CN104858856A - 2PU and CRS spatial parallel robot mechanism - Google Patents
2PU and CRS spatial parallel robot mechanism Download PDFInfo
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- CN104858856A CN104858856A CN201510146066.6A CN201510146066A CN104858856A CN 104858856 A CN104858856 A CN 104858856A CN 201510146066 A CN201510146066 A CN 201510146066A CN 104858856 A CN104858856 A CN 104858856A
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Abstract
The invention relates to a 2PU and CRS spatial parallel robot mechanism. The 2PU and CRS spatial parallel robot mechanism comprises a moving platform, a fixed platform and three branch chains for connecting the two platforms; the first branch chain and the second branch chain in the three branch chains are the same in structure, and each of the first branch chain and the second branch chain comprises a universal joint pair, a sliding pair and a connecting rod therebetween from the top down; the third branch chain in the three branch chains comprises a ball pair, a revolute pair, a cylinder pair and connecting rods among the ball pair, the revolute pair and the cylinder pair. According to the 2PU and CRS spatial parallel robot mechanism, three mobile movement output can be realized, the mechanism is simple, the processing and the manufacturing are easy, and the kinematic model is simple and can enable kinematic calibration and control to be easy; meanwhile, the mechanism is less in joint, so that the structural rigidity is improved.
Description
Technical field
The present invention relates to robot field, particularly relate to
a kind of 2PU & CRS spatial parallel robot mechanism.
Background technology
Parallel institution (Parallel Mechanism is called for short PM), can be defined as moving platform and fixed platform passes through at least two
independentkinematic chain be connected, mechanism has two or more frees degree, and with parallel way drive a kind of close loop mechanism.
Parallel robot and the traditional industry serial manipulator relation in the unity of opposites in philosophy, compare with serial manipulator, parallel robot has following characteristics: without accumulated error, and precision is higher; Drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, and speed is high, and dynamic response is good; Compact conformation, rigidity is high, and bearing capacity is large; The parallel institution of full symmetric has good isotropism; Working space is less; According to these features, parallel robot need not be widely applied in the field of very large working space in the high rigidity of needs, high accuracy or large load.
Parallel robot mechanism is by being connected with plural side chain between fixed platform and motion platform, each side chain is made up of connecting rod and kinematic pair, motion platform has the plural free degree, and with the mechanism that parallel way drives, the serial manipulator of this and transmission is all very different in theory of mechanisms, kinematics, dynamics etc.
Connection robot mechanism is widely used in the technical fields such as robot, Digit Control Machine Tool, sensor, inching operation, manufacture processing, and researcher have also been invented a lot of parallel institution.But existing parallel robot mechanism still comes with some shortcomings, the problems such as poor in manufacturability, complex structure, manufacturing cost are high.
Summary of the invention
For this reason, the invention provides
a kind of 2PU & CRS spatial parallel robot mechanism, the object of the invention is to the defect for prior art and deficiency, provide a kind of structure simple, kinematic pair number is few, and cost is lower, can realize the spatial parallel robot mechanism of three movements.
The technical scheme that the present invention solves the problems of the technologies described above is as follows:
a kind of 2PU & CRS spatial parallel robot mechanismbe made up of three side chains of above-mentioned two platforms of moving platform, fixed platform and connection, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a universal joint pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod of the first side chain is connected with moving platform by the first universal joint pair, and the other end of first connecting rod is connected with fixed platform by the first moving sets;
One end of the second connecting rod of the second side chain is connected with moving platform by the second universal joint pair, and the other end of second connecting rod is connected with fixed platform by the second moving sets;
One end of the third connecting rod of the 3rd side chain is connected with moving platform by ball pair, and the other end of third connecting rod is connected by revolute pair one end with double leval jib, and the other end of double leval jib is connected with fixed platform by cylindrical pair;
Wherein, the cylindrical pair of the first moving sets of the first side chain, the second moving sets of the second side chain and the 3rd side chain is the driving pair of mechanism.
Preferably, described moving platform is isosceles triangle.
Preferably, described moving platform is isosceles right triangle, and wherein the line angle of the first universal joint sub-center point, the second universal joint sub-center point and ball sub-center point is 90 °.
Preferably, the first moving sets axis of the first side chain and an axis being parallel of the first universal joint pair.
Preferably, the second moving sets axis of the second side chain and an axis being parallel of the second universal joint pair.
Preferably, the first moving sets of the first side chain, the second moving sets of the second side chain adopt motor to drive.
Preferably, the first moving sets of the first side chain, the second moving sets of the second side chain adopt air pump to drive.
Preferably, the cylindrical pair of the 3rd side chain adopts motor to drive screw structure to drive.
The invention has the beneficial effects as follows:
The invention provides
a kind of 2PU & CRS spatial parallel robot mechanism, the motion platform of described parallel robot mechanism can realize the movement output of three movements, and mechanism is simple, and processing and manufacturing is easy, and kinematics model is simple, makes Kinematic Calibration and control become easy, and mechanism joint is few simultaneously, improves the rigidity of structure.
Accompanying drawing explanation
fig. 1be
a kind of 2PU & CRS spatial parallel robot mechanism.
Wherein: 1-moving platform, 2-ball is secondary, 3-revolute pair, 4-cylindrical pair, and 5-first universal joint is secondary, 6-first moving sets, and 7-second universal joint is secondary, 8-second moving sets, 9-fixed platform, L1-first connecting rod, L2-second connecting rod, L3-third connecting rod, L4-double leval jib.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with
accompanying drawingthe present invention is described in further detail.
In one embodiment,
as Fig. 1shown in,
a kind of 2PU & CRS spatial parallel robot mechanismbe made up of moving platform 1, fixed platform 9 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a universal joint pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod L1 of the first side chain is connected with moving platform 1 by the first universal joint secondary 5, and the other end of first connecting rod L1 is connected with fixed platform by the first moving sets 6;
One end of the second connecting rod L2 of the second side chain is connected with moving platform 1 by the second universal joint secondary 7, and the other end of second connecting rod L2 is connected with fixed platform by the second moving sets 8;
One end of the third connecting rod L3 of the 3rd side chain is connected with moving platform 1 by ball secondary 2, and the other end of third connecting rod L3 is connected with one end of double leval jib L4 by revolute pair 3, and the other end of double leval jib L4 is connected with fixed platform by cylindrical pair 4;
Wherein, second moving sets 8 of the first moving sets 6, second side chain of the first side chain and the cylindrical pair 4 of the 3rd side chain are that the driving of mechanism is secondary.
Preferably, described moving platform 1 is isosceles right triangle, and wherein the line angle of secondary 5 central points of universal joint, secondary 7 central points of universal joint and secondary 2 central points of ball is 90 °.
First moving sets 6 axis of the first side chain and an axis being parallel of the first universal joint pair 5.Second moving sets 8 axis of the second side chain and an axis being parallel of the second universal joint pair 7.
Second moving sets 8 of the first moving sets 6, second side chain of the first side chain adopts motor to drive.The cylindrical pair 4 of the 3rd side chain adopts motor to drive screw structure to drive.
In another embodiment,
as Fig. 1shown in,
a kind of 2PU & CRS spatial parallel robot mechanismbe made up of moving platform 1, fixed platform 9 and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a universal joint pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod L1 of the first side chain is connected with moving platform 1 by the first universal joint secondary 5, and the other end of first connecting rod L1 is connected with fixed platform by the first moving sets 6;
One end of the second connecting rod L2 of the second side chain is connected with moving platform 1 by the second universal joint secondary 7, and the other end of second connecting rod L2 is connected with fixed platform by the second moving sets 8;
One end of the third connecting rod L3 of the 3rd side chain is connected with moving platform 1 by ball secondary 2, and the other end of third connecting rod L3 is connected with one end of double leval jib L4 by revolute pair 3, and the other end of double leval jib L4 is connected with fixed platform by cylindrical pair 4;
Wherein, second moving sets 8 of the first moving sets 6, second side chain of the first side chain and the cylindrical pair 4 of the 3rd side chain are that the driving of mechanism is secondary.
Preferably, described moving platform 1 is isosceles right triangle, and wherein the line angle of secondary 5 central points of universal joint, secondary 7 central points of universal joint and secondary 2 central points of ball is 90 °.
First moving sets 6 axis of the first side chain and an axis being parallel of the first universal joint pair 5.Second moving sets 8 axis of the second side chain and an axis being parallel of the second universal joint pair 7.
Second moving sets 8 of the first moving sets 6, second side chain of the first side chain adopts air pump to drive.The cylindrical pair 4 of the 3rd side chain adopts motor to drive screw structure to drive.
Above disclosedly be only present pre-ferred embodiments, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the claims in the present invention are done, still belong to the scope that the present invention is contained.
Claims (8)
1. a 2PU & CRS spatial parallel robot mechanism, it is characterized in that: be made up of moving platform (1), fixed platform (9) and three side chains being connected above-mentioned two platforms, the first side chain in described three side chains is identical with the second branched structure, these two side chains are made up of a universal joint pair, a moving sets and the connecting rod between them from top to bottom respectively, and the 3rd side chain in three articles of side chains is made up of a ball pair, revolute pair, a cylindrical pair and the connecting rod between them from top to bottom;
One end of the first connecting rod (L1) of the first side chain is connected with moving platform (1) by the first universal joint pair (5), and the other end of first connecting rod (L1) is connected with fixed platform by the first moving sets (6);
One end of the second connecting rod (L2) of the second side chain is connected with moving platform (1) by the second universal joint pair (7), and the other end of second connecting rod (L2) is connected with fixed platform by the second moving sets (8);
One end of the third connecting rod (L3) of the 3rd side chain is connected with moving platform (1) by ball pair (2), the other end of third connecting rod (L3) is connected with one end of double leval jib (L4) by revolute pair (3), and the other end of double leval jib (L4) is connected with fixed platform by cylindrical pair (4);
Wherein, the cylindrical pair (4) of first moving sets (6) of the first side chain, second moving sets (8) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 1, is characterized in that: described moving platform (1) is isosceles triangle.
3. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 1 and 2, it is characterized in that: described moving platform (1) is isosceles right triangle, wherein the line angle of the first universal joint pair (5) central point, the second universal joint pair (7) central point and ball pair (2) central point is 90 °.
4. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 3, is characterized in that: the first moving sets (6) axis of the first side chain and an axis being parallel of the first universal joint pair (5).
5. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 4, is characterized in that: the second moving sets (8) axis of the second side chain and an axis being parallel of the second universal joint pair (7).
6. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 4 or 5, is characterized in that: first moving sets (6) of the first side chain, second moving sets (8) of the second side chain adopt motor to drive.
7. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 4 or 5, is characterized in that: first moving sets (6) of the first side chain, second moving sets (8) of the second side chain adopt air pump to drive.
8. a kind of 2PU & CRS spatial parallel robot mechanism according to claim 1, is characterized in that: the cylindrical pair (4) of the 3rd side chain adopts motor to drive screw structure to drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510146066.6A CN104858856A (en) | 2015-03-31 | 2015-03-31 | 2PU and CRS spatial parallel robot mechanism |
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| CN201510146066.6A CN104858856A (en) | 2015-03-31 | 2015-03-31 | 2PU and CRS spatial parallel robot mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710863A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Novel parallel robot |
| CN105710862A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Parallel mechanism |
| CN105710861A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Robot |
| CN105729459A (en) * | 2016-03-30 | 2016-07-06 | 冯基洲 | Parallel robot |
| CN105835042A (en) * | 2016-05-30 | 2016-08-10 | 柳州柳环环保技术有限公司 | Three-freedom-degree energy-saving robot mechanism |
-
2015
- 2015-03-31 CN CN201510146066.6A patent/CN104858856A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710863A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Novel parallel robot |
| CN105710862A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Parallel mechanism |
| CN105710861A (en) * | 2016-03-30 | 2016-06-29 | 冯基洲 | Robot |
| CN105729459A (en) * | 2016-03-30 | 2016-07-06 | 冯基洲 | Parallel robot |
| CN105835042A (en) * | 2016-05-30 | 2016-08-10 | 柳州柳环环保技术有限公司 | Three-freedom-degree energy-saving robot mechanism |
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Application publication date: 20150826 |