CN105619389B - A kind of symmetric parallel mechanism without Singularity - Google Patents
A kind of symmetric parallel mechanism without Singularity Download PDFInfo
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- CN105619389B CN105619389B CN201610153462.6A CN201610153462A CN105619389B CN 105619389 B CN105619389 B CN 105619389B CN 201610153462 A CN201610153462 A CN 201610153462A CN 105619389 B CN105619389 B CN 105619389B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
The invention discloses a kind of symmetric parallel mechanism without Singularity, including moving platform, as the fixed platform and four kinematic chains of connection moving platform and fixed platform of frame, four movement branched chains include that connection moving platform center just constrains chain and three identical movement branched chains with one of fixed platform center, three movement branched chains are on just constraint chain Central Symmetry distribution, by the addition on just constraint chain or secondary without rotating, so that parallel institution has Three Degree Of Freedom and four-degree-of-freedom respectively, two kinds of parallel institutions of the free degree all have symmetrical configuration, the characteristics of in the absence of Singularity, the present invention can be applied in motion simulator, telescope secondary mirror supporting mechanism, mechanical wrist, coordinate measuring machine, micro-manipulating robot and the first-class field of machine tool chief axis, with wide application prospect.
Description
Technical field
The invention belongs to machinery manufacturing technology field, it is related to a kind of symmetric parallel mechanism without Singularity.
Background technology
Parallel institution has that rigidity is big, bearing capacity is high compared to serial mechanism, high precision and inverse kinematic easily etc.
Advantage, thus be widely applied in industrial robot, mechanical manufacturing field.And minority carrier generation lifetime (free degree is small
In 6 parallel institution) have simple structure, low cost, relatively easy kinematics solution the features such as, wherein two rotate a mobile models
3-freedom parallel mechanism be very important class configuration in parallel institution.3-RPS parallel machines are proposed from HUNT nineteen eighty-threes
Since structure, two one mobile model 3-freedom parallel mechanisms of rotation have been used for many fields, such as Z3 based on 3-PRS parallel institutions
Main tapping, astronomical telescope secondary mirror supporting mechanism, pose_adjuster, motion simulator, mechanical wrist, coordinate measuring machine, microoperation
The fields such as robot.However, existing 3-freedom parallel mechanism has Singularity, plan mechanism path and compare
It is difficult.Have three to rotate one in four-freedom parallel mechanism and move the relatively fewer of symmetrical configurations, such as 4-SPS/PS mechanisms are present
Singularity, and the characteristic with close coupling so that trajectory planning and control are more difficult.
The content of the invention
It is an object of the invention to provide a kind of symmetric parallel mechanism without Singularity, the parallel institution has structure pair
Claim, without Singularity, working space is big, bearing capacity is strong, forward and reverse solution form is simple, drive pair is located on fixed platform, driving
The characteristics of mode is simple, the parallel institution can be applied in motion simulator, telescope secondary mirror supporting mechanism, mechanical wrist, seat
Co-ordinate measuring machine, micro-manipulating robot, spindle head of lathe.
The technical solution adopted in the present invention is, a kind of symmetric parallel mechanism without Singularity, including moving platform, conduct
The fixed platform and connection moving platform of frame and four kinematic chains of fixed platform, four movement branched chains include connection moving platform centre bit
Put and just constrain chain and three identical movement branched chains, three identical motions with one of fixed platform center
Side chain includes the hydraulic cylinder being fixedly connected with fixed platform, and 3 hydraulic cylinders are connected by cylindrical pair A with piston rod respectively, 3 pistons
Bar is connected by rotating secondary A with annular construction member respectively, and 3 annular construction members are connected by cylindrical pair B with slide bar respectively, every slide bar
One end be connected by rotating secondary B with moving platform center, and the slide bar other end passes through that rotation is secondary to be connected with roller, roller be arranged on it is dynamic
Raceway on platform is in contact, and the axis of the axis of each cylindrical pair A and corresponding rotation secondary A is orthogonal, often
The axis of the individual rotation secondary A and the axis of corresponding cylindrical pair B are orthogonal, the axis of each cylindrical pair B and
The axis of corresponding rotation secondary B is orthogonal, the axis coaxle of the rotation secondary B in three movement branched chains.
The features of the present invention is also resided in,
Just constraint chain includes the hydraulic cylinder being fixedly connected with fixed platform center, and hydraulic cylinder passes through prismatic pair and piston rod
One end connects, and the piston rod other end is hinged with Hooke, and Hooke's hinge is connected with moving platform center.
Just constraint chain includes passing through prismatic pair by rotating the hydraulic cylinder that secondary C is connected, hydraulic cylinder with fixed platform center
It is connected with piston rod one end, the piston rod other end is hinged with Hooke, Hooke's hinge is connected with moving platform center.
The central point of Hooke's hinge is intersection point of the axis with plane where moving platform for rotating secondary B, rotates the axis of secondary B and moves
Platform normal parallel.
Distance is equal between two neighboring cylindrical pair A, prismatic pair be located at the position of cylindrical pair A be made up of summit etc.
The point midway of side triangle, 3 axis of cylindrical pair A are parallel with the axis of prismatic pair.
The type of drive of parallel institution is any one in electric, pneumatic, hydraulic pressure.
Beneficial effects of the present invention are, the cylindrical pair A in three movement branched chains as mechanism drive pair, drive form letter
It is single, and driver is avoided positioned at the movement branched chain other positions larger inertia of introducing；Additionally due to proper constrained branched chain is contained in mechanism
High-precision motion can be further obtained by adding the method for redundant drive on proper constrained branched chain, the parallel institution is along moving platform
Slewing area planar it is unrestricted, can continuously be rotated with complete cycle, it is adaptable to middle low speed rotation occasion；While mechanism part
Decompose coupling, symmetrical configuration.Parallel institution of the invention has better simply forward and reverse solution, without unusual bit-type, working space is big, carries
Ability is strong, and with good kinetic characteristic, drive form is simple, can apply in motion simulator, telescope secondary mirror support machine
Structure, mechanical wrist, coordinate measuring machine, micro-manipulating robot, spindle head of lathe.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of mechanism of the first embodiment of the symmetric parallel mechanism without Singularity of the present invention；
Fig. 2 is a kind of structural representation of the symmetric parallel mechanism without Singularity of the present invention；
Fig. 3 is the structural representation of moving platform in a kind of symmetric parallel mechanism without Singularity of the present invention；
A kind of schematic diagram of mechanism of second embodiment of the symmetric parallel mechanism without Singularity of Fig. 4 present invention.
In figure, 1. fixed platform, 2. slide bar, 3. piston rod, 4. roller, 5. moving platform, 6. annular construction member, 7. hydraulic cylinder, 8.
Cylindrical pair A, 9. rotates secondary A, 10. cylindrical pair B, and 11. rotate secondary B, 12. Hooke's hinges, 13. prismatic pairs, 14. rotation secondary C.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Embodiment 1
A kind of symmetric parallel mechanism without Singularity of the present invention, as shown in Figures 1 and 2, including moving platform 5, as machine
The fixed platform 1 and connection moving platform of frame and four movement branched chains of fixed platform, four movement branched chains include connection moving platform 5 center
Position just constrains chain and three identical movement branched chains with one of the center of fixed platform 1, and three identical
Movement branched chain includes that 7,3 hydraulic cylinders 7 of hydraulic cylinder being fixedly connected with fixed platform 1 are connected by cylindrical pair A8 with piston rod 3 respectively
Connect, 3 piston rods 3 are connected by rotating secondary A9 with annular construction member 6 respectively, as shown in figure 3,3 annular construction members 6 are respectively by circle
Post secondary B10 is connected with slide bar 2, and every one end of slide bar 2 is connected by rotating secondary B11 with the center of moving platform 5, and slide bar 2 is another
End is connected by rotating pair with roller 4, and roller 4 is in contact with the raceway being arranged on moving platform 5, the axis of each cylindrical pair A8
Axis with corresponding rotation secondary A9 is orthogonal, and each rotates the axis and corresponding cylindrical pair B10 of secondary A9
Axis is orthogonal, and the axis of the axis of each cylindrical pair B10 and corresponding rotation secondary B11 is orthogonal, just constrains chain
Including the hydraulic cylinder 7 being fixedly connected with the center of fixed platform 1, hydraulic cylinder 7 is connected by prismatic pair 13 with the one end of piston rod 3,
The other end of piston rod 3 is connected with Hooke's hinge 12, and Hooke's hinge 12 is connected with the center of moving platform 5, turning in three movement branched chains
The axis coaxle of dynamic secondary B11, it is the central point of Hooke's hinge 12 to rotate the axis of secondary B11 with the intersection point of the place plane of moving platform 5, is turned
The axis and the normal parallel of moving platform 5 of dynamic secondary B11, distance is equal between two neighboring cylindrical pair A, and prismatic pair 13 is located at circle
The point midway of the equilateral triangle that the position of post secondary A8 is made up of summit, the axis of cylindrical pair A8 and the axis of prismatic pair 13
Parallel, the type of drive of parallel institution is any one in electric, pneumatic, hydraulic pressure.
A kind of the first embodiment of the lower-mobility symmetric parallel mechanism without Singularity of the present invention, there is provided a kind of two
The parallel institution of the Three Degree Of Freedom of a movement is rotated, the Inverse Kinematics Solution of the parallel institution is：
z3=z-asec α tan β
The forward kinematics solution of above-mentioned parallel institution is：
Z=(z1+z2+z3)/3
Mechanism Jacobian matrix J is obtained to Inverse Kinematics Solution derivation as follows：
The various middle z of the above1、z2、z3Respectively three bars driven on side chain as the cylindrical pair A for driving are long；Z is dynamic flat
The position of platform origin of coordinates z-axis under fixed platform coordinate, α, β, γ are the moving platform pose that moving platform XYZ type Eulerian angles are represented
(i.e. the X-axis rotation alpha angle of moving platform elder generation moving platform coordinate system, β angles are turned further around Y-axis under new coordinate system, new further around what is obtained
Coordinate system Z axis turn γ angles)；A represents air line distance of the axis to axis where prismatic pair where cylindrical pair A.
The Jacobian matrix tried to achieve by the motion analysis to above-mentioned parallel institution, can be with the kinetic characteristic of analysis institution：
For the mechanism,Wherein | α |<90 °, | β |<90 °, so det (J)
≠ 0, the mechanism does not exist Singularity.
Embodiment 2
A kind of symmetric parallel mechanism without Singularity of the present invention, as shown in Figures 2 and 4, including moving platform 5, as machine
The fixed platform 1 and connection moving platform 5 of frame and four movement branched chains of fixed platform 1, four movement branched chains are included in connection moving platform 5
Heart position just constrains chain and three identical movement branched chains with one of the center of fixed platform 1, and three identical
Movement branched chain include 7,3 hydraulic cylinders 7 of hydraulic cylinder for being fixedly connected with fixed platform 1 respectively by cylindrical pair A8 and piston rod 3,
3 piston rods 3 are connected by rotating secondary A9 with annular construction member 6 respectively, as shown in figure 3,3 annular construction members 6 pass through cylinder respectively
Secondary B10 is connected with slide bar 2, and every one end of slide bar 2 is connected by rotating secondary B11 with the center of moving platform 5, the other end of slide bar 2
By rotate pair be connected with roller 4, roller 4 is in contact with the raceway for being arranged on moving platform 5, the axis of each cylindrical pair A8 and with
Corresponding rotation secondary A9 axis it is orthogonal, each rotate secondary A9 axis and corresponding cylindrical pair B10 axis
Orthogonal, the axis of the axis of each cylindrical pair B10 and corresponding rotation secondary B11 is orthogonal, and just constraint chain includes
With the center of fixed platform 1 by rotating the hydraulic cylinder 7 that secondary C14 is connected, hydraulic cylinder 7 is by prismatic pair 13 and the one end of piston rod 3
Connection, the other end of piston rod 3 is connected with Hooke's hinge 12, and Hooke's hinge 12 be connected with the center of moving platform 5, it is proper constrain chain including with
The center of fixed platform 1 is connected by prismatic pair 13 by rotating the hydraulic cylinder 7 that secondary C14 is connected, hydraulic cylinder 7 with the one end of piston rod 3
Connect, the other end of piston rod 3 is connected by Hooke's hinge 12 with the center of moving platform 5, the rotation secondary B11's in three movement branched chains
Axis coaxle, it is the central point of Hooke's hinge 12 to rotate the axis of secondary B11 with the intersection point of the place plane of moving platform 5, rotates secondary B11's
The distance between axis and the normal parallel of moving platform 5, two neighboring cylindrical pair A8 are equal, and prismatic pair 13 is located at cylindrical pair A8
The point midway of equilateral triangle that is made up of summit of position, the axis of cylindrical pair A8 is equal with the axis of prismatic pair 13
OK, the type of drive of parallel institution is any one in electric, pneumatic, hydraulic pressure.
A kind of second embodiment of the lower-mobility symmetric parallel mechanism without Singularity of the present invention, by 3 cylinders
Secondary A8 and 1 rotation secondary C14, so that mechanism obtains four frees degree, there is provided a kind of three rotate the four-degree-of-freedom of a movement
Parallel institution, moving platform 5 has more a free degree for Plane Rotation where it, and corresponding driving rotates the rotational angle theta of secondary C14
For：
θ=arctan (cos α sec β tan γ+sin α tan β)
Above formula is the inverse solution of one, the parallel institution mechanism, and corresponding normal solution is：
Jacobian matrix G is asked to the four-freedom parallel mechanism：
Also do not exist unusual bit-type.
Parallel institution obtained by both the above embodiment has a continuous kinetic characteristic, and moving platform can be with its working space
Around moving platform institute, planar continuous rotation is realized in any one boning out, and moving platform can be around plane where moving platform
Interior any one fixed-point implementation is continuously rotated, and mechanism can also be carried out continuously along the guide passage direction of prismatic pair in middle just constraint chain
Mobile, two kinds of parallel institutions have larger working space, and mechanism's moving platform can be around the proper constrained branched chain end Hooke at center
Hinge rotation, moves along prismatic pair axis direction on proper constrained branched chain.
Claims (6)
1. a kind of symmetric parallel mechanism without Singularity, including moving platform (5), the fixed platform (1) as frame and connection are dynamic
Four movement branched chains of platform (5) and fixed platform (1), four movement branched chains include connection moving platform (5) center and allocate
One of platform (1) center just constraint chain and three identical movement branched chains, three identical movement branched chains
Including the hydraulic cylinder (7) being fixedly connected with fixed platform (1), 3 hydraulic cylinders (7) are respectively by cylindrical pair A (8) and piston rod (3)
Connection, 3 piston rods (3) are connected by rotating secondary A (9) with annular construction member (6) respectively, and 3 annular construction members (6) are respectively by circle
Post secondary B (10) is connected with slide bar (2), and every slide bar (2) one end is connected by rotating secondary B (11) with moving platform (5) center, slide bar
(2) other end is connected by rotating pair with roller (4), and roller (4) is in contact with the raceway being arranged on moving platform (5), each
The axis of the cylindrical pair A (8) and the axis of corresponding rotation secondary A (9) are orthogonal, each rotation secondary A (9)
The axis of axis and corresponding cylindrical pair B (10) is orthogonal, the axis of each cylindrical pair B (10) and corresponds to therewith
Rotation secondary B (11) axis it is orthogonal, three rotation secondary B (11) axis coaxles of movement branched chain.
2. a kind of symmetric parallel mechanism without Singularity according to claim 1, it is characterised in that the proper constraint chain
Including the hydraulic cylinder (7) being fixedly connected with fixed platform (1) center, hydraulic cylinder (7) is by prismatic pair (13) and piston rod (3)
One end connects, and piston rod (3) other end is connected with Hooke's hinge (12), and Hooke's hinge (12) is connected with moving platform (5) center.
3. a kind of symmetric parallel mechanism without Singularity according to claim 1, it is characterised in that the proper constraint chain
Including, by rotating the hydraulic cylinder (7) that secondary C (14) is connected, hydraulic cylinder (7) is by prismatic pair (13) with fixed platform (1) center
It is connected with piston rod (3) one end, piston rod (3) other end is connected with Hooke's hinge (12), Hooke's hinge (12) and moving platform (5) center
Position connects.
4. a kind of symmetric parallel mechanism without Singularity according to Claims 2 or 3, it is characterised in that the Hooke
The central point of (12) is cut with scissors to rotate the axis of secondary B (11) and the intersection point of plane where moving platform (5), the axis of secondary B (11) is rotated
With moving platform (5) normal parallel.
5. a kind of symmetric parallel mechanism without Singularity according to Claims 2 or 3, it is characterised in that two neighboring
Distance is equal between cylindrical pair A (8), prismatic pair (13) positioned at the position of 3 cylindrical pair A (8) be made up of summit etc.
The center of side triangle, 3 axis of cylindrical pair A (8) are parallel with the axis of prismatic pair (13).
6. a kind of symmetric parallel mechanism without Singularity according to claim 1, it is characterised in that the parallel institution
Type of drive in electric, pneumatic, hydraulic pressure any one.
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| CN106423916A (en) * | 2016-12-12 | 2017-02-22 | 燕山大学 | Machine-vision-based DELTA sorting manipulator |
| CN106697339A (en) * | 2016-12-31 | 2017-05-24 | 重庆大学 | Lunar lander attitude simulation device based on space three-degree-of-freedom just restraining mechanism |
| CN106737593B (en) * | 2016-12-31 | 2019-06-04 | 中国工程物理研究院激光聚变研究中心 | The Three Degree Of Freedom device of the even single branch driving of the adjustable solution of dynamic characteristic |
| CN112272806A (en) * | 2019-08-13 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Holder control method and device, holder and storage medium |
| CN110666779A (en) * | 2019-10-22 | 2020-01-10 | 西安理工大学 | Six-mode driving metamorphic parallel mechanism |
| CN114770473B (en) * | 2022-05-10 | 2023-07-21 | 燕山大学 | Three-degree-of-freedom ball ring type gesture-adjusting parallel stable platform and use method thereof |
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| US5752834A (en) * | 1995-11-27 | 1998-05-19 | Ling; Shou Hung | Motion/force simulators with six or three degrees of freedom |
| CN101214647A (en) * | 2007-12-26 | 2008-07-09 | 燕山大学 | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive |
| CN101704243B (en) * | 2009-11-19 | 2011-06-01 | 天津理工大学 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN101745820A (en) * | 2009-12-14 | 2010-06-23 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method |
| CN103050047B (en) * | 2012-12-11 | 2014-12-24 | 燕山大学 | Self-balanced parallel movement simulator of two-freedom degree closed loop |
| CN103035161B (en) * | 2012-12-11 | 2014-07-23 | 燕山大学 | Two-degree-of-freedom static load balancing in-parallel movement simulation platform |
| CN103358302A (en) * | 2013-06-21 | 2013-10-23 | 燕山大学 | Redundant drive symmetric three degree-of-freedom mobile parallel mechanism |
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