CN104626125A - 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism - Google Patents
1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism Download PDFInfo
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- CN104626125A CN104626125A CN201510032916.XA CN201510032916A CN104626125A CN 104626125 A CN104626125 A CN 104626125A CN 201510032916 A CN201510032916 A CN 201510032916A CN 104626125 A CN104626125 A CN 104626125A
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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 two-branch parallel mechanism (1T1R), a moving pair 1T connected with a bottom platform of the parallel mechanism and a moving pair 1T connected with an upper platform of the parallel mechanism. The two-branch parallel mechanism is composed of the bottom platform, the upper platform and two branches used for connecting the upper platform and the bottom platform. Fixed sliding chutes are connected with the bottom platform through the moving pairs. The first branch is composed of a parallelogram hinge, three rotating pairs and three connecting rods used for connecting the parallelogram hinge and the rotating pairs. The second branch is composed of two moving pairs with the centerlines perpendicular to each other, a rotating pair and two connecting rods used for connecting the moving pairs and the rotating pair. The tail end of the series-parallel mechanism is connected with the upper platform through a moving pair. The series-parallel mechanism can achieve the function of three-dimensional moving parallel to the bottom platform and perpendicular to the bottom platform and the function of single rotating around the rotating pair of the upper platform, is simple in structure and easy to control, has a large 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.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.
In Four-degree-of-freedhybrid hybrid robot research, FANUC Robot MiA/6s, 6A robot of the up-to-date production of FANUC company, on the moving platform of 3 translation Delta mechanisms, to connect again respectively the swinging head of 1 or 3 rotational freedom, form 4,6DOF carrying (permutation) robot at a high speed, for logistics, assembling line.The artificial 2DOF parallel institution of TriVariant Series machine of the invention such as University Of Tianjin HUANG and 2DOF rotary head 4DOF series-parallel robot in series, although mechanism of foregoing invention mechanism moving platform can realize four-degree-of-freedom motion, the decoupling that major part three moves one turn 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.It mainly comprises Ge Liang branch parallel institution (1T1R) and is connected to platform upper hopper chute 1T at the bottom of parallel institution and is connected moving sets 1T on its upper mounting plate.Two branch's parallel institutions are made up of end platform, upper mounting plate and the Liang Ge branch that connects upper mounting plate and end platform; Fixing chute is connected with end platform by moving sets; Branch one is made up of a parallelogram hinge and three revolute pairs and three connecting rods being connected kinematic pair; Branch two is made up of two orthogonal moving sets of center line and a revolute pair and two connecting rods connected between them; Hybrid mechanism end is connected with upper mounting plate by a moving sets.
Fixing chute is connected with end platform by moving sets, and its Mobility Center line is parallel with baseplane.In branch one, one end of first connecting rod to be connected with end platform by parallelogram hinge and its axis direction is parallel to baseplane, the other end of this parallelogram hinge is connected with first connecting rod, first connecting rod other end to be connected the axis in its axis direction parallel quadrilateral hinge with second connecting rod by revolute pair, the other end of second connecting rod is connected its axis direction by revolute pair with the 3rd connecting rod and is parallel to first revolute pair axis, the other end of the 3rd connecting rod is connected its revolute pair axis perpendicular to first turns auxiliary shaft line parallel in end platform by revolute pair with upper mounting plate, in branch two, one end of first connecting rod is connected its center line perpendicular to end platform by moving sets with end platform, first connecting rod other end to be connected its center line perpendicular to first moving sets by moving sets and to be parallel to baseplane with second connecting rod, the other end of connecting rod is connected its pivot center by revolute pair with upper mounting plate and is parallel to baseplane, hybrid mechanism end is connected its centerline parallel in upper mounting plate and perpendicular to second moving sets center line in branch two by a moving sets with upper mounting plate.
The present invention compared with prior art tool has the following advantages:
1, the locus that the part in series of this mechanism has been used in a big way is located, and takes into account the flexibility improving whole mechanism; Parallel connection part feasible region attitude orientation among a small circle, takes into account rigidity and the stability of robot.
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, fixing chute 1,9 is connected with end platform 2 by moving sets 10.In branch one, one end of parallelogram hinge 32 to be connected with on end platform, and the other end of parallelogram hinge 3 is connected with first connecting rod, and first connecting rod other end is connected with second connecting rod 5 by revolute pair 4.Connecting rod 5 other end is connected with the 3rd connecting rod 7 by revolute pair 6.Connecting rod 7 other end is connected with upper mounting plate 16 by revolute pair 8; In branch two, one end of first connecting rod 12 is connected with end platform by moving sets 11, and the other end of first connecting rod is connected with second connecting rod 14 by moving sets 13, and second connecting rod 14 other end is connected with upper mounting plate 16 by revolute pair 15.Connecting rod 15 other end is connected with moving platform by revolute pair 16.Mechanism end 18 is connected with upper mounting plate 16 by moving sets 17.
Moving sets 10 centerline parallel is in baseplane.Four axis being parallel in parallelogram hinge 3 in branch one are in baseplane and be parallel to the center line of moving sets 10.Be parallel to each other between revolute pair 4,6 axis and be parallel to four axis in parallelogram hinge 3, revolute pair 8 axis being parallel be connected with upper mounting plate is in baseplane simultaneously perpendicular to kinematic pair 3,4,6 axis; Moving sets 11 central axis be connected with end platform in branch two is in baseplane, and the central axis of moving sets 13 is in moving sets 11 center line and be parallel to the axis of kinematic pair 3,4,6.The axis of revolute pair 15 axis being parallel and a kind of revolute pair 8 of end platform 2 and branch; Moving sets 17 centerline parallel, in upper mounting plate 16, is parallel to revolute pair 8,15 axis.
Claims (3)
1. 1T & (1T1R) & 1T four degree of freedom decoupling hybrid mechanism its mainly comprise Ge Liang branch parallel institution (1T1R) with the moving sets 1T be connected on platform at the bottom of parallel institution and be connected moving sets 1T on its upper mounting plate.Two branch's parallel institutions are made up of end platform, upper mounting plate and the Liang Ge branch that connects upper mounting plate and end platform.It is characterized in that: fixing chute is connected with end platform by moving sets, and its Mobility Center line is parallel with baseplane.In branch one, one end of first connecting rod to be connected with end platform by parallelogram hinge and its axis direction is parallel to baseplane, the other end of this parallelogram hinge is connected with first connecting rod, first connecting rod other end to be connected the axis in its axis direction parallel quadrilateral hinge with second connecting rod by revolute pair, the other end of second connecting rod is connected its axis direction by revolute pair with the 3rd connecting rod and is parallel to first revolute pair axis, the other end of the 3rd connecting rod is connected its revolute pair axis perpendicular to first turns auxiliary shaft line parallel in end platform by revolute pair with upper mounting plate, in branch two, one end of first connecting rod is connected its center line perpendicular to end platform by moving sets with end platform, first connecting rod other end to be connected its center line perpendicular to first moving sets by moving sets and to be parallel to baseplane with second connecting rod, the other end of connecting rod is connected its pivot center by revolute pair with upper mounting plate and is parallel to baseplane, hybrid mechanism end is connected its centerline parallel in upper mounting plate and perpendicular to second moving sets center line in branch two by a moving sets with upper mounting plate.
2. three of a kind of decoupling zero according to claim 1 move one turn of four-freedom hybrid mechanism, it is characterized in that: the above-mentioned moving sets be connected with chute is input queued switches; The revolute pair be connected with moving platform in above-mentioned branch one is input queued switches; Being connected moving sets in above-mentioned branch two with fixed platform is input queued switches; The above-mentioned moving sets be connected with moving platform is input queued switches.
3. three of a kind of decoupling zero according to claim 1 move one turn of four-freedom 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, and parallelogram hinge can replace with a moving sets.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510032916.XA CN104626125A (en) | 2015-01-21 | 2015-01-21 | 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism |
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| CN201510032916.XA CN104626125A (en) | 2015-01-21 | 2015-01-21 | 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism |
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Citations (7)
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| JPH06226661A (en) * | 1993-02-09 | 1994-08-16 | Toshiba Corp | Robot module and robot |
| CN1528568A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| CN2675355Y (en) * | 2003-12-16 | 2005-02-02 | 广东工业大学 | Double degree of freedom moveable parallel robot mechanism |
| TW201121742A (en) * | 2009-12-28 | 2011-07-01 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103921268A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Prrpr branched-chain parallel mechanism hole forming system for airplane assembling |
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2015
- 2015-01-21 CN CN201510032916.XA patent/CN104626125A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06226661A (en) * | 1993-02-09 | 1994-08-16 | Toshiba Corp | Robot module and robot |
| CN1528568A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN1546286A (en) * | 2003-12-15 | 2004-11-17 | 河北工业大学 | Rotation pair combination unit and motion decoupling parallel mechanism formed thereby |
| CN2675355Y (en) * | 2003-12-16 | 2005-02-02 | 广东工业大学 | Double degree of freedom moveable parallel robot mechanism |
| TW201121742A (en) * | 2009-12-28 | 2011-07-01 | Hon Hai Prec Ind Co Ltd | Parallel robot |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103921268A (en) * | 2014-04-15 | 2014-07-16 | 南京航空航天大学 | Prrpr branched-chain parallel mechanism hole forming system for airplane assembling |
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Application publication date: 20150520 |