CN105643602A - Three-translation and one-rotation parallel robot device of low-coupling-degree two-kinematic-pair movable platform - Google Patents
Three-translation and one-rotation parallel robot device of low-coupling-degree two-kinematic-pair movable platform Download PDFInfo
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- CN105643602A CN105643602A CN201610141696.9A CN201610141696A CN105643602A CN 105643602 A CN105643602 A CN 105643602A CN 201610141696 A CN201610141696 A CN 201610141696A CN 105643602 A CN105643602 A CN 105643602A
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- 238000004519 manufacturing process Methods 0.000 abstract 1
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Classifications
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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Abstract
A three-translation and one-rotation parallel robot device of a low-coupling-degree two-kinematic-pair movable platform is composed of the movable platform (1), a fixed platform (0) and two same space complex branch chains. On a main chain body of each space complex branch chain, one end of a second rod (2) is connected with the fixed platform (0) through a first rotation pair (R11), and the other end of the second rod (2) is connected with a first short edge rod (3) at one end of a first parallelogram ((4R)1) through a second rotation pair (R12); a second short edge rod (4) at the other end of the first parallelogram ((4R)1) is connected with the movable platform (1) through a third rotation pair (R13); the axis of the first rotation pair, the axis of the second rotation pair and the axis of the third rotation pair are parallel to one another; on an auxiliary chain body of each space complex branch chain, one end of a third rod (5) is connected with the fixed platform (0) through a fourth rotation pair (R31), the axis of the fourth rotation pair (R31) is parallel to the axis of the first rotation pair (R11), the other end of the third rod (5) is connected with a third short edge rod (6) at one end of a second parallelogram ((4R)3) through a fifth rotation pair (R32), a fourth short edge rod (7) at the other end of the second parallelogram ((4R)3) is connected with the second short edge rod (4) through a sixth rotation pair (R33), and the axis of the sixth rotation pair (R33) coincides with the axis of the third rotation pair (R13); and the axes of two rotation pairs on the movable platform (1) need to be parallel. The parallel device is simple in structure, easy to manufacture and low in coupling degree, wherein k is equal to one.
Description
Technical field
The present invention relates to the parallel robot device of a kind of weak coupling two kinematic pair moving platform, provide a novel three translation one rotation shunting means for robot manipulator etc.
Background technology
The device of parallel-connection structure, particularly realizes the Delta manipulator of space three translation functions, has played good effect in the techniques such as high speed pick-and-place, location assembling, carrying, sorting, loading and unloading; And there is the parallel manipulator of three translation one rotating functions, under needing the occasion adjusting workpiece posture, indispensable especially. For this, within 1988, R.Clavel is on three bases translating Delta manipulator, then connect a R-U-P-U-R side chain or S-P-S side chain, constitutes a series-parallel connection manipulator with three translation one rotating functions; The patent 200310106012.4 of Yang Ting power application in 2003, it is proposed that one group of 5 three-translation and one-rotation parallel mechanism, but there is no Development Prototype; After 2000, Pierrot etc. have invented four-degree-of-freedom SCARA type (the i.e. three translation one rotations) manipulator of H4, I4, Par4 series in succession, and professor Huang Tian develops four-degree-of-freedom three and translates the Cross-IV type high speed transfer robot of a rotation; And patent 201210435375.1 proposes a kind of single platform and realizes the parallel institution that three translations one rotate, and have developed model machine. But these mechanism structure above-mentioned are complicated, mechanism degree of coupling k all relatively big (k=2), this forward kinematics solution making mechanism and Dynamic solving are very difficult, thus have impact on exploitation and application. Therefore, it is achieved new structure and the application of three translation one rotating functions are required for development, it is necessary to create the new architecture being better than existing mechanism.
Summary of the invention
The three translation one rotating parallel device people's devices that the invention aims to overcome the deficiencies in the prior art and provide a class new, they have, and good rigidly, structure are relatively simple, be prone to Precision Machining; The advantages such as degree of coupling k low (k=1), forward kinematics solution and Dynamic solving are easier.
Three translation one rotating parallel device people's devices of a kind of weak coupling two kinematic pair moving platform provided by the invention, it is made up of 2 identical spatial complex side chains of moving platform (1), silent flatform (0) and connection moving platform (1), silent flatform (0), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of bar two (2) and silent flatform (0) are with revolute pair one (R11) connect, one end minor face bar one (3) revolute pair two (R of the other end of bar two (2) and the parallelogram one ((4R) 1) being made up of four revolute pairs and four bars12) connect, other end minor face bar two (4) revolute pair three (R of parallelogram one13) be connected with moving platform (1); These three revolute pair one (R11), revolute pair two (R12), revolute pair three (R13) axis be parallel to each other; On secondary chain, one end of bar three (5) and silent flatform (0) are with revolute pair four (R31) connect, and revolute pair four (R31) and revolute pair one (R11) axis parallel, the other end of bar three (5) and the parallelogram two ((4R) being made up of four revolute pairs and four bars3) one end minor face bar three (6) revolute pair five (R32) connect, other end minor face bar four (7) revolute pair six (R of this parallelogram two33) and parallelogram one ((4R)1) minor face bar two (4) connect, revolute pair six (R33) and revolute pair three (R13) dead in line, equally, three revolute pair four (R31), revolute pair five (R32), revolute pair six (R33) axis be parallel to each other; Further, the revolute pair three (R being connected with moving platform (1)13) and revolute pair seven (R23) axis necessarily parallel to each other;
Four revolute pairs coupled with silent flatform (0) are for driving pair, it is possible to substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just respectively becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, its independent output motion number respectively three, two, one, other motion is for deriving from motion.
Accompanying drawing explanation
Accompanying drawing 1 is the structure diagram schematic diagram of one of embodiments of the invention;
Detailed description of the invention
Give to illustrate further to the technology of the present invention below by accompanying drawing and example.
Parallel robot device shown in accompanying drawing 1 is one of embodiments of the invention, and its technical scheme is such that
A kind of three translation one rotating parallel device people's devices of weak coupling two kinematic pair moving platform, it is made up of 2 identical spatial complex side chains of moving platform 1, silent flatform 0 and connection moving platform 1, silent flatform 0, spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of bar 22 and silent flatform 0 are with revolute pair one R11Connection, the other end of bar 22 and the parallelogram one (4R) being made up of four revolute pairs and four bars1One end minor face bar 1 revolute pair two R12Connect, other end minor face bar 24 revolute pair three R of parallelogram one13It is connected with moving platform 1; These three revolute pair one R11, revolute pair two R12, revolute pair three R13Axis be parallel to each other; On secondary chain, one end of bar 35 and silent flatform 0 are with revolute pair four R31Connect, and revolute pair four R31With revolute pair one R11Axis parallel, the other end of bar 35 and the parallelogram two (4R) being made up of four revolute pairs and four bars3One end minor face bar 36 revolute pair five R32Connect, other end minor face bar 47 revolute pair six R of this parallelogram two33With parallelogram one (4R)1Minor face bar 24 connect, revolute pair six R33With revolute pair three R13Dead in line, equally, three revolute pair four R31, revolute pair five R32, revolute pair six R33Axis be parallel to each other;Further, revolute pair three R being connected with moving platform 113With revolute pair seven R23Axis necessarily parallel to each other;
This mechanism has 4 degree of freedom, as four the revolute pair R coupled with silent flatform 011��R31��R21��R31For drive time, so that it may make moving platform 1 realize D translation and on moving platform 1 revolute pair five R13The one-dimensional rotation output of axis; And when fixing one, two, three successively and driving secondary, this device just respectively becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, its independent output motion number respectively three, two, one, other motion is for deriving from motion.
Claims (2)
1. three translation one rotating parallel device people's devices of a weak coupling two kinematic pair moving platform, it is made up of 2 identical spatial complex side chains of moving platform (1), silent flatform (0) and connection moving platform (1), silent flatform (0), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of bar two (2) and silent flatform (0) are with revolute pair one (R11) connect, the other end of bar two (2) and the parallelogram one ((4R) being made up of four revolute pairs and four bars1) one end minor face bar one (3) revolute pair two (R12) connect, other end minor face bar two (4) revolute pair three (R of parallelogram one13) be connected with moving platform (1); These three revolute pair one (R11), revolute pair two (R12), revolute pair three (R13) axis be parallel to each other; On secondary chain, one end of bar three (5) and silent flatform (0) are with revolute pair four (R31) connect, and revolute pair four (R31) and revolute pair one (R11) axis parallel, the other end of bar three (5) and the parallelogram two ((4R) being made up of four revolute pairs and four bars3) one end minor face bar three (6) revolute pair five (R32) connect, other end minor face bar four (7) revolute pair six (R of this parallelogram two33) and parallelogram one ((4R)1) minor face bar two (4) connect, revolute pair six (R33) and revolute pair three (R13) dead in line, equally, three revolute pair four (R31), revolute pair five (R32), revolute pair six (R33) axis be parallel to each other; Further, the revolute pair three (R being connected with moving platform (1)13) and revolute pair seven (R23) axis necessarily parallel to each other.
2. by three translation one rotating parallel device people's devices of the weak coupling two kinematic pair moving platform described in claim 1 or 2, it is characterised in that: four revolute pairs coupled with silent flatform (0) are for driving pair, it is possible to substitute with moving sets; And when fixing one, two, three successively and driving secondary, this device just respectively becomes three translation one rotating parallel device people of Three Degree Of Freedom, two degrees of freedom, single-degree-of-freedom, its independent output motion number respectively three, two, one, other motion is for deriving from motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141696.9A CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610141696.9A CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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| CN105643602A true CN105643602A (en) | 2016-06-08 |
| CN105643602B CN105643602B (en) | 2017-11-17 |
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| CN201610141696.9A Expired - Fee Related CN105643602B (en) | 2016-03-12 | 2016-03-12 | A kind of three one rotating parallel device people's devices of translation of the kinematic pair moving platform of weak coupling two |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733026A (en) * | 2019-06-11 | 2020-01-31 | 常州大学 | three-translation rotation parallel mechanism with zero coupling degree and analytic position positive solution |
| CN111089148A (en) * | 2020-01-15 | 2020-05-01 | 北京交通大学 | Multi-mode infinite turnover mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
-
2016
- 2016-03-12 CN CN201610141696.9A patent/CN105643602B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1084802A2 (en) * | 1999-09-17 | 2001-03-21 | Toyoda Koki Kabushiki Kaisha | Four-degree-of-freedom parallel robot |
| CN102922513A (en) * | 2012-11-02 | 2013-02-13 | 清华大学 | Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) |
| CN105127979A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot mechanism |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 沈惠平等: "6自由度弱耦合并联机构机型设计及其方法", 《机械工程学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733026A (en) * | 2019-06-11 | 2020-01-31 | 常州大学 | three-translation rotation parallel mechanism with zero coupling degree and analytic position positive solution |
| CN110733026B (en) * | 2019-06-11 | 2022-05-20 | 常州大学 | Zero-coupling-degree three-translation one-rotation parallel mechanism with analytic position positive solution |
| CN111089148A (en) * | 2020-01-15 | 2020-05-01 | 北京交通大学 | Multi-mode infinite turnover mechanism |
| CN111089148B (en) * | 2020-01-15 | 2021-01-19 | 北京交通大学 | Multi-mode infinite turnover mechanism |
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| CN105643602B (en) | 2017-11-17 |
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Granted publication date: 20171117 |