CN105033986A - Multi-freedom-degree robot - Google Patents
Multi-freedom-degree robot Download PDFInfo
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- CN105033986A CN105033986A CN201510372193.8A CN201510372193A CN105033986A CN 105033986 A CN105033986 A CN 105033986A CN 201510372193 A CN201510372193 A CN 201510372193A CN 105033986 A CN105033986 A CN 105033986A
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- side chain
- connecting rod
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- moving sets
- lower link
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Abstract
The invention relates to a multi-freedom-degree robot. The multi-freedom-degree robot comprises a moving platform, a fixed platform and three branch chains for connecting the two platforms, wherein the structure of the first branch chain is the same as that of the second branch chain in the three branch chains; the first branch chain and the second branch chain respectively comprise a ball hinge pair, a rotary pair, a moving pair and connecting rods between the pairs from top to bottom; and the third branch chain in the three branch chains comprises two rotary pairs, a moving pair and connecting rods between the pairs from top to bottom. The multi-freedom-degree robot has the advantages that the movement output of the three moving pairs can be realized, the mechanism is simple, the processing and the manufacturing are easy, and a kinematic model is simple, so that the kinematic calibration and control become easy; and simultaneously, joints of the mechanism are fewer, so that the structure rigidity is improved.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of multi-freedom robot.
Background technology
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.
Parallel robot mechanism is widely used in the technical fields such as Digit Control Machine Tool, inching operation, boiler maintenance, production 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
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 multi-freedom robot mechanism of three movements.
For achieving the above object, the technical solution used in the present invention is:
A kind of multi-freedom robot, be made up of three side chains of above-mentioned two platforms of motion 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 typed ball bearing pair, revolute 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 two revolute pairs, a moving sets and the connecting rod between them from top to bottom;
One end of the upper connecting rod of the first side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by moving sets;
One end of the upper connecting rod of the second side chain is connected with motion platform by typed ball bearing pair, and the other end of upper connecting rod is connected with one end of lower link by revolute pair, and the other end of lower link is connected with fixed platform by moving sets;
One end of the upper connecting rod of the 3rd side chain is connected with motion platform by the first revolute pair, and the other end of upper connecting rod is connected with one end of lower link by the second revolute pair, and the other end of lower link is connected with fixed platform by moving sets;
Wherein, the moving sets of the moving sets of the first side chain, the moving sets of the second side chain and the 3rd side chain is the driving pair of mechanism.
Preferably, described motion platform is isosceles triangle.
Preferably, described motion platform is isosceles right triangle, and wherein the line angle of the first revolute pair central point of the typed ball bearing pair central point of the first side chain, the typed ball bearing pair central point of the second side chain and the 3rd side chain is 90 °.
The invention has the beneficial effects as follows:
The motion platform of parallel robot mechanism of the present invention 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. 1 is a kind of structural representation of multi-freedom robot.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Embodiments provide a kind of multi-freedom robot, as shown in Figure 1, be made up of motion platform 1, fixed platform 0 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 typed ball bearing pair, revolute 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 two revolute pairs, a moving sets and the connecting rod between them from top to bottom;
One end of the upper connecting rod L3 of the first side chain is connected with motion platform 1 by typed ball bearing pair 5, and the other end of upper connecting rod L3 is connected with one end of lower link L4 by revolute pair 6, and the other end of lower link L4 is connected with fixed platform 0 by moving sets 7;
One end of the upper connecting rod L5 of the second side chain is connected with motion platform 1 by typed ball bearing pair 8, and the other end of upper connecting rod L5 is connected with one end of lower link L6 by revolute pair 9, and the other end of lower link L6 is connected with fixed platform 0 by moving sets 10;
One end of the upper connecting rod L1 of the 3rd side chain is connected with motion platform 1 by the first revolute pair 2, and the other end of upper connecting rod L1 is connected with one end of lower link L2 by the second revolute pair 3, and the other end of lower link L2 is connected with fixed platform 0 by moving sets 4;
Wherein, the moving sets 10 of moving sets 7, second side chain of the first side chain and the moving sets 4 of the 3rd side chain are that the driving of mechanism is secondary.
Preferably, described motion platform 1 is isosceles triangle.
Preferably, described motion platform 1 is isosceles right triangle, and wherein the line angle of the first revolute pair 2 central point of typed ball bearing pair 5 central point of the first side chain, typed ball bearing pair 8 central point of the second side chain and the 3rd side chain is 90 °.
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 (3)
1. a multi-freedom robot, it is characterized in that: be made up of motion platform (1), fixed platform (0) 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 typed ball bearing pair, revolute 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 two revolute pairs, a moving sets and the connecting rod between them from top to bottom;
One end of the upper connecting rod (L3) of the first side chain is connected with motion platform (1) by typed ball bearing pair (5), the other end of upper connecting rod (L3) is connected with one end of lower link (L4) by revolute pair (6), and the other end of lower link (L4) is connected with fixed platform (0) by moving sets (7);
One end of the upper connecting rod (L5) of the second side chain is connected with motion platform (1) by typed ball bearing pair (8), the other end of upper connecting rod (L5) is connected with one end of lower link (L6) by revolute pair (9), and the other end of lower link (L6) is connected with fixed platform (0) by moving sets (10);
One end of the upper connecting rod (L1) of the 3rd side chain is connected with motion platform (1) by the first revolute pair (2), the other end of upper connecting rod (L1) is connected with one end of lower link (L2) by the second revolute pair (3), and the other end of lower link (L2) is connected with fixed platform (0) by moving sets (4);
Wherein, the moving sets (4) of the moving sets (7) of the first side chain, the moving sets (10) of the second side chain and the 3rd side chain is mechanism driving is secondary.
2. a kind of multi-freedom robot according to claim 1, is characterized in that: described motion platform (1) is isosceles triangle.
3. a kind of multi-freedom robot according to claim 2, it is characterized in that: described motion platform (1) is isosceles right triangle, wherein the line angle of the first revolute pair (2) central point of typed ball bearing pair (5) central point of the first side chain, typed ball bearing pair (8) central point of the second side chain and the 3rd side chain is 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510372193.8A CN105033986A (en) | 2015-06-29 | 2015-06-29 | Multi-freedom-degree robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510372193.8A CN105033986A (en) | 2015-06-29 | 2015-06-29 | Multi-freedom-degree robot |
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| Publication Number | Publication Date |
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| CN105033986A true CN105033986A (en) | 2015-11-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510372193.8A Pending CN105033986A (en) | 2015-06-29 | 2015-06-29 | Multi-freedom-degree robot |
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| CN (1) | CN105033986A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234956A (en) * | 2015-11-19 | 2016-01-13 | 中国科学院合肥物质科学研究院 | Steering mechanism for bionic snake-like robot |
| CN111486207A (en) * | 2020-04-26 | 2020-08-04 | 兰州城市学院 | Silicon micro six-rod force increasing mechanism |
-
2015
- 2015-06-29 CN CN201510372193.8A patent/CN105033986A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234956A (en) * | 2015-11-19 | 2016-01-13 | 中国科学院合肥物质科学研究院 | Steering mechanism for bionic snake-like robot |
| CN105234956B (en) * | 2015-11-19 | 2020-03-24 | 中国科学院合肥物质科学研究院 | Steering mechanism for bionic snake-shaped robot |
| CN111486207A (en) * | 2020-04-26 | 2020-08-04 | 兰州城市学院 | Silicon micro six-rod force increasing mechanism |
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Application publication date: 20151111 |