CN104626117A - 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism - Google Patents
2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism Download PDFInfo
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- CN104626117A CN104626117A CN201510032626.5A CN201510032626A CN104626117A CN 104626117 A CN104626117 A CN 104626117A CN 201510032626 A CN201510032626 A CN 201510032626A CN 104626117 A CN104626117 A CN 104626117A
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Abstract
The invention belongs to the field of robots and particularly relates to a space decoupling series-parallel mechanism. The series-parallel mechanism mainly comprises a series 2T branch and a two-branch parallel mechanism (1T1R) connected with the 2T branch. The 2T branch is composed of two moving pairs perpendicular to each other and a bottom platform used for connecting the two moving pairs. The bottom platform is of a rectangular structure, square guide rails perpendicular to the bottom platform are distributed on two upper opposite edges of the bottom platform, and sliding chutes parallel tot the bottom platform are distributed on two lower opposite edges of the bottom platform. The two-branch parallel mechanism is composed of a middle platform, a mobile platform and two branches used for connecting the middle platform and the mobile platform. The first branch is composed of three rotating pairs with the parallel axes, a rotating pair connected with the mobile platform and three connecting rods used for connecting the rotating pairs. The second branch is composed of two moving pairs with the centerlines perpendicular to each other, a rotating pair connected with the mobile platform and connecting rods used for connecting the two moving pairs and the rotating pair. The series-parallel mechanism can achieve the function of three-dimensional moving parallel to and perpendicular to the bottom platform and the function of single rotating around the axes of the rotating pairs on the mobile platform, is simple and stable in structure and easy to control, has a large mobile operation space and achieves motion decoupling.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
There is the problems such as robot mechanism volume is large, mechanical flexibility working space is little, very flexible in single serial manipulator or parallel robot, can not meet the action of certain working space completely in mechanism configuration, exercise performance etc.Therefore, adopt the series-parallel robot configuration combined by series and parallel connections, give full play to series and parallel structure advantage separately, make the performance that it reaches small volume and less weight, high flexibility ratio and improves robot, to have more use value, be also the new direction of future robot Institutions Development.
At present, in domestic and international manufacturing industry, design and the multiple series-parallel robot of successful Application, the 5DOF Tricept Series machine people that such as Sweden Neos Robotic company produces and the 5DOF Adept Quattro robot that the Adept Technology company of the U.S. of 5DOF Exechon robot that German DS-Technology company produces produces.But the existence of series-parallel robot coupling makes mechanism there are problems in mechanism design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of series-parallel robot, the decoupling improving hybrid mechanism has become the hot issue of theory of mechanisms research field.
Many mechanisms of China scholar designed many four, five, the New-type mixed-coupled robot mechanism of six degree of freedom, and applied for Patents, as Chinese patent: CN 1462669, CN 101049692, CN 102672709A, CN104057442A, CN103433918A, CN203427028U.At present for four, the research of 5-DOF (degree of freedom) parallel robot mechanism decoupling is then relatively less.Chinese patent CN 102896628A, although CN 103624778 A proposes mechanism of a kind of four degree of freedom decoupling parallel robot mechanism foregoing invention mechanism moving platform respectively can realize four-degree-of-freedom motion, but the hybrid mechanism that can realize decoupling zero is very rare, the decoupling of most of hybrid mechanism does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, mobile decoupling three move one turn of four-freedom hybrid mechanism.Its two branch's parallel institutions (1T1R) mainly comprising a series connection 2T side chain and be connected on side chain.2T side chain is made up of with the end platform being connected them two orthogonal moving sets; End platform be rectangle structure above it two opposite side be furnished with perpendicular to end platform square rail, below it, another two opposite side are furnished with the chute being parallel to end platform; Two branch's parallel institutions are made up of halfpace, moving platform and the Liang Ge branch that connects halfpace and moving platform; Three connecting rods of the revolute pair that branch one is parallel to each other by three axis is connected moving platform revolute pair and connection kinematic pair with one form; Branch two to be connected moving platform by two orthogonal moving sets of center line revolute pair with one and the connecting rod connecting them form.
End platform be rectangle structure above it two opposite side be furnished with perpendicular to end platform square rail, below it, another two opposite side are furnished with the chute being parallel to end platform.Fixed guide is connected with the chute below end platform by moving sets, and the end square guide rail of platform upper end is connected with halfpace by moving sets; In branch one, one end of first connecting rod is connected with second connecting rod by revolute pair, the other end of second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, wherein first three revolute pair axis is parallel to each other and perpendicular to halfpace, the revolute pair be connected with moving platform is perpendicular to first three revolute pair axis; In branch two, first connecting rod one end is connected with halfpace by the moving sets of centerline parallel in halfpace, first connecting rod other end is connected its center line perpendicular to first moving sets and perpendicular to mid-plane by moving sets with second connecting rod, and the other end of connecting rod is connected its pivot center by revolute pair with moving platform and is parallel to mid-plane.
In above-mentioned branch, in series connection 2T side chain, the moving sets is connected with fixed guide is input motion pair, will be moved at go to the bottom platform and parallel institution of the driving of moving sets.The moving sets be connected with end platform square rail is that input motion is secondary, and under the driving of moving sets, parallel institution will move up and down; Be connected with moving platform in above-mentioned branch one and turn pair for active drive, and drive hybrid mechanism end to rotate; The moving sets be connected with halfpace in above-mentioned branch two is that in active drive branch two, first connecting rod is moved under the driving of moving sets, and drives second connecting rod to be moved, and the mobile moving platform that drives of second connecting rod is moved; And three of these three directions movements and a rotational motion are decoupling zeros, non-interference.
The present invention compared with prior art tool has the following advantages:
1, simple and stable structure, kinematic pair is all lower pair, and assembling is simple, can reduce manufacturing cost;
2, three, space one-movement-freedom-degree and a rotational freedom decoupling zero is achieved;
3, there is larger space bidimensional especially in the horizontal direction move.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The overall schematic construction sketch of Fig. 2.
Detailed description of the invention
Move in one turn of four degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one three shown in Fig. 2, fixed guide 1 is connected with end platform 2 by moving sets 13.Square rail 3 on end platform 2 is connected with halfpace 5 by moving sets 4; In branch one, one end of connecting rod 7 is connected with halfpace 5 by revolute pair 6, and the other end of connecting rod 7 is connected with second connecting rod 9 by revolute pair 8.Connecting rod 9 other end is connected with the 3rd connecting rod 11 by revolute pair 10.Connecting rod 11 other end is connected with moving platform 20 by revolute pair 12; In branch two, one end of first connecting rod 16 is connected with halfpace by moving sets 15, and the other end of first connecting rod 16 is connected with second connecting rod 18 by moving sets 17, and second connecting rod 18 other end is connected with upper mounting plate 20 by revolute pair 19.
Moving sets 13 centerline parallel is in baseplane, and the central axis of moving sets 4 is in baseplane, and moving sets 2,13 center line is mutually vertical.Revolute pair 6,8,10 axis in branch one is parallel to each other, be parallel to moving sets 4 center line and perpendicular to the center line of halfpace 5 moving sets 13, revolute pair 12 axis being parallel be connected with moving platform in halfpace 5, perpendicular to revolute pair 6,8,10 axis; Moving sets 15 centerline parallel be connected with halfpace in branch two is in mid-plane, and the central axis of moving sets 17, in moving sets 15 center line and perpendicular to mid-plane 5, is parallel to the axis of kinematic pair 6,8,10.Revolute pair 12 axis co-axial in revolute pair 19 axis being parallel branch one; Be parallel to moving sets 15 center line and mid-plane 5, perpendicular to moving sets 13 center line.
Claims (3)
1. its two branch's parallel institutions (1T1R) mainly comprising a series connection 2T side chain and be connected on side chain of 2T & (1T1R) four degree of freedom decoupling hybrid mechanism.Two branch's parallel institutions are made up of halfpace, moving platform and the Liang Ge branch that connects halfpace and moving platform.It is characterized in that: 2T side chain is made up of with the end platform being connected them two orthogonal moving sets; End platform be rectangle structure above it two opposite side be furnished with perpendicular to end platform square rail, below it, another two opposite side are furnished with the chute being parallel to end platform.Fixed guide is connected with the chute below end platform by moving sets, and the end square guide rail of platform upper end is connected with halfpace by moving sets.In branch one, one end of first connecting rod is connected with second connecting rod by revolute pair, the other end of second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, three the revolute pair axis be wherein connected with halfpace are parallel to each other and perpendicular to halfpace, the revolute pair be connected with moving platform is perpendicular to first three revolute pair axis; In branch two, first connecting rod one end is connected with halfpace by the moving sets of centerline parallel in halfpace, first connecting rod other end is connected its center line perpendicular to first moving sets and perpendicular to mid-plane by moving sets with second connecting rod, and the other end of connecting rod is connected its pivot center by revolute pair with moving platform and is parallel to halfpace.
2. according to claim 1 a kind of three move one turn of four degree of freedom decoupling hybrid mechanism, it is characterized in that: two moving sets in above-mentioned series connection 2T side chain are respectively two active drive; Be connected with moving platform in above-mentioned branch one and turn pair for active drive; The moving sets be connected with halfpace in above-mentioned branch two is active drive.
3. according to claim 1 a kind of three move one turn of four degree of freedom decoupling hybrid mechanism, it is characterized in that: in above-mentioned branch one, the revolute pair at the 3rd connecting rod two ends can replace by universal hinge.
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| CN201510032626.5A CN104626117A (en) | 2015-01-20 | 2015-01-20 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
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| CN201510032626.5A CN104626117A (en) | 2015-01-20 | 2015-01-20 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598948A (en) * | 2016-01-26 | 2016-05-25 | 江南大学 | 2R1T modularized hybrid robot mechanism |
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| EP0494565A1 (en) * | 1991-01-11 | 1992-07-15 | Ecole Centrale Des Arts Et Manufactures | Device for moving an object in a translational way in space, especially for a mechanical robot |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102896628A (en) * | 2012-09-27 | 2013-01-30 | 河南科技大学 | Fully-decoupled parallel robot mechanism with four degrees of freedom |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103862462A (en) * | 2014-02-18 | 2014-06-18 | 燕山大学 | Two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism |
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2015
- 2015-01-20 CN CN201510032626.5A patent/CN104626117A/en active Pending
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| EP0494565A1 (en) * | 1991-01-11 | 1992-07-15 | Ecole Centrale Des Arts Et Manufactures | Device for moving an object in a translational way in space, especially for a mechanical robot |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102896628A (en) * | 2012-09-27 | 2013-01-30 | 河南科技大学 | Fully-decoupled parallel robot mechanism with four degrees of freedom |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105598948A (en) * | 2016-01-26 | 2016-05-25 | 江南大学 | 2R1T modularized hybrid robot mechanism |
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