CN105666471B - A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot - Google Patents
A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot Download PDFInfo
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- CN105666471B CN105666471B CN201610186667.4A CN201610186667A CN105666471B CN 105666471 B CN105666471 B CN 105666471B CN 201610186667 A CN201610186667 A CN 201610186667A CN 105666471 B CN105666471 B CN 105666471B
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- 238000010276 construction Methods 0.000 abstract description 2
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
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Abstract
A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot, it includes support, moving platform, SPS type side chains, RPR type side chains, two structure identical RPS type side chains, connecting rod and two T-shaped axles；Couple in the middle part of connecting rod with being rotated in the middle part of support, connecting rod two ends are rotated with two RPS type side chains lower ends to be coupled, described two RPS types side chain upper ends connect with moving platform ball duplicate invoice, SPS types side chain and RPR type unbranched symmetrics are arranged in connecting rod both sides, SPS type side chain two ends connect with support and moving platform ball duplicate invoice, RPR type side chain two ends are coupled by two T-shaped axles with moving platform and support universal pair, and moving platform has three translations and the four-degree-of-freedom kinetic characteristic around link rotatable with respect to support.The present invention is simple in construction, and moving platform position and locus orientation-workspace are big, and flexibility is good, and precision is high, and bearing capacity is high and is easily controlled.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of parallel robot.
Background technology
For convenience of description, if S, U, P and R represent ball pair, universal pair, prismatic pair and revolute pair respectively.Over nearly 20 years, four
Freedom degree parallel connection mechanism turns into focus and the forward position that domestic and international robot field studies always.Some current four-freedom parallels
Structure is successfully used for manufacturing parallel machine, Medical Devices, micro-electromechanical device, multi-dimensional force parallel sensor etc..Inquire in recent years
To authorize patent of invention as follows about the China of four-freedom parallel connection robot mechanism：Publication No. CN100586666 patent
A kind of four-freedom parallel mechanism is disclosed, with three-dimensional movement and a rotation；Publication No. CN100553899 patent is public
A kind of fork four-freedom parallel connection robot mechanism of cloth, with 4 PRPU side chains；Publication No. CN1170658C patent is public
A kind of four-freedom parallel connection robot mechanism of cloth has 2 UPS side chains and 2 RPS side chains；Publication No. CN100411826C
A kind of four-freedom parallel connection robot mechanism that rotates of two-dimensional translation and two-dimensional of patent disclosure, have 2 intersections PUU side chains and
2 non-fork PUU side chains；Publication No. CN100354068C patent disclosure has passive bound branch four-freedom parallel
Device robot mechanism, with 4 SPS branches and 1 passive branch of SP；Publication No. CN102601793B patent disclosure novel air
Between holohedral symmetry four-freedom parallel mechanism, with 4 PSS branches and 1 passive branch in centre；Publication No. CN102601794B
Patent disclosure there is the high rigidity four-freedom parallel mechanism of posture adjustment ability, with 4 branches of PRUP types branch, Mei Gefen
First driving prismatic pair of branch couples with support, and the first prismatic pair is to be used for posture adjustment；Publication No. CN100513062 patent is public
A kind of four-freedom parallel mechanism of cloth, with 2 UPS types branches of branch and 2 branches of UPR types branch；Publication No.
CN1211185C patent disclosure is used for virtual-axis nc machine tool and two translations two of robot rotate four-freedom parallels
Structure, its moving platform is 3 secondary bars, and support is four secondary bars.
In summary, above-mentioned four-freedom parallel mechanism differs from one another, and existing three move in one turn of class parallel institution, and it is dynamic flat
Platform rotates the rotation substantially around support or moving platform normal, thus causes each movement branched chain while compliant platform is around support or dynamic
Platform normal is reversed.When torsion angle is larger, each movement branched chain is easily interfered, and reduces real work space, reduces parallel machine
Structure rigidity, is derived from mechanical advantage limited.Existing four-freedom parallel mechanism moving platform is each to translation dissimilarity, translation work
Space is limited.How structural texture is simple, working space is big, move flexible four-freedom-degree parallel-connection robot, improves its rigidity,
Bigger mechanical advantage is obtained, is always the direction that robot field is meaningful and is continually striving to.
The content of the invention
It is an object of the invention to provide one kind is simple in construction, moving platform position and locus orientation-workspace are big, and flexibility is good,
To any direction translation performance same sex, strong SPS+UPU+ (2RPS+R) the type four-freedom parallel of big live load ability is born
Device people.Moving platform of the present invention has three translations and the four-degree-of-freedom kinetic characteristic around link rotatable with respect to support.
The present invention includes support, moving platform, connecting rod, two structure identical RPS types side chains, SPS types side chain, RPR type branch
Chain and two T-shaped axles of structure identical.
The support is rectangular slab, and open slot is provided with rectangle support, and through hole A is provided with the side wall of open slot；Machine
Seat middle part is provided with horizontal through hole B, and in support back center provided with the secondary bearing of ball, the moving platform is provided with corresponding with pedestal
Open slot, is provided with through hole C on the side wall of open slot, and the secondary bearing of three balls, through hole C and three ball pairs are additionally provided with moving platform
Bearing is distributed on same circumference；
The SPS types side chain is mobile electric cylinder, and its two ends couples by the way that ball is secondary with the support and moving platform secondary bearing of ball；
The connecting rod is respectively equipped with through hole through the through hole B in the middle part of support, the two ends of the connecting rod, the through hole be parallel to each other and
Axle is equipped with vertical links, through hole；Described two RPS types side chains are mobile electric cylinder, and its one end passes through ball pair and moving platform
Ball pair bearing connection, its other end connects and composes revolute pair with the axle in above-mentioned connecting rod through hole, and the revolute pair is perpendicular to mobile electricity
Dynamic cylinder；
The T-shaped axle is made up of major axis and short axle, and short axle is located at major axis one end, and perpendicular to major axis, T-shaped axle I and T-shaped axle
One end of II major axis rotates and is connected with the through hole A of support open slot and the through hole C of moving platform open slot respectively；The RPR types
Side chain is mobile electric cylinder, and its two ends is rotated with above-mentioned T-shaped axle I and T-shaped axle II short axle respectively to be coupled.
The present invention has the following advantages that compared with prior art：
1st, moving platform has three translations and around link rotatable characteristic with respect to support, working space is big, flexibility is good, with it is each to
The advantage of the translation same sex.
2nd, moving platform is four secondary bars, and support is the parallel institution of the face symmetrical expression of three secondary bars, in parallel with existing four-degree-of-freedom
There is essential difference in mechanism.
3rd, overall structure is symmetrically simple, and all side chains are all straight line side chains, and bearing capacity is big, and rigidity is high.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
In figure：1- supports, 2- moving platforms, 3-RPS types side chain, 4-RPR types side chain, 5-SPS types side chain, 6- connecting rods, 7-T types
Axle I, 8-T profile shaft II.
Embodiment
In SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot schematic diagram shown in Fig. 1, support 1 is rectangle
Plate, is provided with open slot on rectangle support, and through hole A is provided with the side wall of open slot；It is respectively equipped with the middle part of support provided with both sides
The through hole B parallel with above-mentioned through hole A is equipped with one projection, projection, in pedestal back center provided with the secondary bearing of ball, moving platform
2 are provided with the open slot corresponding with support, and through hole C is provided with the side wall of open slot, three balls are additionally provided with moving platform
Secondary bearing, through hole C and the secondary bearing of three balls are distributed on same circumference；SPS types side chain 5 is mobile electric cylinder, and its two ends passes through
Ball is secondary to be coupled with the support and moving platform secondary bearing of ball；Connecting rod 6 is distinguished through the through hole B on support projection, the two ends of the connecting rod
Provided with through hole, the through hole is parallel to each other and vertical links, and axle is equipped with through hole；Two structure identical RPS types side chains 3 are shifting
Dynamic electric cylinder, its one end couples by the way that ball is secondary with the secondary bearing of moving platform ball, and its other end is connected with the axle in above-mentioned connecting rod through hole
Revolute pair is constituted, the revolute pair is perpendicular to mobile electric cylinder；T-shaped axle I 7 and T-shaped axle II 8 are by major axis and short axle for structure identical
Composition, short axle is located at major axis one end, and perpendicular to major axis, one end of T-shaped axle I and T-shaped axle II major axis respectively with support opening
The through hole A of groove and the through hole C of moving platform open slot rotate connection；RPR types side chain 4 be mobile electric cylinder, its two ends respectively with it is upper
The short axle for stating T-shaped axle I and T-shaped axle II rotates connection.
Claims (1)
1. a kind of SPS+UPU+2RPS+R types four-freedom-degree parallel-connection robot, it is characterised in that：It includes support, moving platform, company
Bar, two structure identical RPS types side chains, SPS types side chain, RPR types side chain and two T-shaped axles of structure identical；The support
For rectangular slab, open slot is provided with rectangle support, through hole A is provided with the side wall of open slot；It is logical provided with level in the middle part of support
Hole B, in support back center provided with the secondary bearing of ball, the moving platform is provided with the open slot corresponding with support, in open slot
Side wall be provided with through hole C, the secondary bearings of three balls are additionally provided with moving platform, through hole C and the secondary bearings of three balls are distributed on same
On circumference；The SPS types side chain is mobile electric cylinder, and its two ends couples by the way that ball is secondary with the support and moving platform secondary bearing of ball；
The connecting rod is respectively equipped with through hole through the through hole B in the middle part of support, the two ends of the connecting rod, and the through hole is parallel to each other and vertically connected
Axle is equipped with bar, through hole；Described two RPS types side chains are mobile electric cylinder, and its one end is propped up by the way that ball is secondary with moving platform ball pair
Seat connection, its other end couples composition revolute pair with the axle in above-mentioned connecting rod through hole, and the revolute pair is perpendicular to mobile electric cylinder；Institute
State T-shaped axle to be made up of major axis and short axle, short axle is located at major axis one end, and perpendicular to major axis；T-shaped axle I major axis one end and support
The through hole A of open slot rotates connection, and T-shaped axle II major axis one end is rotated with the through hole C of moving platform open slot to be coupled；The RPR
Type side chain is mobile electric cylinder, and its two ends is rotated with above-mentioned T-shaped axle I and T-shaped axle II short axle respectively to be coupled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186667.4A CN105666471B (en) | 2016-03-29 | 2016-03-29 | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610186667.4A CN105666471B (en) | 2016-03-29 | 2016-03-29 | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot |
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| CN105666471A CN105666471A (en) | 2016-06-15 |
| CN105666471B true CN105666471B (en) | 2017-10-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106049345B (en) * | 2016-06-28 | 2018-06-12 | 鲍菊芳 | It is a kind of for the cleaning of motor-car track from steady Mobile support device |
| CN106120495B (en) * | 2016-06-28 | 2017-11-21 | 金可丹 | A kind of railroad track special grinding cleans intelligent integrated machine |
| CN106120496B (en) * | 2016-06-28 | 2017-10-31 | 石家庄铁道大学 | A kind of high-speed railway rail intelligence polishing cleaning equipment |
| CN106112979B (en) * | 2016-07-25 | 2018-06-08 | 燕山大学 | One kind contains two orthogonal plane branch four-freedom parallel mechanisms |
| CN108858141B (en) * | 2018-06-30 | 2023-12-19 | 福州大学 | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof |
| CN108908296B (en) * | 2018-07-16 | 2020-11-17 | 西安工程大学 | Parallel mechanism with two motion modes of 3R1T and 2R2T |
| CN109877813B (en) * | 2019-04-24 | 2021-03-23 | 北京交通大学 | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism |
| CN110666086B (en) * | 2019-10-12 | 2020-08-21 | 燕山大学 | Over-constrained six-degree-of-freedom parallel mechanism forging machine |
| CN112518721B (en) * | 2020-12-01 | 2022-08-05 | 中国民航大学 | Four-degree-of-freedom complete decoupling compound drive parallel mechanism |
| CN112454337B (en) * | 2020-12-07 | 2022-08-05 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
| CN113478464B (en) * | 2021-07-22 | 2022-11-08 | 中北大学 | Parallel bionic moving platform with adjustable gravity center |
| CN114888777B (en) * | 2022-04-25 | 2023-11-21 | 浙江理工大学 | Motion redundancy two-to-one shift parallel mechanism with symmetrical structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1094085C (en) * | 2000-04-21 | 2002-11-13 | 清华大学 | Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation |
| CN1170658C (en) * | 2000-04-21 | 2004-10-13 | 清华大学 | Four-freedom parallel robot mechanism |
| CA2385602A1 (en) * | 2002-04-25 | 2003-10-25 | Leila Notash | Four degree-of-freedom wire actuated parallel robot |
| US6997669B2 (en) * | 2002-11-12 | 2006-02-14 | UNIVERSITé LAVAL | Parallel manipulators with four degrees of freedom |
| CN1190297C (en) * | 2002-12-24 | 2005-02-23 | 北京交通大学 | Four-freedom parallel robot mechanism having two motions and one rotation |
| CN100546775C (en) * | 2008-03-17 | 2009-10-07 | 燕山大学 | Dual drive four-freedom space parallel mechanism |
| CN104369182B (en) * | 2014-11-06 | 2016-04-06 | 燕山大学 | A kind of 4SPR+2R type four-freedom parallel mechanism |
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Granted publication date: 20171020 |