CN105881495A - Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R - Google Patents
Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R Download PDFInfo
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- CN105881495A CN105881495A CN201410625133.8A CN201410625133A CN105881495A CN 105881495 A CN105881495 A CN 105881495A CN 201410625133 A CN201410625133 A CN 201410625133A CN 105881495 A CN105881495 A CN 105881495A
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Abstract
The invention belongs to the field of robots, and particularly relates to a space decoupling hybrid mechanism. The hybrid mechanism comprises a fixed platform, a movable platform, a branch chain connected with the movable platform and three branches connecting the fixed platform with the movable platform. The fixed platform is a rectangular bottom face, slide rails are mounted on the two sides of the bottom face of the fixed platform, and the central lines of the slide rails are parallel to the bottom face of the fixed platform. The first branch is composed of a moving pair, a rotating pair, a parallelogram hinge, a universal hinge and connecting rods connecting the moving pair, the rotating pair, the parallelogram hinge and the universal hinge. The second branch is composed of a moving pair, a parallelogram hinge, two rotating pairs and connecting rods connecting the moving pair, the parallelogram hinge and the two rotating pairs. The third branch is composed of three rotating pairs, a moving pair and three connecting rods connecting the three rotating pairs and the moving pair. The branch chain connected with the movable platform is composed of a moving pair and a rotating pair. The hybrid mechanism is simple in structure and low in manufacturing cost; the movable platform can move in parallel to the fixed platform and move perpendicular to the fixed platform in three freedom degrees and also can rotate around the axis parallel to the fixed platform and rotate perpendicular to the fixed platform in two freedom degrees, all motions are completely decoupled, control is easy, the moving space is large, and the bearing capacity is high.
Description
Art
The invention belongs to robot field, particularly to a kind of spatially decoupled series-parallel robot.
Background technology
It is big, easy to control that series-parallel robot takes into account serial manipulator work space simultaneously, and parallel device people's Stability Analysis of Structures, rigidity are big；The accumulation of error is few, and dynamic property is good；Easily try to achieve inverse kinematic, thus the high respective advantage of precision, it is avoided that again simple series and parallel configuration shortcoming simultaneously, modern manufacturing industry has more practicality.
The elementary cell of series-parallel robot is basic serial mechanism module (can be single kinematic pair) and minority carrier generation lifetime module, the structure of these modules itself and the compound mode of intermodule thereof, determines structure and the performance of series-parallel robot.Owing to series-parallel robot forgives parallel-connection structure, there is the problem that motion coupling is strong in parallel institution.The existence of series-parallel robot coupling makes mechanism there are problems at aspects such as mechanism's design, computational analysis and motor controles.Therefore, for simplifying the control process of series-parallel robot, the decoupling improving hybrid mechanism has become as the hot issue of theory of mechanisms research field.
In series-parallel robot is studied, the FANUC Robot MiA/6s of FANUC company is on the moving platforms of 3 translation Delta mechanisms, then the 4DOF series-parallel robot FANUC Robot MiA/6A robot that constitutes of the 1R that connects is the 6DOF series-parallel robot that the swinging head of 3R constitutes of connecting again on the moving platforms of 3 translation Delta mechanisms.Harbin Measuring Tool & Cutting Tool Co., Ltd. is proposed the machining center LINKS-EXE700 of a kind of brand new, whole parallel connection part 3T and part in series 2R and constitutes a series-parallel robot with 5 degree of freedom.Decoupling research for hybrid mechanism obtains some progress, and such as, Chinese patent literature CN102085660A proposes a kind of Three-degree-of-freedom decoupling hybrid robot and is made up of revolute pair one two-degree-of-freedom plane parallel structure of concatenation, moves full decoupled.Although mechanism of foregoing invention mechanism realizes mobile decoupling, but it is the most rare to be that by such decoupling hybrid mechanism of three shifting two turns, and the decoupling of major part mechanism solves the most very well.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, three two turns of series parallel robot in five degrees of freedom of shifting that easily controllable, input and output are full decoupled.The present invention is mainly formed (the 2T1R) full decoupled hybrid mechanism of &1T1R five degree of freedom by a parallel institution (2T1R) and a series connection side chain 1T1R.Parallel institution includes fixed platform, moving platform and connects three branches of the two platform, wherein fixed platform is rectangle structure, the adjacent both sides of this fixed platform are provided with guide rail, and the centrage of two guide rails is mutually perpendicular to and the most parallel and fixed platform bottom surface, and moving platform is class triangular structure；Branch one by a moving sets and one parallelogram hinge of a revolute pair, a universal hinge and connect their connecting rod composition；Branch two is by a moving sets and a parallelogram hinge and two revolute pairs and connects their connecting rod and forms.Branch three is made up of one moving sets of three revolute pairs and their three connecting rods of connection；Connect moving platform serial chain to be made up of a moving sets and a revolute pair.
Wherein, one end of the first connecting rod in its branch one is connected with fixed platform by moving sets, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and this parallelogram hinge other end is connected with moving platform one end by universal hinge；One end of first connecting rod in branch two is connected with fixed platform by moving sets, and the other end of this first connecting rod is connected with moving platform by revolute pair by revolute pair and parallelogram chain connection, the other end of this parallelogram hinge；First connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by moving sets, and the other end of this third connecting rod is connected with moving platform by revolute pair.
In branch one, the moving direction of moving sets with except parallel with the axis of revolute pair that moving platform connects, and with and universal hinge in the axis of vertical.In branch two, the moving direction of moving sets is parallel with the axis of revolute pair；In branch three, moving sets direction is parallel with fixed platform, and in addition to the revolute pair being connected with fixed platform, the axis of other two revolute pairs is parallel, and with and the axis of revolute pair that is connected of fixed platform vertical；The moving sets direction being connected with moving platform is vertical with fixed platform, and last series-parallel robot end revolute pair axis direction is vertical with fixed platform.
The moving sets being connected with fixed platform in branch one is driven by ball screw and realizes；Above-mentioned branch two is connected with fixed platform moving sets and drives realization by ball screw；The revolute pair being connected with fixed platform in above-mentioned branch three is realized by driven by servomotor；The moving sets being connected with moving platform passes through air cylinder driven；The revolute pair of end passes through driven by servomotor.Finally realize the series-parallel robot that five output motions of five inputs are full decoupled.
The present invention compared with prior art has the advantage that
1, simple in construction, kinematic pair has lower pair also to have compound motion secondary, and assembling is simple, can reduce manufacturing cost；
2, achieve three, space one-movement-freedom-degree and two rotational freedoms are full decoupled；
3, all inputs drive and are all connected with fixed platform, which reduce the load of rod member, have good mobility and stability and response speed faster.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention；
Fig. 2 branch one simplified schematic diagram；
Fig. 3 branch two simplified schematic diagram；
Fig. 4 branch three simplified schematic diagram；
Fig. 5 entirety schematic construction sketch.
Detailed description of the invention
In the one three shown in Fig. 2 moves two turns of Three Degree Of Freedom full decoupled space parallel mechanism schematic diagrams, fixed platform 12 is rectangle structure, the adjacent both sides of this fixed platform are provided with right angle guide rail 1 and 11, and the centrage of right angle slide rail is parallel with fixed platform bottom surface, and moving platform 6 is class triangular structure；One end of first connecting rod in branch one is connected with fixed platform by moving sets 2, and the other end of this connecting rod is connected with one end of parallelogram hinge 4 by revolute pair 3, and the other end of this parallelogram hinge 4 is connected with moving platform 6 by universal hinge 5；First connecting rod in branch two is connected with fixed platform by moving sets 10, and the other end of this first connecting rod is connected with parallelogram hinge 8 one end by revolute pair 9, and the other end of this parallelogram hinge is connected with moving platform 6 by revolute pair 7；One end of first connecting rod in branch three is connected with fixed platform by revolute pair 13, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair 14, the other end of this second connecting rod is connected with one end of third connecting rod by moving sets 15, and the other end of this third connecting rod is connected with moving platform by revolute pair 16.The side chain being connected with moving platform is connected with moving platform by moving sets 17, and series-parallel robot end is connected with the moving sets other end by revolute pair 18.
The moving direction of the moving sets 2 in branch one is vertical with the moving direction of the moving sets 10 in branch two, parallel with moving platform 6 the most all the time.In branch one, revolute pair 3 is with universal to be hinged away from parallel and close to moving platform one end, the near one end of fixed platform vertical simultaneously the most parallel with revolute pair 9 axis with the axis of the revolute pair 7 being connected with moving platform in branch two, perpendicular with revolute pair 13 in branch 3, in branch one, the revolute pair axis in parallelogram hinge 4 is parallel with revolute pair 3；
In branch two, the direction of moving sets 10 is parallel with the revolute pair axis direction of revolute pair 7 and parallelogram hinge, the most parallel with revolute pair 13 axis in branch three.The direction of moving sets 10 is parallel with branch three moving sets 15.
In branch three, revolute pair 14,16 axis direction is mutually perpendicular to fixed platform, and moving sets 17 centerline direction being connected with moving platform is perpendicular to and fixed platform, and series-parallel robot end revolute pair 18 axis direction is perpendicular to fixed platform.
Claims (3)
1. the full decoupled hybrid mechanism of (2T1R) five degree of freedom, it includes fixed platform, moving platform, the shifting of connection moving platform
Move secondary and revolute pair and connect fixed platform and three branches of moving platform, it is characterised in that: its fixed platform is rectangle structure,
The adjacent both sides of this fixed platform are provided with centrage and are mutually perpendicular to guide rail.One end of first connecting rod in its branch one by moving sets with
Fixed platform connects, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and this parallelogram hinge is another
One end is connected with moving platform one end by universal hinge；One end of first connecting rod in branch two is connected with fixed platform by moving sets,
The other end of this first connecting rod is by revolute pair and parallelogram chain connection, and the other end of this parallelogram hinge is by turning
Dynamic pair is connected with moving platform；First connecting rod in branch three is connected with fixed platform by revolute pair, and the other end of this first connecting rod leads to
Crossing revolute pair to be connected with one end of second connecting rod, the other end of this second connecting rod is connected with one end of third connecting rod by moving sets,
The other end of this third connecting rod is connected with moving platform by revolute pair.
A kind of three full decoupled two turns of series parallel robot in five degrees of freedom of shifting the most according to claim 1, it is characterised in that: branch one
In, the moving direction of moving sets with except parallel with the axis of revolute pair that moving platform connects, and with and universal hinge in the axis of
Vertically.In branch two, the moving direction of moving sets is parallel with the axis of revolute pair；In branch three, moving sets direction is with fixed
Platform parallel, in addition to the revolute pair being connected with fixed platform, the axis of other two revolute pairs is parallel, and with and fixed platform be connected
The axis of revolute pair is vertical；The moving sets direction being connected with moving platform is vertical with fixed platform, last series-parallel robot end revolute pair
Axis direction is vertical with fixed platform.
A kind of three full decoupled two turns of series parallel robot in five degrees of freedom of shifting the most according to claim 1, it is characterised in that: above-mentioned branch
The moving sets being connected with fixed platform in one is driven by ball screw and realizes；Above-mentioned branch two is connected moving sets with fixed platform pass through
Ball screw drives and realizes；The revolute pair being connected with fixed platform in above-mentioned branch three is realized by driven by servomotor；With moving platform
The moving sets connected is by air cylinder driven, and the revolute pair of end passes through driven by servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410625133.8A CN105881495A (en) | 2014-11-07 | 2014-11-07 | Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R |
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| CN201410625133.8A CN105881495A (en) | 2014-11-07 | 2014-11-07 | Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142745A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast |
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| DE19841243B4 (en) * | 1998-09-09 | 2004-09-30 | Hans Paal Kg Maschinenbau (Gmbh & Co.) | industrial robots |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201736223U (en) * | 2010-06-07 | 2011-02-09 | 浙江理工大学 | Two-rotation one-movement three-freedom micromotion parallel mechanism |
| US7909303B2 (en) * | 2004-06-24 | 2011-03-22 | Dlr Deutsches Zentrum Fur Luft - Und Raumfahrt E.V. | Movement device |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
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2014
- 2014-11-07 CN CN201410625133.8A patent/CN105881495A/en active Pending
Patent Citations (6)
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| DE19841243B4 (en) * | 1998-09-09 | 2004-09-30 | Hans Paal Kg Maschinenbau (Gmbh & Co.) | industrial robots |
| US7909303B2 (en) * | 2004-06-24 | 2011-03-22 | Dlr Deutsches Zentrum Fur Luft - Und Raumfahrt E.V. | Movement device |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201736223U (en) * | 2010-06-07 | 2011-02-09 | 浙江理工大学 | Two-rotation one-movement three-freedom micromotion parallel mechanism |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN102962837A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair |
Non-Patent Citations (1)
| Title |
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| 史巧硕: "并联机器人机构构型方法研究", 《中国优秀博士学位论文全文数据库 信息科技辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142745A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast |
| CN110142745B (en) * | 2019-06-11 | 2022-05-20 | 常州大学 | Zero-coupling-degree two-translation one-rotation parallel device with analytic position positive solution |
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Application publication date: 20160824 |