CN104440921B - A kind of many translation freedoms parallelogram compound movement is secondary - Google Patents
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Abstract
It is secondary that the present invention discloses a kind of many translation freedoms parallelogram compound movement, including frame, output link, side chain, synchronous transmission device, frame and output link are linked together by two or more side chains, and the kinematic pair that side chain is connected with frame is to rotate type kinematic pair；The kinematic pair that side chain is connected with output link is also to rotate type kinematic pair, frame is parallel to each other with output link, side chain axis is parallel to each other, each related rotation pair correspondence rotating type kinematic pair is parallel, connecting between two end points kinematic pairs of each side chain a Generalized Moving pair, these Generalized Moving pairs at least connect between two or three synchronous transmission device.There is more translation freedoms, it is possible to drive pair application just as one, function is simple, load path is shorter, be easy to standardization and highly versatile can be secondary with the basic exercise of independent utility.
Description
Technical field:
The present invention relates to a kind of robot motion secondary, especially disclose a kind of many translation freedoms parallelogram complexity fortune
Dynamic pair, additionally provides the robot that the kinematic pair described in two utilizations is made simultaneously, belongs to robot mechanism technical field.
Technical background:
Existing kinematic pair, including two big type kinematic pairs, i.e. rotates type kinematic pair and translation type kinematic pair.
Existing rotation type kinematic pair includes revolute pair, Hooke's hinge, ball pair and screw pair.Revolute pair have one rotatably mounted
Degree, represents revolute pair with R below, is called for short R secondary；When screw pair uses as revolute pair, also there is a rotational freedom, below
Screw pair is represented, is called for short H secondary that the screw pair used as revolute pair represents with symbol Hr with H；Hooke's hinge has two to rotate certainly
By spending, represent Hooke's hinge with U, be called for short U pair below；Ball pair has three rotational freedoms, represents that ball is secondary with S below, is called for short S secondary.
Existing translation type kinematic pair, the moving sets (representing moving sets with P below) of only single translation freedoms and conduct
Screw pair Hp of moving sets application, single flat one-movement-freedom-degree parallelogram compound movement secondary Pa or two translational degree of freedom parallel four
Limit shape compound movement secondary U*.
Present parallelogram class compound movement pair is made up of frame, output link and side chain.Side chain is by two rotations
Type kinematic pair is in series, connects with rod member between two rotation type kinematic pairs.Frame and output link are by two or two
Above side chain links together.During installation, there are three requirements: 1, frame is parallel to each other with output link；2, output link and
The geometric figure that frame coercive mechanism is constituted is identical, and each side chain axis is parallel to each other；3 is direct with frame and output link
The revolute pair connected is parallel to each other；If having two or more U secondary, then except directly connecting with frame and output link
Connect revolute pair parallel to each other outside, another group revolute pair also parallel to each other；If there being two or more ball secondary, then
In addition to above-mentioned two groups of revolute pairs are parallel to each other, remaining 3rd group of revolute pair is also parallel.It is, in general, that ball pair can be certainly
So meet this requirement.This is the basic demand of a prior art, and the present invention does not has any change.For being concise in expression, for
These three requirement, hereinafter referred to as " frame is parallel to each other with output link "；" side chain axis is parallel to each other "；" rotate type games
Each secondary related rotation secondary axis correspondence is parallel ".
According to the structure of side chain, side chain mainly has four kinds: be main composition one class with revolute pair, referred to as revolute pair class, such as
[2RR] parallelogram compound movement is secondary.In [2RR], bracket represents that parallelogram compound movement is secondary, the number in bracket
Word table shows the number of side chain, the string representation side chain after numeral, and letter representation constitutes the kinematic pair of side chain, alphabet above
Show the kinematic pair being connected with frame, also referred to as lower extreme point kinematic pair (be sometimes referred to as first and rotate type kinematic pair), word below
Matrix shows the kinematic pair being connected with output link, also referred to as lower extreme point kinematic pair, lower same.It is main composition one class with Hooke's hinge, claims
For Hooke's hinge class, such as [3UU] parallelogram compound movement secondary U* etc..It is main composition one class with ball pivot, referred to as ball pivot class, example
As, [3SS], [2SS].It is main composition one class with screw pair, referred to as screw pair class, [2HH], [3HR] etc..So-called is that " leading " refers to
" who " is " leading ", and " who " just plays a leading role.Such as, first rotates type kinematic pair is that R is secondary and U is secondary respectively, then R pair plays master
Lead effect.Generally, the moving sets for " leading " is identical moving sets.Generally, upper extreme point kinematic pair is also identical moving sets.I.e.
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.One is single translation certainly
By spend, a kind of is two translation freedoms.One is only had with the parallelogram motion pair that rotation type kinematic pair is main composition
Individual translation freedoms, only has two translations with universal hinge (Hooke's hinge) or parallelogram compound movement pair that ball pair is main composition
The free degree.
Parallelogram class compound movement is secondary, is divided into line segment output link and plane output structure according to the structure of output link
Part two kinds.Line segment output link, in one plane, referred to as planar parallelogram class compound movement is secondary: example for its side chain axis
As, [2RR] (1T0R) compound movement is secondary.Plane output link, the most in one plane, referred to as space is parallel for its side chain axis
Quadrilateral type compound movement is secondary: such as, and [3UU] (2T1R), [4US] (2T1R) compound movement are secondary.Above two output link,
Corresponding different side chain, its output likely contains one or two rotational freedom.
Existing parallelogram class compound movement is secondary, leading reference " modern mechanisms progress ", the first volume/Zou Hui
Monarch, peak is edited.Beijing: Higher Education Publishing House, 2007.4, P.129-200, P.299-337, hereinafter referred to as document 1." existing
It is in progress for theory of mechanisms ", volume Two/Zou Huijun, peak is edited.Beijing: Higher Education Publishing House, 2011.10, P.281-300,
The most hereinafter referred to as document 2.
These kinematic pairs, whether simple motion is secondary, or compound movement is secondary, all has function simple, and stress is good, logical
Strong by property, it is simple to standardization, and when single driving pair drives, or moving sets overturns when using, and remains in that the symmetry of kinematic pair
The features such as property.Therefore, these kinematic pairs, can serve as basic kinematic pair independent utility, and have long history, to machine
The design of structure with comprehensively bring great convenience.
For sake of convenience, representing rotational freedom with R below, such as, Hooke's hinge has 2R the free degree.Meanwhile, below
Representing translation freedoms with T, such as, 3T represents three translation freedoms.
Existing pure translation freedoms robot, including series connection translating machinery people and translating machinery people two kinds in parallel.
Serial manipulator, in series by two or three moving sets, the axis of each moving sets is not the most at straight line
On, structure is complicated and stress is bad.
The technical scheme of parallel robot is the parallel institution containing two or more side chains.Existing containing two or many
Two translations of individual side chain or the technical scheme of three translation freedoms parallel institution are to be made up of two or more side chain parallel connections, structure
Become one two translation or the parallel institution of many translation freedoms.This kind of parallel institution, has two or three to drive secondary the most independent
Work, 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 " mechanical industry is published
Shebei capital, 2008.7 in quiet army etc., hereinafter referred to as document 3, robot architecture's topological structure, Yang Tingli, Beijing: mechanic
Industry publishing house in March, 2004, hereinafter referred to as document 4.
Existing kinematic pair and pure flat moving mechanism, the problem that there are two aspects.
First, observe from the angle of theory of mechanisms kinematic pair, there are disappearance three translation freedoms compound movement pair and two translations
The problem that the application of free degree compound movement pair is inconvenient.
In terms of theoretic, ball pair should have corresponding three translation freedoms antithesis kinematic pair, and Hooke's hinge should also be as
There are the two translation freedoms antithesis kinematic pairs that corresponding function is suitable.It practice, 1, meet require three translation freedoms
Antithesis kinematic pair does not exists.2, existing two translation freedoms compound movements secondary (U*) there is also the problem of some application aspect,
Such as, its working space is sphere rather than plane；Its output link is single spherical, it is impossible to be designed as line segment
Type output link；It is also inconvenient as driving pair application.This brings to the design of some mechanisms with comprehensive and theoretical research
Difficulty and restriction.
In terms of application, owing to there is no three translation freedoms moving sets, three translation mechanisms that the most comprehensively go out 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 observation of robot mechanism, existing series connection translating machinery people's technical scheme and existing also
Connection robot translation mechanism scheme, all cannot function as basic moving sets application (document 3).1 existing serial manipulator technical side
Case, its common shortcoming be its power transmission axis be a broken line, multiple driving subtasks, structure is complicated.The most not disclosure satisfy that
The basic demand of simple in construction, stress good (load path is the shortest or shorter), it is impossible to as basic kinematic pair application.2, existing
Some translation parallel robots, although can provide more translation freedoms (including three translation freedoms), but has a problem in that work as
During a single driving subtask, parallel institution can lose symmetry, and is not easy to standardization, generalization, should not be as one
Individual basic exercise pair independent utility.
Comprehensive above analysis it is known that, existing many translation freedoms compound movement is secondary and robot, its common lacking
Point is can not to meet following three simultaneously:
1, more translation freedoms is provided, particularly, it is provided that three translation freedoms；
2, can just as one drive pair application, have about input and output 26S Proteasome Structure and Function in terms of right
Claim；
3, function is simple, mechanism is compact, load path is shorter, highly versatile and be easy to standardization.
Summary of the invention:
The present invention provides a kind of many translation freedoms parallelogram compound movement secondary, it is therefore an objective to overcome disadvantages mentioned above, tool
Having more translation freedoms, it is possible to drive pair application just as one, function is simple, load path is shorter, be easy to mark
Standardization and highly versatile can be secondary with the basic exercise of independent utility.
One many translation freedoms parallelogram compound movement of the present invention is secondary, including frame, output link, side
Chain, synchronous transmission device, frame and output link are linked together by two or more side chains, and side chain is with frame even
The kinematic pair connect is to rotate type kinematic pair；The kinematic pair that side chain is connected with output link is also to rotate type kinematic pair, and frame is with defeated
Going out component parallel to each other, side chain axis is parallel to each other, and each related rotation pair correspondence rotating type kinematic pair is parallel, at each
Connecting between two end points kinematic pairs of side chain a Generalized Moving pair, these Generalized Moving pairs at least connect between two or three
It is connected to synchronous transmission device.
Generalized Moving pair includes moving sets P, cylindrical pair C, and screw pair Hp(as moving sets application uses as moving sets
Screw pair, represent with symbol Hp).Such as oil cylinder, cylinder, electric cylinder, linear electric motors, piezoelectricity, electrostriction actuator, mangneto
Flexible linear actuator, electric heating stretches actuator and mechanical type fine motion is stretched actuator etc..Sometimes, screw pair makes as moving sets
With, revolute pair R of also connecting in the end of screw pair H, H pair overlaps with R secondary axis.Kinematic pair described in the present invention, no
Only including traditional kinematic pair, also include that various general motion is secondary, such as submissive (flexible) kinematic pair, microoperation kinematic pair (sees
Document 2).
The secondary side chain of series connection Generalized Moving mainly has four kinds: be main composition one class with revolute pair, referred to as revolute pair class；With tiger
Gram hinge is main composition one class, referred to as Hooke's hinge class；It is main composition one class with ball pivot, referred to as ball pivot class；It is main composition with screw pair
One class, referred to as screw pair class.
What is called is " leading ", and loose restriction refers to: who is " leading ", and who just plays a leading role.Such as, first rotates class fortune
Dynamic pair is that R is secondary and U is secondary respectively, then R pair plays a leading role.First rotates type kinematic pair is that U is secondary and S is secondary respectively, then U pair plays master
Lead effect.
Strict restriction is: so-called is that " leading " refers to: " who " is " leading ", and " who " rotates type kinematic pair is exactly.Such as, rotate
Pair is " leading ", then first kinematic pair is exactly that R is secondary, and R pair plays a leading role naturally.Such as, screw pair is " leading ", then first fortune
Dynamic 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.Generally, upper extreme point rotates type kinematic pair is also identical.Under the most tightened up restriction, complex parallel quadrangle moves
Secondary side chain is identical.
Such as, two parallelogram compound movements are secondary [2RR] and [RR&UR], are all based on revolute pair, but, front
The restriction of person is tightened up.For revolute pair, Hooke's hinge, ball is secondary, and present disclosure uses loose restriction: for spiral
Pair, present disclosure uses tightened up restriction.Under strict restriction, kinematic pair stress is good, and symmetry is good, adds
Work 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] is multiple
Miscellaneous kinematic pair.Under strict restriction, its scheme is:
The parallelogram compound movement of many translation freedoms is secondary, and its side chain is by revolute pair, Generalized Moving pair and rotates class fortune
Dynamic pair is followed in series to form.Connect between the Generalized Moving pair of at least two side chain and have synchronous transmission device.According to frame and defeated
Going out the structure of component, revolute pair class can be divided into again two kinds.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 such as triangle or polygon, three or more side chain axis is the most 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 containing a rotational freedom being parallel to output link.
Hooke's hinge class: be divided into two kinds according to the structure of output link.A kind of output link is line segment, the axis of all side chains
In one plane；Another kind of output link is plane, at least the axis of a side chain not with other chain axis at one
In plane.Hooke's hinge class: limit according to the structure of side chain, be also classified into two kinds.Under loose restriction, the lower extreme point kinematic pair of side chain
Based on Hooke's hinge, such as [UPR&SPR] compound movement is secondary.
Hooke's hinge class, under strict restriction, its output link is that the scheme of line segment is:
Described many translation freedoms parallelogram compound movement is secondary, and its side chain includes two or more side chain, side chain
Being to be followed in series to form by Hooke's hinge, Generalized Moving pair and rotation type kinematic pair, all of side chain axis is in one plane.Extremely
Connect between moving sets on few two side chains and have synchronous transmission device.Such as, [2UPR] (3T0R), [2UPU] (3T1R),
[3UPU] (3T1R), [2UPS] (3T1R)；[3UPS] (3T1R) etc..Embodiment 8 is one of example of this kind of scheme.This kind of complexity
Kinematic pair has three translation freedoms, or, an also rotational freedom being parallel to output link.
Hooke's hinge class, under strict restriction, its output link is that the scheme of plane is:
Described many translation freedoms parallelogram compound movement is secondary, and its side chain includes 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, at least the axis of a side chain not with its
Its side chain copline.At least 3 side chains, including not coplanar with other a side chain side chain, fill by Synchronous Transmission
Put and link together.Such as, [3UPU] (3T0R), [3UPS], [4UPU] (3T0R).Embodiment 2 be this kind of scheme example it
One.They only have three translation freedoms, do not have rotational freedom.
Ball pivot class: the parallelogram compound movement of many translation freedoms is secondary, described side chain secondary by ball pivot, Generalized Moving and
Hooke's hinge or ball pair are followed in series to form.This is the end points kinematic pair of a side chain class complexity moving sets based on ball pivot.Including
Two classes: line segment output link and plane output link.Line segment output link: such as, [2SPS] (3T2R), [3SPS] (3T2R) are multiple
Miscellaneous kinematic pair etc..Output link is that the compound movement pair of line segment may contain two rotational freedoms being perpendicular to output link.
Plane output link: such as, [3SPS] (3T1R), [4SPS] (3T1R) compound movement are secondary.Output link is answering of triangle
Miscellaneous kinematic pair may contain a rotational freedom being perpendicular to output link.Embodiment 9,10 is two examples in this kind of scheme
Son.
Screw pair class: under strict restriction, side chain is gone here and there successively by screw pair, Generalized Moving pair and revolute pair type kinematic pair
Connection is constituted.Connect between at least two side chain and have synchronous transmission device.Screw pair class also has two kinds.A kind of output link is line
Section, such as, [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 class compound movement that side chain is identical
Secondary.In [2HrPR], if screw pair is also applied as kinematic pair, then [2HrPR] becomes three translation freedoms compound movement pair
[2HPR](3T0R).Embodiment 11 is one of example in this kind of scheme.At this moment, also to connect two in the two ends of two screw pairs
Revolute pair.Sometimes, such as, when screw pair has 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 movements are secondary, and referred to as New Complex kinematic pair has two
Representing with symbol I of translation freedoms, it 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 of connecting on side chain, connection between the moving sets of side chain, should be set up
System's (association), it is ensured that be synchronized with the movement.Set up contact and synchronous transmission device is i.e. installed.
Planar parallelogram compound movement is secondary, and its side chain axis, in a plane, has two or more side chain, is more than
The side chain of two is redundancy side chain, and at least synchronous transmission device installed by two side chains, and the side chain installing synchronous transmission device claims
For association side chain.The association of redundancy side chain is redundant associations.Such as, [2RPR] is that planar parallelogram compound movement is secondary, it
Two P pairs, two P pairs are had to associate.For another example, it is secondary that [3RPR] falls within planar parallelogram compound movement, and it has three P
Pair, at least to have two moving sets associations.A remaining side chain is redundancy side chain.So planar parallelogram compound movement
Pair, at least to have two broad sense P pair associations.
Space parallelogram compound movement is secondary, has three or more side chains, at least the axis of a side chain not with
Other chain axis is in one plane.They have three or more P secondary, and at least three P pairs must associate, and includes
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 have between three Generalized Moving pairs and set up association, or perhaps at least synchronous transmission device installed by three side chains.
Association the most do not set up by redundancy side chain.Redundancy side chain, it is also possible to set up association.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,
Can also be as driving pair.
Space parallelogram compound movement is secondary, also includes the parallelogram compound movement of class two translation freedoms
Secondary.Such as, [3RPR] and [3HPH].Three P pairs that this class compound movement is secondary, having two P pair associations is also feasible program, but
It is that stress is the best, has bigger moment of flexure.If three P pair associations, then it is preferred plan.So, this situation is included into
Three P pair associations.
Synchronous transmission device can select mechanical synchronized driving device or electric synchronization transmission device.
(1), mechanical synchronized driving device, it is adaptable to electric cylinder or linear electric motors, concrete scheme is:
Described many translation freedoms parallelogram compound movement is secondary, and its Generalized Moving pair is linear electric motors or electricity
Dynamic cylinder, its synchronous transmission device includes that cylinder body connects transmission case, flexible axle, side chain association transmission case, and cylinder body connects transmission case two
Individual or three, in addition to the cylinder body on redundancy side chain, a cylinder body is installed a cylinder body and connects transmission case, by the straight line of moving sets
Motion is converted to rotate, and each cylinder body connects transmission case and a flexible axle connects, and all flexible axles all associate transmission case with side chain
Link together.
Flexible axle includes Bowden cable, spring flexible shaft, Hooks coupling universal coupling flexible axle etc..Such as, flexible axle by shaft coupling, universal joint,
Scalable shaft couplings etc. form.Linear motion on each cylinder body, after being converted to rotate, 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, it is achieved the pass of two or more side chains
Join and be synchronized with the movement.(mechanical synchronized driving device).
If driving pair, motor is preferably mounted on pedestal, and such as, motor is fixed on the middle part of frame, and power is passed
Transmission device is associated to side chain.Become two or more output shaft by transmission case, each output shaft connect have soft
Axle (scalable shaft coupling), is connected to electric cylinder finally by the cylinder body case that is in transmission connection.The electric cylinder transmission device by self
Rotation is become linear motion.
Mechanical synchronized driving device completes to be synchronized with the movement can diversified implementation.Different Generalized Movings
Secondary, it is achieved the scheme of synchronization is the most different.Such as, side chain association transmission device can be a gear, it is also possible to be one
Individual shaft coupling etc..The motion Complete Synchronization that general motion after connection is secondary.
(2), electrically or electronically Synchronous Transmission: synchronous driving control device mainly includes computer hardware, software systems, drives
Dynamic device, sensing system, signal input-output system etc..Computer system produces one and drives signal, output to each side
Chain.General motion is secondary to move under the common effect driving signal (generally possibly together with feedback signal), it is ensured that each kinematic pair
Amount of movement the most identical.Such as, the control system of stepper motor, servo electric jar, the control system etc. of servo-cylinder.Electricity
Sub-Synchronous Transmission, such as, drives piezoelectric ceramic actuator with the signal of telecommunication；Magnetic signal drives magnetostrictive actuator etc..Electrically or
The technology that electronic synchronizer drives is known technology, describes the most in detail.Other Synchronous Transmission, drives artificial muscle including chemical method
Meat, by the use of thermal means etc., it is also included within above-mentioned electrically or electronically Synchronous Transmission scheme.
The application of New Complex kinematic pair is many: include serial manipulator, parallel robot and series-parallel robot.
New Complex kinematic pair (M is secondary and I is secondary) independently can use as a basic exercise pair.Furthermore, it is possible to it is convenient
Be standardized design.When abundant hour of the spacing being standardized between design and side chain, novel parallel quadrangle is complicated
Kinematic pair function is simple, and compact conformation, just as Hooke's hinge or ball pivot, can use as independent parts.Therefore,
New Complex kinematic pair M pair and I are secondary as a basic exercise pair, as R pair, U pair, S pair, P pair, have basic exercise secondary
Effect, other kinematic pair is irreplaceable.New Complex kinematic pair belongs to generation mechanism field.
The application of novel parallel quadrangle compound movement secondary (claim 1,2,3,4,5,6,7 embodiment 1 to embodiment 4)
Mainly include three aspects.One is to constitute serial manipulator (claim 8,9, embodiment 4,5), and two is to constitute parallel robot
(claim 10,11, embodiment 6,7).Further, it is also possible to composition series-parallel robot.
Independent composition parallel robot 1
New Complex kinematic pair I is that a basic compound motion is secondary, is also a parallel robot, similarly, multiple
Miscellaneous kinematic pair M is that a basic compound movement is secondary, is also a parallel robot.I Fu Zuo robot, location secondary for I is removed
Outside association moving sets is as driving pair, also there is a R secondary as driving pair.M is secondary as robot, and the location that M is secondary, except association
Outside moving sets is as a driving pair, also there are two different R secondary (can not be on a side chain) as driving pair.
New Complex kinematic pair I is secondary or secondary the series connection with other kinematic pairs of M may be constructed serial manipulator (claim 8,9)
(embodiment 4,5)
Generalized Moving also it is in series with secondary in one end that New Complex kinematic pair I is secondary or M is secondary.Generalized Moving pair can be P secondary,
2P is secondary, 2H is secondary, 2C is secondary, 3P is secondary, and 3C is secondary, 3H is secondary.It is secondary that 2P is secondary, 2H is secondary, 2C is secondary, 3C is secondary, 3H pair is referred to as one group of Generalized Moving, same group
Moving sets axis parallel.
I pair one Generalized Moving pair of series connection, the angle between axis and the axis of revolute pair that Generalized Moving is secondary is less than 90
Degree, preferably 0 degree, i.e. two axis are parallel, and the outstanding scheme of comparison is:
A kind of serial manipulator, secondary including described many translation freedoms parallelogram compound movement and one or one group
Generalized Moving is secondary, and many translation freedoms parallelogram compound movement pair is that a rotation class with two translation freedoms is parallel
Quadrangle compound movement is secondary, is also in series with broad sense shifting rotating the secondary one end of class many translation freedoms parallelogram compound movement
Dynamic pair, the axis of Generalized Moving pair is parallel with the axis of first revolute pair on side chain.Such as, connect with P pair, obtain P
[2RPR] (3T0R), connects with 2C pair, obtains 2C [2RPR] (3T0R), 2C [2RPU] (3T1R).Embodiment 4 is in this kind of scheme
One of example.
One end of New Complex kinematic pair I is in series with moving sets, and the axis secondary at axis and the lower rotational of moving sets is put down
Under the restriction of row, the most several special assembling modes.Such as, the moving sets of series connection is with 2, and its axis is parallel to revolute pair
Axis, obtains one three translation serial manipulator 2P [2RPR] (3T0R), and the lower rotational countershaft that the axis of moving sets and I are secondary
After line overlaps, actually one cylindrical pair, so the structure of compound movement pair at this moment is [2CPR].Or, with two spiral shells
Rotation pair, the axis of screw pair overlaps with the lower rotational secondary axis of I pair, obtains one three translation serial manipulator.And this side
Case, it is simply that replace secondary for the C in [2CPR] by screw pair, obtain [2HPR].
M pair one Generalized Moving pair of series connection, obtains three translation serial manipulator with bigger working space.M is secondary
Connecting a moving sets, the angle between axis and the axis of revolute pair of moving sets can be with 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, has
Time need the device that is synchronized with the movement is installed.
The parallelogram compound movement of many translation freedoms is secondary and a rotation type kinematic pair is connected, and constitutes a class cascade machine
Device people, its scheme is:
A kind of serial manipulator, an and rotation class secondary including described many translation freedoms parallelogram compound movement
Kinematic pair, many translation freedoms parallelogram compound movement pair is one and has N1(N1=2,3) many translations of the free degree are freely
Degree parallelogram compound movement is secondary, rotates type kinematic pair and is one and has N2(N2=1,2,3) the rotation type games of the free degree
Pair, the parallelogram compound movement of many translation freedoms is secondary connects with rotation type kinematic pair, constitutes a N3=(N1+N2) freely
Degree serial manipulator, serial manipulator output installation actuator, many translation freedoms parallelogram compound movement pair has
N1 driving pair, wherein moving sets is a driving pair, and the N1-1 revolute pair in end points kinematic pair is driving pair, the rotation of series connection
Revolute pair in type kinematic pair is all driving pair.
Above-mentioned three kinds of serial manipulator can be as a side chain, for comprehensive parallel robot.Such as, MS(3T3R) string
Connection robot (a kind), MU(3T2R) parallel robot (3 kinds), MR(3T1R) parallel robot (3 kinds), M(3T0R) parallel manipulator
People's (a kind), IS(2T3R) parallel robot (3 kinds), IU(2T2R) parallel robot (9 kinds), IR(2T1R) parallel robot (9
Kind), I(2T0R) parallel robot (3 kinds).Have 32 kinds.The cascade machine that these novel parallel quadrangle compound movement pairs are constituted
Device people can apply as the side chain of parallel institution.Being characterized in simple in construction, load path is short.57 kinds of (2-6) frees degree
Serial mechanism in, only use novel parallel quadrangle compound movement pair class side chain, the present invention just can comprehensively go out therein 32
Kind.Embodiment 5 is one of example in this kind of scheme.
Many translation freedoms parallelogram compound movement secondary I is secondary or M is secondary retrains free degree side chain with one or two nothing
Parallel connection, constitutes a class parallel robot, and its scheme is:
A kind of parallel robot, secondary including described many translation freedoms parallelogram compound movement, one or two
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, and the triangle of moving platform is less, basis
Platform triangle is relatively big, and the compound movement of N3 translation freedoms is secondary as a side chain, individual with other (N3-1) free without constraint
Degree side chain, constitutes a side chain group, and N3 side chain connects basic platform and moving platform, and a chain axis is not parallel to each other, non-cross,
Obtain 2 translation freedoms or 3 translation freedoms parallel robots.There are two schemes: a scheme is that I is secondary with a nothing about
Bundle free degree side chain is in parallel, constitutes a two-degree-of-freedoparallel parallel robot, and another scheme is M pair and two nothing constraint frees degree
Side chain is in parallel, constitutes a 3-dof parallel robot.Embodiment 6 is one of example in this kind of scheme.
Many translation freedoms parallelogram compound movement secondary I is secondary or M pair first rotates type kinematic pair with one and connects, then
In parallel without constraint free degree side chain with several, constitute a class parallel robot, its scheme is:
A kind of parallel robot, secondary including described many translation freedoms parallelogram compound movement, one rotates class
Kinematic pair, 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, rotates class
Kinematic pair is one and has N2(N2=1,2,3) the rotation type kinematic pair of the free degree, parallelogram compound movement is secondary with this turn
Dynamic type kinematic pair series connection, constitutes a N3(N3=N1+N2) free degree series connection side chain, this side chain, with other (N3-1) individual nothing about
Bundle free degree side chain, constitutes a side chain group, and N3 side chain of side chain group connects basic platform and moving platform, each chain axis
It is not parallel to each other, non-cross, obtain a parallel robot.
One New Complex kinematic pair and a side chain rotating type kinematic pair in series are referred to as novel parallel quadrangle
Side chain.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.) one of may be constructed 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.The more typical parallel institution of ratio, by basic platform,
Moving platform and two or more side chain composition, side chain group is one of following side chain combination:
1,1 MS side chain and 5 constitute a 6DOF parallel institution (3T3R, a kind of) without constrained branched chain parallel connection；
2,1 MU side chain and 4 constitute a 5DOF parallel institution (3T2R, three kinds) without constrained branched chain parallel connection；
3,1 MR side chain and 3 constitute a 4DOF parallel institution (3T1R, three kinds) without constrained branched chain parallel connection；
4,1 M side chain and 2 are without constrained branched chain (or 2 M side chains and 1 SPS parallel connection, or 3 M side chains parallel connections) in parallel
Constitute a 3DOF parallel institution (3T0R, a kind of)；
5,1 IS side chain and 4 constitute a 5DOF parallel institution (2T3R, three kinds) without constrained branched chain parallel connection；
6,1 IU side chain and 3 constitute a 4DOF parallel institution (2T2R, nine kinds) without constrained branched chain parallel connection；
7,1 IR side chain and 2 constitute a 3DOF parallel institution (2T1R, nine kinds) without constrained branched chain parallel connection.
8,1 I side chain and 1 constitute a 2DOF parallel institution without constrained branched chain (or 2 I side chains are in parallel) in parallel
(2T0R, three kinds).
Embodiment 7 is one of example in this kind of scheme.
U pair in above-mentioned side chain includes three kinds of degrees of freedom combination: Uxy (RxRy), Uxz (RxRz) or Uyz (RyRz). Uxy
(RxRy) in, 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 around Y
The rotational freedom of axle, subscript z represents rotational freedom about the z axis.
I pair in above-mentioned side chain also includes three kinds of degrees of freedom combination: Ixy (TxTy), Ixz (TzTx), Iyz (TyTz).Ixy
(TxTy) in, the subscript of T or I represents the direction of translation movement.Subscript x represents the translation freedoms moved in the X-axis direction, subscript y
Representing the translation freedoms along Y direction translation, subscript z represents the free degree along Z-direction translation.
Constitute mixed connection robot and Limited-DOF Parallel Robot.
Application New Complex kinematic pair can also constitute series-parallel robot, and such as 3 M side chain parallel connections constitute one 3 translation
Freedom degree parallel connection mechanism (3T0R), moving platform installs a 0T3R serial machine hand again.
Application New Complex kinematic pair can also constitute few side chain parallel institution, and (side chain number is less than the parallel machine of number of degrees of freedom,
Structure), such as, a MU side chain and two PRPS side chains constitute 5DOF (3T2R) parallel institution.Two of PRPS side chain
P pair is all driving pair.This parallel institution has three side chains, five frees degree.
Novel parallel quadrangle compound movement pair can also comprehensively go out other numerous novel serial or parallel connection mechanism.
The course of work:
1, as a example by the compound movement secondary [2RPR] of machinery association (seeing Fig. 1)
As driving pair, [2RPR] is using two moving sets that are mutually related as driving pair.The output shaft of motor 8.3,
Associate transmission case 8.2 through side chain, become two output shafts 8.1, two output shaft 8.1 synchronous axial system, drive respective flexible axle
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, being delivered to cylinder body 5.1 through the cylinder body case 6 that is in transmission connection, cylinder body is changed into the linear motion of cylinder rod 5.2 rotation.Defeated
Go out the distance change of component and frame, but, frame is the most parallel with output link, and side chain axis is the most parallel.Meanwhile, end points
Revolute pair do not changed by moving sets length and affected, can be freely rotatable.When side chain rotates clockwise (on the left of in Fig. 1
As a example by 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, and sees dotted portion in Fig. 1.When side chain rotates counterclockwise,
The distance that cylinder body is in transmission connection between case and soft axle transmission connecting box output shaft becomes big.For adapting to this change, scalable shaft coupling
Device A elongation, scalable shaft coupling B move down.See dotted portion in Fig. 1.Thus ensure that association part does not affect complicated shifting
Dynamic secondary normal work.So, two frees degree are separate.
As passive secondary, in FIG, removing motor 8.3, two cylinder body connecting boxs 6 are closed with side chain by two set flexible axles 7
Connection transmission case 8 links together.If applying a pulling force parallel with moving sets P on output link, two P pairs can be simultaneously
Elongation.The cylinder body transmission device that is displaced through of elongation is changed into rotation.Then, the flexible axle rotating through outside is delivered to frame
Side chain association transmission case, the motion of two moving sets converges here.Owing to the gearratio in the two transmission process is identical, it is ensured that
Output link can only do the movement being parallel to frame.Whether, when moving sets motion or moving sets are fixed, association part is all
Do not affect the secondary rotation of R, and the rotation of revolute pair, nor affect on the work of moving sets and synchronous transmission device.So, two are certainly
It is not interfere with each other by the motion spent.The working space of compound movement pair is a sector.
2, as a example by [3UPU] (3T0R) parallel institution of electrical correlation
Secondary [3UPU] (3T0R) for compound movement, the P using three associations is secondary as driving pair.Drive at same signal
Under Dong, moving sets synchronizing moving, output link translation.Meanwhile, three groups of U pairs can be freely rotatable.And during three groups of U pairs rotations, also
Do not disturb the work of moving sets.So, the motion of three degree of freedom does not interfere with each other.When moving sets is fixed, the work of output link
Space is a sphere.During moving sets motion, the working space of output link is overlapped by unlimited number of spherical calotte and is formed
One ball-crown body.
3, as a example by [2SPS], [3SPS] parallel institution
Some are based on the operative scenario of the New Complex kinematic pair of S pair: such as [2SPS], such as the application bar of [2SS]
Part the same (seeing document 3, DELTA parallel institution), the external condition of its application requires that two side chains remain plane.
[3SPS], as the application conditions of [3SS], is to ensure that the rotational freedom being not perpendicular to output link.So, motion
During, as long as remaining parallelogram between each side chain, the course of work is with above-mentioned [2RR], [3UU] complicated fortune
Dynamic parafacies is seemingly.
The positive effect of the present invention is:
1, providing a kind of compound movement pair with two or three translation freedoms, advantage is:
(1), perfect translation class basic exercise secondary, define a complete translation moving sets series.At original list
On the basis of the P of free degree translation freedoms secondary, double class compound movement secondary U*, give the I of new double translation freedoms secondary and
The M of three translation freedoms is secondary.
(2) rotation type kinematic pair and the complete antithesis of translation type kinematic pair, are defined: R pair and P pair, U pair and I pair, S is secondary
One_to_one corresponding is defined, it is achieved that rotate the antithesis of type kinematic pair and translation type kinematic pair with M pair.
(3), obtained a class complete include the 3DOF double-movement-pair side chain to 6DOF.Such as, MS, MU, MR,
IS, IU, IR side chain.Except, also include M side chain, I side chain.These are all preferable side chains.
(4), a class dual ideal side chain is defined: such as, SPS side chain and MS side chain antithesis, RPS side chain and IS side chain pair
Even, RPR side chain and IR side chain antithesis, M side chain forms antithesis etc. with UP side chain.
2, disclose in application aspect and can comprehensively go out more than 32 kinds new serial mechanisms, particularly by two basic exercises
The secondary serial mechanism constituted.Can comprehensively go out 32 kinds of more parallel mechanisms, particularly solve the preferable side chain of application and constitute (comprehensive
Close) difficult problems of some specific ideal paralle mechanisms.Such as, application MU side chain and 4 SPS side chains can the most comprehensively go out
One 3T2R lower-mobility ideal paralle robot.The parallel institution of translation freedoms comprehensively become a work the easiest
Make.
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 can comprehensively go out 32 kinds therein, and be more complicated 32 kind, including 3T3R(1 kind),
3T2R(3 kind), 2T3R(3 kind), 2T2R(9 kind), 3T1R(3 kind), 2T1R(9 kind), 3T0R(1 kind), 2T0R(3 kind).This 32
Plant in serial mechanism or the parallel institution of (3-6) free degree, not only include the mechanism of common yardstick, also include microoperation machine
People, 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).
Accompanying drawing explanation
Fig. 1 is secondary [2RPR] structure principle chart (embodiment 1) of novel parallel quadrangle compound movement；
Fig. 2 is secondary [3UPU] structure principle chart (embodiment 2) of novel parallel quadrangle compound movement；
Fig. 3 is novel parallel quadrangle compound movement pair flexible hinge [2RPS] structure principle chart (embodiment 3)；
Fig. 4 is the 6DOF serial manipulator structure that application New Complex kinematic pair M obtains with ball pivot S pair Cascade Synthesis
Schematic diagram (embodiment 4)；
Fig. 5 is the 3DOF pure flat shifting serial mechanism that application moving sets P obtains with New Complex kinematic pair M Cascade Synthesis
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 parallel connection comprehensively obtain 3 translate oneself
By degree (3T0R) parallel robot structure principle chart (embodiment 6).
Fig. 7 be apply new branched MU secondary with 4 without constrained branched chain 5 translation freedoms (3T2R) comprehensively obtained in parallel and
Online structure structure principle chart (embodiment 7).
In figure: 1, frame, 2, side chain, 2.1, gantry rotation type kinematic pair, 2.2, output link rotate type kinematic pair,
2.3, gantry rotation type kinematic pair, 2.4, output link rotate type kinematic pair, 2.5, gantry rotation type kinematic pair, 2.6, output structure
Part 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, move
Dynamic secondary electric cylinder cylinder rod, 5.3, moving sets cylinder body, 5.4, moving sets servoBcylinder cylinder rod, 5.5, moving sets cylinder body, 5.6, cylindrical pair,
6, cylinder body connects transmission case, and 6.1, shaft coupling, 7, flexible axle, 7.1, gimbal coupling, 7.2, scalable shaft coupling, 7.3, universal
Joint shaft 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, compound movement pair side chain, 15, multiple
Miscellaneous kinematic pair 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 secondary, 19.2, Hooke's hinge, 20, moving platform.
Detailed description of the invention
For the ease of understanding the present invention, especially exemplified by following example.Its effect be understood to be the explaination to the present invention and
The non-any type of restriction to the present invention.
Embodiment 1:
Embodiment 1(Fig. 1) it is one and is realized the example that moving sets is synchronized with the movement by machine driving.It is one by 2 RPR
The novel parallel quadrangle compound movement that side chain 2 is constituted is secondary [2RPR].By frame 1,3, two RPR side chains 2 and of output link
Group synchronous transmission device 9 is constituted.Frame 1 is parallel to each other with output link 3, and side chain 2 axis is parallel to each other, rotates type kinematic pair
Each related rotation secondary axis correspondence is parallel.Side chain 2 is by the gantry rotation type kinematic pair (revolute pair) 2.1 of lower extreme point, moving sets
5, output link rotation type kinematic pair 2.2 is constituted；Wherein, moving sets 5 is two electric cylinders.The motor 8.3 of electric cylinder and shifting
Dynamic subsidiary cylinder 5.1 separates.Synchronous transmission device 9 includes that cylinder body connects transmission case 6, flexible axle 7 and associates transmission case 8 with side chain.Electronic
Machine 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,
Each output shaft 8.1 connects a flexible axle 7 by shaft coupling 7.4.Flexible axle 7 is by gimbal coupling 7.1, scalable shaft coupling
7.2, gimbal coupling 7.3, shaft coupling 6.1, passes to the transmission of motor 8.3 cylinder body and connects transmission case 6.Finally by cylinder
Body connects transmission case 6 and is connected to moving sets cylinder body 5.1, and power is delivered to moving sets cylinder body 5.1.Moving sets cylinder body 5.1 passes through
Rotation is become linear motion by the transmission device of self, and then, moving sets electric cylinder cylinder rod 5.2 is stretched out.Due to two cylinder bodies by
One motor 8.3 drives, 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 one and disappears
Extremely secondary.[2RPR] has two translation freedoms, and actuator 4 is arranged on the centre of output link 3, the working space of its actuator 4
It it is a sector.
For the generality on expressing, 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, the most feasible for [2RPR] compound movement pair.But, actual application
In, secondary for [2RPR] compound movement, more preferable scheme is: two output shafts 8.1 are separately mounted to gantry rotation type kinematic pair
The outside (not in the plane of parallelogram) of (revolute pair) 2.1.Two cylinder bodies connect transmission case 6 and are also mounted at moving sets cylinder
The outside of body 5.1.Motor 7 is still arranged in the middle part of frame 1.Distance between two output shafts 8.1 turns equal to two frames
Distance between dynamic type kinematic pair (revolute pair) 2.1, and about the center pair of two gantry rotation type kinematic pairs (revolute pair) 2.1
Claim.Embodiment 1 is a generation mechanism, is a mechanism simultaneously containing higher pair and lower pair.
Embodiment 2:
Embodiment 2(Fig. 2) it is that a novel parallel quadrangle compound movement being made up of 3 UPU side chains 2 is secondary [3UPU],
It has 3 one-movement-freedom-degrees.Including frame 1, side chain 2, output link 3 and synchronous transmission device 9.Side chain 2 is by lower extreme point
Gantry rotation type kinematic pair (Hooke's hinge) 2.3, moving sets 5, the output link of upper extreme point rotates type kinematic pair (Hooke's hinge) 2.4 groups
Become.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 is also
It is equilateral triangle, and congruent with output link 3 equilateral triangle.Gantry rotation type kinematic pair 2.3 is Hooke's hinge, output link
Rotating type kinematic pair 2.4 is Hooke's hinge, and moving sets 5 is three identical linear servo electric cylinders: include moving sets cylinder body 5.3 He
Moving sets servoBcylinder cylinder rod 5.4.When the displacement of three servo electric jars is output as 0, frame 1 is parallel to each other with output link 3, side
Chain 2 axis is parallel to each other, and gantry rotation type kinematic pair 2.3, output link rotate each related rotation countershaft of type kinematic pair 2.4
Line correspondence is parallel.Synchronous transmission device includes computer system, sensor, and signal output system dispatch control system passes through holding wire
10 give three identical displacement signals of moving sets (servo electric jar) 5, it is ensured that three servo electric jar synchronizing movings.Actuator
4 centers being arranged on output link 3 triangle.Actuator 4 working space is spherical stage body.Embodiment 2 is an electromechanics one
Ti Hua mechanism, is also a generation mechanism.The content of synchronous transmission device belongs to knowledge, is not drawn in figure, does not repeats,
Refer to mechanical engineering manual, the second edition, Beijing: China Machine Press 1996 volume 10 the 4th control technical foundation and
The motor engineering handbook second edition, volume Two, Beijing: the 5th, the 4th electronic computer of China Machine Press 1996 is automatic
Control).
Embodiment 3:
Embodiment 3(Fig. 3) it is a New Complex kinematic pair [2RPS] being made up of 2 RPS side chains 2, it has 2 shiftings
The dynamic free degree, a rotational freedom.Including frame 1, side chain 2, output link 3 and synchronous transmission device 9.Side chain 2 includes machine
Frame rotates type kinematic pair (revolute pair) 2.5, moving sets 5, output link rotation type kinematic pair (ball pivot) 2.6.Frame in frame 1
Rotating type kinematic pair 2.5 is flexible (submissive) revolute pair, and it is flexible ball that the output link of output link 3 rotates type kinematic pair 2.6
Secondary (or flexible Hooke's hinge), moving sets 5 is two identical moving sets stacked piezoelectric ceramic devices of cylinder body 5.5() constitute micro-
Type moving sets.Frame 1 and output link 3 are all linear patterns.Synchronous transmission device 9 includes computer system, sensor, and signal is defeated
Go out system etc., be used for providing synchronized signal.Two moving sets stacked piezoelectric ceramic devices of cylinder body 5.5() displacement input
When being 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 rotating type kinematic pair is secondary
Axis correspondence is parallel.Signal output system gives two moving sets cylinder body 5.5(stacked piezoelectric ceramics devices by holding wire 10
Part) identical displacement signal, it is ensured that two moving sets stacked piezoelectric ceramic devices of cylinder body 5.5() synchronizing moving.Its actuator 4
Translation working space be a sector.Embodiment 3 is a compliant mechanism and microoperation mechanism, is also an electromechanical integration
Mechanism.
Embodiment 4:
Embodiment 4(Fig. 4) it is one and is connected the serial manipulator obtained by an a compound movement secondary M and ball pivot S, bag
Include a compound movement secondary M to be connected on the output link 3 of compound movement secondary M with a ball pivot S, ball pivot S11, constitute one 6
Free degree serial manipulator.Compound movement secondary M is identical with embodiment 2, and symbol mark is the most identical, does not repeats.Serial machine
Actuator 4 is installed in one end secondary for people S, and the compound movement pair in serial manipulator has 3 driving pair, and three associations therein move
Dynamic pair is a 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 main
Dynamic pair.
Embodiment 5:
Embodiment 5(Fig. 5) it is the Three Degree Of Freedom pure translating machinery people obtained by one Generalized Moving pair of an I pair series connection,
Three Degree Of Freedom pure translating machinery people includes a frame 3, two side chains 2 of 1, output link and two cylindrical pairs 12.I pair is put down
Face is vertical with the axis of two cylindrical pairs 12.Two translation freedoms parallelogram compound movement secondary I, are that one [2RCR] is complicated
Kinematic pair, the stander end in compound movement secondary [2RCR] is also in series with two cylindrical pairs 12, and two cylindrical pairs 12 are wide as one
Justice moving sets, the axis of two cylindrical pairs 12 respectively with the axis of two gantry rotation type kinematic pairs (revolute pair) 2.1 of bottom
Overlap.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).Under one
Gantry rotation type kinematic pair (revolute pair) 2.1 and a moving sets (in Fig. 5, the moving sets in cylindrical pair 12) of end points constitute one
Individual cylindrical pair 12, has two cylindrical pairs.Synchronous transmission device 9(figure is illustrated with dotted line), it is an electric synchronization transmission dress
Put, do not repeat.
In this embodiment, there are two groups of cylindrical pairs, one group two.Two cylindrical pairs in compound movement secondary [2RCR],
Axis is parallel, and due to the constraint of two revolute pairs, loses the rotational freedom of himself, actually two moving sets.
Another set cylindrical pair, its revolute pair is [2RCR] compound movement pair lower extreme point revolute pair, and its kinematic pair is the shifting connected later
Dynamic pair.The motion of second group of cylindrical pair, due to the constraint of two revolute pairs of upper extreme point, loses the ability of independent translation, can only
It is synchronized with the movement.So, the structure of embodiment 4 can be expressed as [2CCR], and the axis of two cylindrical pairs therein is vertical.Or table
Reaching for [2CPR], cylindrical pair therein is vertical with the axis of moving sets.
If embodiment 5 is [2RCU] compound movement pair, connect one group of Generalized Moving is secondary, then complicated due to [2RCU]
U pair in kinematic pair does not retrain for the one group of Generalized Moving pair connected later, so, with the output of two cylindrical pairs of group
End is fixed together.It is cascaded with [2RCU] the most again.
Embodiment 6:
Embodiment 6(Fig. 6) by a M pair 16, basic platform 13 of 15, two SPS side chains and moving platform 17 groups
Become.Moving platform 17 is equilateral triangle, and basic platform 13 is bigger equilateral triangle, and a M secondary 15 constitutes compound movement pair
Side chain 14, the summit with moving platform 17 and basic platform 13 triangle respectively, two ends of M side chain are connected, two SPS side chains
On two other summit of two triangles that the two ends ball pivot 16.1,16.3 of 16 is connected to moving platform and basic platform.
Three side chains are not parallel to each other, non-cross.It is secondary as driving that the P of two SPS side chains secondary 16.2 associates P pair with three of M side chain.
Comprehensively obtain 3 pure translation freedoms parallel institutions (3T0R).
Embodiment 7:
Embodiment 7(Fig. 7) by a M pair 19.1, a Hooke's hinge 16, basic platform 18 of 19.2,4 SPS side chains
Form with a moving platform 20.M pair is connected with Hooke's hinge U pair, forms a five degree of freedom MU side chain 19, moving platform 20 is one
Convex pentagon, basic platform 18 is a bigger convex pentagon, the U of MU side chain 19 secondary 19.2 and pentagonal one of moving platform
Summit connects, and secondary 19.1 ends of the M of MU side chain 19 are connected on the pentagonal summit of basic platform, remaining 4 SPS side chain 16
Two ends ball pivot 16.1,16.3 be connected on two other summits pentagonal of moving platform 20 and basic platform 18, institute
Have side chain to be not parallel to each other, non-cross.The moving sets 16.2 of 4 SPS side chains 16 associates P pair as driving with three of MU side chain 19
Dynamic pair.Comprehensively obtain a 5DOF parallel institution (3T2R).
Embodiment 8:
Lower extreme point revolute pair in embodiment 1 is changed to Hooke's hinge, and remaining is constant, obtains embodiment 8.This be one with tiger
Gram hinge is that main compound movement is secondary [2UPR] (3T0R).See Fig. 1.
Embodiment 9:
End points Hooke's hinge in embodiment 2 being changed to ball secondary, remaining is constant, obtains embodiment 9.This is one
Main compound movement is secondary [2SPS] (3T1R).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 remaining is constant,
Obtain embodiment 10.This is that a novel parallel quadrangle compound movement being made up of 2 UPS flexible side-chains is secondary [2UPS]
(3T1R), 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
It it 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 remaining is constant, obtains embodiment
11.This is that a compound movement based on screw pair is secondary [2HPR] (2T0R), and two screw pairs are identical.See Fig. 1.
Claims (11)
1. the compound movement of translation freedoms parallelogram more than a kind is secondary, including frame (1), output link (3), side chain (2), with
Step transmission device (9), frame (1) and output link (3) are linked together by plural side chain (2), side chain and frame
The kinematic pair connected is to rotate type kinematic pair；The kinematic pair that side chain is connected with output link is also to rotate type kinematic pair, frame (1)
Parallel to each other with output link (3), side chain (2) axis is parallel to each other, rotate type kinematic pair each related rotation pair correspondence put down
OK, rotate, each side chain (2) two, a Generalized Moving pair (5) of connecting between type kinematic pair, in these Generalized Moving pairs
Connect between at least two Generalized Moving pair and have synchronous transmission device (9).
2. the many translation freedoms parallelogram compound movement as described in claim 1 is secondary, it is characterised in that: side chain (2) is
It is followed in series to form by revolute pair (2.1), Generalized Moving secondary (5) and rotation type kinematic pair；Broad sense at least two side chain is moved
Connect between dynamic pair and have synchronous transmission device (9).
3. the many translation freedoms parallelogram compound movement as described in claim 1 is secondary, it is characterised in that: side chain includes
Two or more side chains, in one plane, side chain (2) is by Hooke's hinge (2.3), Generalized Moving pair to all of side chain axis
(5) it is followed in series to form with rotation type kinematic pair；Connecting between Generalized Moving pair at least two side chain has Synchronous Transmission to fill
Put (9).
4. the many translation freedoms parallelogram compound movement as described in claim 1 is secondary, it is characterised in that: side chain includes
Three or more side chains, side chain (2) is by Hooke's hinge (2.3), Generalized Moving secondary (5) and Hooke's hinge (2.4) or ball pair successively
In series, at least the axis of a side chain not with other side chain copline；At least 3 side chains, including one
Generalized Moving on not coplanar with other side chain side chain is secondary, links together with synchronous transmission device.
5. the many translation freedoms parallelogram compound movement as described in claim 1 is secondary, it is characterised in that: side chain is by ball
Hinge, Generalized Moving pair and Hooke's hinge or ball pivot are followed in series to form.
6. the many translation freedoms parallelogram compound movement as described in claim 1 is secondary, it is characterised in that: side chain is by spiral shell
Rotation is secondary, Generalized Moving is secondary and rotates type kinematic pair is followed in series to form.
7. the many translation freedoms parallelogram compound movement as described in claim 1-6 any one is secondary, and its feature exists
In: Generalized Moving pair is an electric cylinder, and its synchronous transmission device (9) includes that cylinder body connects transmission case (6), flexible axle (7), side chain
Association transmission case (8), cylinder body connects transmission case two or three, in addition to the cylinder body on redundancy side chain, a cylinder body is installed
Cylinder body connects transmission case, is converted to the axial-movement of moving sets rotate, and each cylinder body connects transmission case and a flexible axle connects,
All flexible axles all associate transmission case with side chain and link together.
8. a serial manipulator, multiple including the many translation freedoms parallelogram described in claim 1-7 any one
Miscellaneous kinematic pair and one or one group of Generalized Moving are secondary, and many translation freedoms parallelogram compound movement pair is one, and to have two flat
The rotation class parallelogram compound movement moving the free degree is secondary, secondary rotating class many translation freedoms parallelogram compound movement
To be also in series with Generalized Moving secondary in one end, the secondary axis of Generalized Moving is parallel with the axis of first revolute pair on side chain.
9. a serial manipulator, complicated including the many translation freedoms parallelogram according to any one of claim 1-7
Kinematic pair and a rotation type kinematic pair, the parallelogram compound movement of many translation freedoms is secondary and rotates type kinematic pair series connection,
Constitute a serial manipulator；Serial manipulator output installs actuator, the parallelogram compound movement of many translation freedoms
Pair has N1 driving pair, and wherein moving sets is a driving pair, and the N1-1 revolute pair in gantry rotation type kinematic pair is actively
Pair, the revolute pair rotated in type kinematic pair of series connection is all driving pair.
10. a parallel robot, complicated including the many translation freedoms parallelogram according to any one of claim 1-7
Kinematic pair, one or two nothing constraint free degree side chain, one triangle basic platform of a triangular motion platform, basis is flat
Platform triangle is more than motion platform triangle, and the parallelogram compound movement of many translation freedoms is secondary as a side chain, with it
It constitutes a side chain group without constraint free degree side chain, and this side chain group connects basic platform and motion platform, and a chain axis is mutual
Not parallel, non-cross.
11. 1 kinds of parallel robots, complicated including the many translation freedoms parallelogram according to any one of claim 1-7
Kinematic pair, a rotation type kinematic pair, several, without constraint free degree side chains, motion platform, a basic platform, put down more
Move free degree parallelogram compound movement pair and rotate type kinematic pair series connection, constituting a series connection side chain, this side chain of connecting
Constituting a side chain group with other without constraint free degree side chain, the side chain of this side chain group connects basic platform and motion platform,
Each chain axis is not parallel to each other, non-cross.
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| CN104972453B (en) * | 2015-05-26 | 2016-09-28 | 韩方元 | A kind of multiple motion platforms parallel robot construction method and parallel robot thereof |
| CN105269562A (en) * | 2015-11-16 | 2016-01-27 | 齐鲁工业大学 | Linear type parallel robot structure |
| CN106956247B (en) * | 2017-05-05 | 2023-08-18 | 中国计量大学 | Active compliant vertebra of serial-parallel four-foot robot |
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| CN109979110B (en) * | 2019-03-26 | 2021-08-03 | 南京金盾公共安全技术研究院有限公司 | Methadone drug maintenance treatment self-service station networking management system |
| CN112298398B (en) * | 2020-12-01 | 2021-10-26 | 上海交通大学 | Bionic quadruped robot |
| CN112428257B (en) * | 2020-12-02 | 2022-07-08 | 中国民航大学 | Six-degree-of-freedom parallel mechanism with compound driving branched chain |
| CN112904551A (en) * | 2021-01-14 | 2021-06-04 | 中国科学院光电技术研究所 | Three-degree-of-freedom high-precision movement mechanism based on macro and micro movement mode |
| CN113309658B (en) * | 2021-07-08 | 2022-11-22 | 河北工业大学 | Parallel direct-drive type wave power generation device and testing device thereof |
| EP4389580A1 (en) * | 2021-08-24 | 2024-06-26 | Han, Fangyuan | Method and apparatus for reducing positive pressure of actuating cylinder of universal hinged support |
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