, IU, IR side chain.Except, also comprise M side chain, I side chain.These are all desirable side chains.
(4), define a class dual ideal side chain: such as, SPS side chain and MS side chain antithesis, RPS side chain and IS side chain antithesis, RPR side chain and IR side chain antithesis, M side chain and UP side chain form antithesis etc.
2, disclose in application aspect and comprehensively can go out more than 32 kinds new serial mechanisms, the serial mechanism be particularly made up of two basic exercises pairs.Comprehensively can go out 32 kinds of more parallel mechanisms, particularly solve the difficult problem that the desirable side chain of application forms (comprehensively) some specific ideal paralle mechanisms.Such as, application MU side chain and 4 SPS side chains comprehensively can go out a 3T2R lower-mobility ideal paralle robot easily.The parallel institution of translation freedoms comprehensively become a very pipe course.
In the serial mechanism or parallel institution of 57 kinds of (2-6) frees degree, only use novel parallel quadrangle compound movement pair and side chain thereof, the present invention just comprehensively can go out wherein 32 kinds, and be 32 kinds of more complicated, comprise 3T3R(1 kind), 3T2R(3 kind), 2T3R(3 kind), 2T2R(9 kind), 3T1R(3 kind), 2T1R(9 kind), 3T0R(1 kind), 2T0R(3 kind).In the serial mechanism or parallel institution of these 32 kinds of (3-6) frees degree, not only comprise the mechanism of common yardstick, also comprise micro-manipulating robot, compliant mechanism robot.And remaining 25 kinds is all fairly simple serial or parallel connection mechanism, such as, 0T2R(3 kind), 0T3R(1 kind), 1T1R(9 kind), 1T2R(9 kind), 1T3R(3 kind).
Detailed description of the invention
For the ease of understanding the present invention, especially exemplified by following examples.Its effect is understood to be explaination of the present invention but not to any type of restriction of the present invention.
embodiment 1:
Embodiment 1(Fig. 1) be one and realize by machine driving the example that moving sets is synchronized with the movement.It is a novel parallel quadrangle compound movement pair [2RPR] be made up of 2 RPR side chains 2.Be made up of frame 1, output link 3, two RPR side chains 2 and one group of synchronous transmission device 9.Frame 1 is parallel to each other with output link 3, and side chain 2 axis is parallel to each other, and each related rotation secondary axis correspondence of rotating type kinematic pair is parallel.Side chain 2 is rotated type kinematic pair 2.2 formed by the gantry rotation type kinematic pair (revolute pair) 2.1 of lower extreme point, moving sets 5, output link; Wherein, moving sets 5 is two electric cylinders.The motor 8.3 of electric cylinder is separated with moving sets cylinder body 5.1.Synchronous transmission device 9 comprises cylinder body connection for transmission case 6, flexible axle 7 associates transmission case 8 with side chain.Motor 8.3 is fixed on the middle part of frame 1, and the output shaft of motor 8.3 becomes two output shafts 8.1 by side chain association transmission case 8, and each output shaft 8.1 connects a flexible axle 7 by shaft coupling 7.4.The transmission of motor 8.3, by gimbal coupling 7.1, scalable shaft coupling 7.2, gimbal coupling 7.3, shaft coupling 6.1, is passed to cylinder body connection for transmission case 6 by flexible axle 7.Moving sets cylinder body 5.1 is connected to, power transmission to moving sets cylinder body 5.1 finally by cylinder body connection for transmission case 6.Rotation is become rectilinear motion by the transmission device of self by moving sets cylinder body 5.1, so moving sets electric cylinder cylinder bar 5.2 stretches out.Because two cylinder bodies are driven by a motor 8.3, as long as therefore gearratio in transmission process is identical, then can ensure that two moving sets are synchronized with the movement.If motor 8.3 is removed (all transmission device reservations), this novel parallel quadrangle compound movement pair becomes a passive pair.[2RPR] has two translation freedoms, and actuator 4 is arranged on the centre of output link 3, the working space of its actuator 4 be one fan-shaped.
In order to the generality expressed, in Fig. 1, synchronous transmission device 9 is arranged on the middle part of two side chains 2.This is arranged, proper for [3UPU] (3T0R) compound movement pair, also feasible for [2RPR] compound movement pair.But in practical application, secondary for [2RPR] compound movement, better scheme is: two output shafts 8.1 are arranged on the outside (not in the plane of parallelogram) of gantry rotation type kinematic pair (revolute pair) 2.1 respectively.Two cylinder body connection for transmission casees 6 are also arranged on the outside of moving sets cylinder body 5.1.Motor 7 is still arranged in the middle part of frame 1.Distance between two output shafts 8.1 equals the distance between two gantry rotation type kinematic pairs (revolute pair) 2.1, and about the Central Symmetry of two gantry rotation type kinematic pairs (revolute pair) 2.1.Embodiment 1 is a generation mechanism, is a mechanism simultaneously containing higher pair and lower pair.
embodiment 2:
Embodiment 2(Fig. 2) be a novel parallel quadrangle compound movement pair [3UPU] be made up of 3 UPU side chains 2, it has 3 one-movement-freedom-degrees.Comprise frame 1, side chain 2, output link 3 and synchronous transmission device 9.Side chain 2 is by the gantry rotation type kinematic pair (Hooke's hinge) 2.3 of lower extreme point, and moving sets 5, the output link of upper extreme point rotates type kinematic pair (Hooke's hinge) 2.4 composition.The figure that three coercive mechanism of frame 1 are formed is equilateral triangle, and the figure that three coercive mechanism of output link 3 are formed also is equilateral triangle, and congruent with output link 3 equilateral triangle.Gantry rotation type kinematic pair 2.3 is Hooke's hinges, output link rotation type kinematic pair 2.4 is Hooke's hinge, and moving sets 5 is three identical linear servo electric cylinders: comprise moving sets cylinder body 5.3 and moving sets servoBcylinder cylinder bar 5.4.When the displacement output of three servo electric jars is 0, frame 1 is parallel to each other with output link 3, and side chain 2 axis is parallel to each other, and each related rotation secondary axis correspondence that gantry rotation type kinematic pair 2.3, output link rotate type kinematic pair 2.4 is parallel.Synchronous transmission device comprises computer system, sensor, and signal output system dispatch control system gives three moving sets (servo electric jar) 5 identical displacement signal by holding wire 10, ensures three servo electric jar synchronizing movings.Actuator 4 is arranged on the leg-of-mutton center of output link 3.Actuator 4 working space is spherical stage body.Embodiment 2 is mechatronics mechanisms, is also a generation mechanism.The content of synchronous transmission device belongs to knowledge, not shown in FIG., also do not repeat, can with reference to mechanical engineering manual, the second edition, Beijing: China Machine Press 1996 the tenth volume the 4th section of control technology basis and the motor engineering handbook second edition, volume Two, Beijing: the 5th section, China Machine Press 1996 the 4th section of electronic computer controls automatically).
embodiment 3:
Embodiment 3(Fig. 3) be a New Complex kinematic pair [2RPS] be made up of 2 RPS side chains 2, it has 2 one-movement-freedom-degrees, a rotational freedom.Comprise frame 1, side chain 2, output link 3 and synchronous transmission device 9.Side chain 2 comprises gantry rotation type kinematic pair (revolute pair) 2.5, moving sets 5, output link rotation type kinematic pair (ball pivot) 2.6.Gantry rotation type kinematic pair 2.5 in frame 1 is flexible (submissive) revolute pairs, it is flexible ball pair (or flexible Hooke's hinges) that the output link of output link 3 rotates type kinematic pair 2.6, and moving sets 5 is two identical stacked piezoelectric ceramic devices of moving sets cylinder body 5.5() mini mobile that forms is secondary.Frame 1 and output link 3 are all linear patterns.Synchronous transmission device 9 comprises computer system, sensor, signal output system etc., for providing synchronized signal.Two stacked piezoelectric ceramic devices of moving sets cylinder body 5.5() displacement when being input as 0, frame 1 is parallel to each other with output link 3, and side chain 2 axis is parallel to each other, and each related rotation secondary axis correspondence of rotating type kinematic pair is parallel.Signal output system gives two stacked piezoelectric ceramic devices of moving sets cylinder body 5.5(by holding wire 10) identical displacement signal, ensure two stacked piezoelectric ceramic devices of moving sets cylinder body 5.5() synchronizing moving.The translation working space of its actuator 4 be one fan-shaped.Embodiment 3 is a compliant mechanism and microoperation mechanism, is also a mechatronics mechanism.
embodiment 4:
Embodiment 4(Fig. 4) be one and connected with a ball pivot S serial manipulator obtained by a compound movement secondary M, comprise a compound movement secondary M and a ball pivot S, ball pivot S11 is connected on the output link 3 of compound movement secondary M, forms a 6DOF serial manipulator.Compound movement secondary M is identical with embodiment 2, and symbol mark is also identical, does not repeat.Actuator 4 is installed in one end of serial manipulator S pair, compound movement pair in serial manipulator has 3 driving pair, three association moving sets are wherein driving pair, and two revolute pairs in end points kinematic pair are driving pair, and the revolute pair in the ball secondary S of series connection is all driving pair.
embodiment 5:
Embodiment 5(Fig. 5) be the pure translating machinery people of Three Degree Of Freedom obtained by I pair series connection Generalized Moving pair, the pure translating machinery people of Three Degree Of Freedom comprises a frame 1, output link 3, two side chains 2 and two cylindrical pairs 12.The axes normal of the secondary plane of I and two cylindrical pairs 12.Two translation freedoms parallelogram compound movement secondary I, that [2RCR] compound movement is secondary, two cylindrical pairs 12 are also in series with in the stander end of compound movement pair [2RCR], two cylindrical pairs 12 as a Generalized Moving pair, the axis of two cylindrical pairs 12 respectively with the dead in line of two gantry rotation type kinematic pairs (revolute pair) 2.1 of bottom.Side chain 2 is made up of revolute pair 2.7, cylindrical pair 5.6 and revolute pair (in Fig. 5, the revolute pair in cylindrical pair 12).Gantry rotation type kinematic pair (revolute pair) 2.1 and a moving sets (in Fig. 5, the moving sets in cylindrical pair 12) of a lower extreme point form a cylindrical pair 12, have two cylindrical pairs.Illustrate with dotted line in synchronous transmission device 9(figure), be an electric synchronization transmission device, do not repeat.
In this embodiment, there are two groups of cylindrical pairs, one group two.Two cylindrical pairs in compound movement pair [2RCR], axis being parallel, and due to the constraint of two revolute pairs, lose the rotational freedom of himself, be actually two moving sets.Other one group of cylindrical pair, its revolute pair is the secondary lower extreme point revolute pair of [2RCR] compound movement, and its kinematic pair is the moving sets of connecting afterwards.The motion of second group of cylindrical pair, due to the constraint of upper extreme point two revolute pairs, loses the ability of independent translation, can only be synchronized with the movement.So the structure of embodiment 4 can be expressed as [2CCR], the axes normal of two cylindrical pairs wherein.Or be expressed as [2CPR], cylindrical pair wherein and the axes normal of moving sets.
If embodiment 5 is [2RCU] compound movement pair series connection, one group of Generalized Moving is secondary, then due to the secondary one group of Generalized Moving pair not constraint for connecting afterwards of the U in [2RCU] compound movement pair, so the output with two cylindrical pairs of group is fixed together.And then be cascaded with [2RCU].
embodiment 6:
Embodiment 6(Fig. 6) be made up of a M pair 15, two SPS side chains 16, basic platform 13 and a moving platform 17.Moving platform 17 is equilateral triangles, basic platform 13 is larger equilateral triangles, M secondary 15 forms the secondary side chains 14 of compound movement, the two ends of M side chain are connected with moving platform 17 and the leg-of-mutton summit of basic platform 13 respectively, and the two ends ball pivot 16.1,16.3 of two SPS side chains 16 is connected on two two other summits leg-of-mutton of moving platform and basic platform.Three side chains are not parallel to each other, non-cross.The P secondary 16.2 of two SPS side chains associates the secondary conduct of P with three of M side chain and drives secondary.Comprehensively obtain one 3 and pure flatly move freedom degree parallel connection mechanism (3T0R).
embodiment 7:
Embodiment 7(Fig. 7) be made up of a M pair 19.1, Hooke's hinge 19.2,4 SPS side chains 16, basic platform 18 and a moving platform 20.M is secondary to connect with Hooke's hinge U pair, form a five degree of freedom MU side chain 19, moving platform 20 is a convex pentagon, basic platform 18 is larger convex pentagons, the U secondary 19.2 of MU side chain 19 is connected with the pentagonal summit of moving platform, secondary 19.1 ends of M of MU side chain 19 are connected on the pentagonal summit of basic platform, the two ends ball pivot 16.1,16.3 of all the other 4 SPS side chains 16 is connected on two other summits pentagonal of moving platform 20 and basic platform 18, and all side chains are not parallel to each other, non-cross.The moving sets 16.2 of 4 SPS side chains 16 associates P with three of MU side chain 19 secondary secondary as driving.Comprehensively obtain a 5DOF parallel institution (3T2R).
embodiment 8:
Lower extreme point revolute pair in embodiment 1 is changed to Hooke's hinge, and all the other are constant, obtain embodiment 8.This is compound movement pair [2UPR] (3T0R) based on Hooke's hinge.See Fig. 1.
embodiment 9:
End points Hooke's hinge in embodiment 2 is changed to ball pair, and all the other are constant, obtain embodiment 9.This is compound movement pair [2SPS] (3T1R) based on ball pivot.See Fig. 2.
embodiment 10:
Embodiment 10 is changed to spatial flexible Hooke's hinge the lower extreme point compliant rotational pair in embodiment 3 exactly, and all the other are constant, obtain embodiment 10.This is a novel parallel quadrangle compound movement pair [2UPS] (3T1R) be made up of 2 UPS flexible side-chains, and this is that a compound movement based on Hooke's hinge is secondary.It has 3 one-movement-freedom-degrees.Its actuator 4 working space is fan-shaped stage body.See Fig. 3.
embodiment 11:
Embodiment 11 is changed to screw pair the lower extreme point revolute pair in embodiment 1 exactly, and all the other are constant, obtain embodiment 11.This is compound movement pair [2HPR] (2T0R) based on screw pair, and two screw pairs are identical.See Fig. 1.
Accompanying drawing explanation
Fig. 1 is novel parallel quadrangle compound movement pair [2RPR] structure principle chart (embodiment 1);
Fig. 2 is novel parallel quadrangle compound movement pair [3UPU] structure principle chart (embodiment 2);
Fig. 3 is secondary flexible hinge [2RPS] structure principle chart (embodiment 3) of novel parallel quadrangle compound movement;
Fig. 4 is the 6DOF serial manipulator structure principle chart (embodiment 4) that the secondary Cascade Synthesis of application New Complex kinematic pair M and ball pivot S obtains;
Fig. 5 is application moving sets P and the 3DOF that obtains of New Complex kinematic pair M Cascade Synthesis is pure flat moves serial mechanism 2P [2RPR] structure principle chart (embodiment 5);
Fig. 6 be application New Complex kinematic pair M as side chain with 2 without constrained branched chain 3 translation freedoms (3T0R) the parallel robot structure principle chart (embodiment 6) comprehensively obtained in parallel.
Fig. 7 applies new branched MU pair with 4 without constrained branched chain 5 translation freedoms (3T2R) the parallel institution structure principle chart (embodiment 7) comprehensively obtained in parallel.
In figure: 1, frame, 2, side chain, 2.1, gantry rotation type kinematic pair, 2.2, output link rotates type kinematic pair, and 2.3, gantry rotation type kinematic pair, 2.4, output link rotates type kinematic pair, and 2.5, gantry rotation type kinematic pair, 2.6, output link rotates type kinematic pair, and 2.7, revolute pair, 3, output link, 4, actuator, 5, moving sets, 5.1, moving sets cylinder body, 5.2, moving sets electric cylinder cylinder bar, 5.3, moving sets cylinder body, 5.4, moving sets servoBcylinder cylinder bar, 5.5, moving sets cylinder body, 5.6, cylindrical pair, 6, cylinder body connection for transmission case, 6.1, shaft coupling, 7, flexible axle, 7.1, gimbal coupling, 7.2, scalable shaft coupling, 7.3, gimbal coupling, 7.4, shaft coupling, 8, side chain association transmission case, 8.1, output shaft, 8.2, output transmission case, 8.3, motor, 9, synchronous transmission device, 10, holding wire, 11, ball pivot, 12, cylindrical pair, 13, basic platform, 14, the secondary side chain of compound movement, 15, compound movement secondary M is secondary, and 16, SPS side chain, 16.1, 16.3 ball pivots, 16.2, moving sets, 17, moving platform, 18, basic platform, 19, MU side chain, 19.1, M is secondary, and 19.2, Hooke's hinge, 20, moving platform.
Claims (11)
1. the compound movement of translation freedoms parallelogram more than a kind is secondary, comprise frame (1), output link (3), side chain (2), synchronous transmission device (9), frame (1) and output link (3) are linked together by two or more side chain (2), and the kinematic pair that side chain is connected with frame rotates type kinematic pair; The kinematic pair that side chain is connected with output link is also rotate type kinematic pair, frame (1) is with output link (3) is parallel to each other, side chain (2) axis is parallel to each other, each related rotation of rotating type kinematic pair is secondary corresponding parallel, rotate a series connection Generalized Moving pair (5) between type kinematic pair each side chain (2) two, in these Generalized Moving pairs, between at least two Generalized Moving pairs, be connected with synchronous transmission device (9).
2. many translation freedoms parallelogram compound movement as claimed in claim 1 is secondary, it is characterized in that: side chain (2) is followed in series to form by revolute pair (2.1), Generalized Moving pair (5) and rotation type kinematic pair; Synchronous transmission device (9) is connected with between Generalized Moving pair at least two side chains.
3. many translation freedoms parallelogram compound movement as claimed in claim 1 is secondary, it is characterized in that: side chain comprises two or more side chain, all side chain axis in one plane, side chain (2) is by Hooke's hinge (2.3), Generalized Moving pair (5) and rotates type kinematic pair (2.2,2.4,2,6) be followed in series to form; Synchronous transmission device (9) is connected with between Generalized Moving pair at least two side chains.
4. many translation freedoms parallelogram compound movement as claimed in claim 1 is secondary, it is characterized in that: side chain comprises three or more side chains, side chain (2) is followed in series to form by Hooke's hinge (2.3), Generalized Moving pair (5) and Hooke's hinge (2.4) or ball pair, the axis having a side chain at least not with other side chain copline; Have 3 side chains at least, secondary comprising the Generalized Moving on not coplanar with other a side chain side chain, link together with synchronous transmission device.
5. many translation freedoms parallelogram compound movement as claimed in claim 1 is secondary, it is characterized in that: side chain is followed in series to form by ball pivot, Generalized Moving pair and Hooke's hinge or ball pivot.
6. many translation freedoms parallelogram compound movement as claimed in claim 1 is secondary, it is characterized in that: side chain is followed in series to form by screw pair, Generalized Moving pair and rotation type kinematic pair.
7. the many translation freedoms parallelogram compound movement as described in claim 1-6 is secondary, it is characterized in that: Generalized Moving pair is linear electric motors or electric cylinder, its synchronous transmission device (9) comprises cylinder body connection for transmission case (6), flexible axle (7), side chain association transmission case (8), cylinder body connection for transmission case has two or three, except the cylinder body on redundancy side chain, a cylinder body is installed cylinder body connection for transmission case, the axial-movement of moving sets is converted to rotation, each cylinder body connection for transmission case is connected with a flexible axle, all flexible axles all associate transmission case with side chain and link together.
8. a serial manipulator, comprise the many translation freedoms parallelogram compound movement pair described in claim 1-7 and one or one group of Generalized Moving pair, many translation freedoms parallelogram compound movement pair is that a rotation class parallelogram compound movement with two translation freedoms is secondary, Generalized Moving pair is also in series with, the axis being parallel of first revolute pair on the axis of Generalized Moving pair and side chain in the one end of rotating class many translation freedoms parallelogram compound movement pair.
9. a serial manipulator, comprise the many translation freedoms parallelogram compound movement pair described in claim 1-7 and a rotation type kinematic pair, many translation freedoms parallelogram compound movement pair is one and has N1(N1=2, 3) many translation freedoms parallelogram compound movement of the free degree is secondary, rotation type kinematic pair is one and has N2(N2=1, 2, 3) the rotation type kinematic pair of the free degree, the compound movement of many translation freedoms parallelogram is secondary connects with rotation type kinematic pair, form a N3(N3=N1+N2) free degree serial manipulator, serial manipulator output installs actuator, many translation freedoms parallelogram compound movement pair has N1 driving pair, wherein moving sets is a driving pair, N1-1 revolute pair in gantry rotation type kinematic pair is driving pair, revolute pair in the rotation type kinematic pair of series connection is all driving pair.
10. a parallel robot, the many translation freedoms parallelogram compound movement comprised described in claim 1-7 is secondary, one or two is without constraint free degree side chain, a Triangle platform and a triangle basic platform, many translation freedoms parallelogram compound movement pair is one and has N3(N3=2, 3) compound movement of translation freedoms is secondary, basic platform triangle is greater than the triangle of moving platform, the compound movement of N3 translation freedoms is secondary as a side chain, individual without retraining free degree side chain with other (N3-1), form a side chain group, N3 side chain connects basic platform and moving platform, prop up chain axis to be not parallel to each other, non-cross.
11. 1 kinds of parallel robots, the many translation freedoms parallelogram compound movement comprised described in claim 1-7 is secondary, and one is rotated type kinematic pair, and several are without constraint free degree side chain, moving platform, a basic platform;
Many translation freedoms parallelogram compound movement pair is one and has N1(N1=2, 3) many translation freedoms parallelogram compound movement of the free degree is secondary, rotation type kinematic pair is one and has N2(N2=1, 2, 3) the rotation type kinematic pair of the free degree, parallelogram compound movement pair is rotated type kinematic pair with this and is connected, form a N3(N3=N1+N2) free degree series connection side chain, this side chain of connecting, individual without retraining free degree side chain with other (N3-1), form a side chain group, N3 side chain of side chain group connects basic platform and moving platform, each chain axis is not parallel to each other, non-cross.
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