CN106426118A - Redundant actuation combined parallel mechanism for error compensation - Google Patents
Redundant actuation combined parallel mechanism for error compensation Download PDFInfo
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- CN106426118A CN106426118A CN201611143312.3A CN201611143312A CN106426118A CN 106426118 A CN106426118 A CN 106426118A CN 201611143312 A CN201611143312 A CN 201611143312A CN 106426118 A CN106426118 A CN 106426118A
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- degree
- freedom
- parallel institution
- work space
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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
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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
-
- 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
- B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a redundant actuation combined parallel mechanism capable of achieving error compensation. The mechanism comprises a main portion, a three-freedom-degree 3-PUU parallel mechanism, a three-freedom-degree 3-RUU parallel mechanism, a work space adjusting mechanism and seven drive actuators; the multi-freedom-degree motion characteristic and the combined mechanism principle of the parallel mechanism are utilized, and a combined motion output mechanism capable of achieving three-freedom-degree horizontal moving motion and three-freedom-degree error compensation is provided. The mechanism further has the work space adjustable function, and is suitable for mechanical products for medical purposes such as the precision surgery and the minimally invasive surgery and other occasions needing the small work space and high-precision operation. The mechanism is mainly composed of pairs of simple motions including moving and rotating, and assembling and control are easy.
Description
Technical field
The present invention relates to a kind of redundant drive combination parallel institution of achievable error compensation is it is adaptable to delicate surgery and micro-
The medical application engineering goods such as invasive procedures and the little work space of other needs, the occasion of high precision manipulation.
Background technology
Accurate operation robot is both at home and abroad one of most active direction, its development prospect in robot research field at present
Very good.In recent years, with roboticses, computer image technology, Computer Control Technology and Micro trauma surgical technic
Development, scientific research personnel expand remote manipulation surgery research, for war wound sham operated, surgery training and anatomic teaching
Deng.Wherein, in high precision, Multi-freedom-degreemanipulator manipulator is its core component.Under normal circumstances, such humanoid robot is required to very
High precision and response speed, parallel institution is most suitable alternative configurations.
The precision of parallel institution and mechanism's parts machining foozle, robotic asssembly error and mechanism driving error
Closely bound up etc. factor, how to ensure that the precision of parallel institution is the important of present theory of mechanisms research under reasonable conditions
Content.At present, a lot of scholars compensate to the error of mechanism in terms of Kinematic Calibration and control system etc., achieve and compare
Good result, also increases the complexity of total system simultaneously.In order to solve this problem, the present invention from mechanism's,
By way of redundant drive, mechanism's output error is compensated.
Content of the invention
The problem to be solved in the present invention is the redundantly actuated parallel mechanism providing a kind of part side chain to share, and is driven by part
Dynamic kinematic pair is locked and decontrols the movement output realizing two groups of independences, and one of which movement output is used for mechanism's output is carried out by mistake
Difference compensates.
The present invention utilizes the close feature of two kinds of 3-freedom parallel mechanism side chain kinematic pair compositions of 3-RUU and 3-PUU, will
" UU " part side chain in two kinds of parallel institution side chains is shared, and devising one kind, to be capable of two kinds of 3-RUU and 3-PUU defeated
The 3P/RUU combination parallel institution going out.When the movement output needing to realize 3-PUU parallel institution, can lock in three side chains
" R " of bottom and the connection of " P " parafacies is secondary, and this combination parallel institution just becomes 3-PUU mechanism, and wherein " P " is powered motion pair.
When needing mechanism error is compensated and carry out small movement output operation, " P " of three side chain lower ends can be locked
Pair, this combination parallel institution just becomes 3-RUU mechanism, and wherein " R " is powered motion pair.
The present invention is achieved by the following technical solutions:
The present invention is by main part, Three Degree Of Freedom 3-PUU parallel institution, Three Degree Of Freedom 3-RUU parallel institution, work space
Governor motion and seven active drive devices are constituted.
The frame [34] of main part and operator moving platform [1] are attached by three side chains.Every branched structure is complete
Exactly the same, from the beginning of frame [34] taking a side chain as a example, by the first spherical swinging block seat [26], the first spherical swinging block [23],
First slideway [20], the first slide block [17], first rotate secondary [14], the first lower link [11], first time Hooke's hinge [8], first
Upper connecting rod [5], Hooke's hinge [2] and operator moving platform [1] link together on first, realize the function of whole device.
Three Degree Of Freedom 3-PUU parallel institution is mainly by frame [34], the first slideway [20], the second slideway [21], the 3rd cunning
Road [22], the first slide block [17], the second slide block [18], the 3rd slide block [19], first time Hooke's hinge [8], second time Hooke's hinge
[9], the three times Hooke's hinges [10], the first upper connecting rod [5], the second upper connecting rod [6], the 3rd upper connecting rod [7], Hooke's hinge on first
[2], Hooke's hinge [3] on second, Hooke's hinge [4] and operator moving platform [1] are constituted on the 3rd.Now, rotate secondary [14] [15]
[16] be locked out state, between adjusting nut [32] and adjusting screw rod [31], there is no relative motion, and the first slide block [17], second
Slide block [18] and the active drive device that the 3rd slide block [19] is this mechanism, this Three Degree Of Freedom 3PUU parallel institution schematic diagram such as Fig. 2
Shown, it is possible to achieve Three Degree Of Freedom translational motion exports.
Three Degree Of Freedom 3-RUU parallel institution mainly by frame [34], first rotate secondary [14], second rotate secondary [15], the
Three rotate secondary [16], first time Hooke's hinge [8], second time Hooke's hinge [9], the three times Hooke's hinges [10], the first upper connecting rod [5],
Second upper connecting rod [6], the 3rd upper connecting rod [7], Hooke's hinge [2] on first, Hooke's hinge [3] on second, on the 3rd Hooke's hinge [4] and
Operator moving platform [1] is constituted.Now, it is locked out state between slideway [20] [21] [22] and slide block [17] [18] [19], adjust
There is no relative motion between section nut [32] and adjusting screw rod [31], and first rotates secondary [14], second rotates pair [15] and the
Three rotate the active drive device that secondary [16] are this mechanism, and this Three Degree Of Freedom 3-RUU parallel institution schematic diagram is as shown in figure 3, permissible
Realize Three Degree Of Freedom translational motion output.
Work space governor motion mainly by frame [34], the first spherical swinging block seat [26], the second spherical swinging block seat [27],
3rd spherical swinging block seat [28], the first spherical swinging block [23], the second spherical swinging block [24], the 3rd spherical swinging block [25], the first cunning
Road [20], the second slideway [21], the 3rd slideway [22], slideway bracing frame [30], screw rod union joint [29], adjusting screw rod [31],
Adjusting nut [32] and spider [33] are constituted, and adjusting nut [32] and adjusting screw rod [31] are together by a threaded connection, and adjust
Section nut [32] can be freely rotatable.Now, in the redundant drive combination parallel institution of error compensation, adjusting nut [32] is
The active drive device of this mechanism, the adjusting screw rod [31] that rotarily drives that this mechanism passes through adjusting nut [32] moves up and down, simultaneously
Slideway bracing frame [30] also moves up and down, and changes the angle between slideway [20] [21] [22] and frame [34], realizes whole machine
The regulatory function of structure work space.
Seven active drive devices include adjusting nut [32] motor, three slide block [17] [18] [19] motors,
Three rotate secondary [14] [15] [16] driving means.
The present invention is had the advantage that：Using multifreedom motion characteristic and the combined mechanism principle of parallel institution,
Provide a kind of aggregate motion output mechanism that can realize Three Degree Of Freedom translational motion and Three Degree Of Freedom error compensation, this mechanism
Also there is the adjustable function of work space.Can be used in the medical application engineering goods such as delicate surgery and Minimally Invasive Surgery and other
Need the occasion of little work space, high precision manipulation.Mechanism mainly by move and rotate two kinds of simple motion pairs constitute it is easy to
Assembling and control.
Brief description
Fig. 1 combines parallel institution general assembly schematic diagram；
Fig. 2 3PUU parallel institution schematic diagram；
Fig. 3 3RUU parallel institution schematic diagram.
In figure label is respectively：Operator moving platform [1], Hooke's hinge [2] on first, Hooke's hinge [3] on second, on the 3rd
Hooke's hinge [4], the first upper connecting rod [5], the second upper connecting rod [6], the 3rd upper connecting rod [7], first time Hooke's hinge [8], second time tiger
Gram hinge [9], the three times Hooke's hinges [10], the first lower link [11], the second lower link [12], the 3rd lower link [13], first turn
Dynamic pair [14], the second rotation secondary [15], the 3rd rotation secondary [16], the first slide block [17], the second slide block [18], the 3rd slide block
[19], the first slideway [20], the second slideway [21], the 3rd slideway [22], the first spherical swinging block [23], the second spherical swinging block
[24], the 3rd spherical swinging block [25], the first spherical swinging block seat [26], the second spherical swinging block seat [27], the 3rd spherical swinging block seat
[28], screw rod union joint [29], slideway bracing frame [30], adjusting screw rod [31], adjusting nut [32], spider [33], frame
[34].
Specific embodiment
In conjunction with drawings and embodiments, the invention will be further described.
The present invention, using unique combined structure design, solves the difficulty of a kind of parallel institution movement output and error compensation
Topic, and increased the micro-positioning regulators link of mechanism, expand the application scenario of the type parallel institution.This mechanism can achieve 3-
The aggregate motion output of PUU mechanism and 3-RUU mechanism, its type of drive mainly has three sets.
When realizing Three Degree Of Freedom 3-PUU parallel institution movement output, locked rotation pair [14] [15] [16], as Fig. 2 institute
Show, the first slide block [17], the second slide block [18] and the driving means that the 3rd slide block [19] is this mechanism, by the side of ball-screw
Formula is realized linear drives mode and is inputted；When realizing the output of Three Degree Of Freedom 3-RUU parallel institution error compensation, locked slide block [17]
[18] [19], as shown in figure 3, the first rotation secondary [14], the second rotation secondary [15] and the 3rd rotate the drive that pair [16] is this mechanism
Dynamic device, realizes rotating type of drive input by way of speed-down servo motor；Realize the work(of work space governor motion
During energy, locked slide block [17] [18] [19] and rotation are secondary [14] [15] [16], and adjusting nut [32] is the driving means of this mechanism,
Realize rotating type of drive input by speed-down servo motor.
During application, frame [34] is connected on fixing base, then manipulator is connected to operator moving platform
[1], on, seven active drive devices are controlled to realize predetermined movement output by control system.
Above in conjunction with accompanying drawing, the present invention is exemplarily described it is clear that the present invention implements is not subject to aforesaid way
Restriction, as long as employing method of the present invention design and the various transformations that carry out of technical scheme, or not improved direct application
In other occasions, all within protection scope of the present invention.
Claims (1)
1. a kind of redundant drive combination parallel institution of error compensation is it is characterised in that include main part, Three Degree Of Freedom 3-
PUU parallel institution, Three Degree Of Freedom 3-RUU parallel institution, work space governor motion and seven active drive devices；Described main part
Divide, its frame and operator moving platform are attached by three side chains, and every branched structure is identical；Described Three Degree Of Freedom 3-
PUU parallel institution, when will realize Three Degree Of Freedom 3-PUU parallel institution movement output, rotates pair and is locked out state, adjusting nut and
There is no a relative motion between adjusting screw rod, and the first slide block, the second slide block and active drive device that the 3rd slide block is this mechanism, lead to
The mode crossing ball-screw is realized linear drives mode and is inputted, and finally realizes Three Degree Of Freedom translational motion output；Described three freely
Degree 3-RUU parallel institution, when will realize the output of Three Degree Of Freedom 3-RUU parallel institution error compensation, is lock between slideway and slide block
Determine state, between adjusting nut and adjusting screw rod, there is no relative motion, and first rotates secondary, the second rotation pair and the 3rd rotation is secondary
Active drive device for this mechanism, it is possible to achieve Three Degree Of Freedom translational motion exports；Described work space governor motion, in error
In the redundant drive combination parallel institution compensating, adjusting nut is the active drive device of this mechanism, and speed-down servo motor is realized turning
Dynamic type of drive input, the adjusting screw rod that rotarily drives that this mechanism passes through adjusting nut moves up and down, slideway bracing frame simultaneously
Move up and down, change the angle between slideway and frame, realize the regulatory function of whole mechanism work space；Described seven actives
Driver, including adjusting nut motor, three slider-actuated motors, three rotation assistant drive devices.
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| CN201611143312.3A CN106426118B (en) | 2016-12-13 | 2016-12-13 | A kind of redundant drive combination parallel institution of error compensation |
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| CN201611143312.3A CN106426118B (en) | 2016-12-13 | 2016-12-13 | A kind of redundant drive combination parallel institution of error compensation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903677A (en) * | 2017-04-21 | 2017-06-30 | 北京交通大学 | A kind of structural redundancy parallel institution that there is two rotation one to move |
| CN109909978A (en) * | 2019-04-15 | 2019-06-21 | 中国计量大学 | A kind of rope drives the remote operating device of three free translation parallel robots |
| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
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| CN106903677A (en) * | 2017-04-21 | 2017-06-30 | 北京交通大学 | A kind of structural redundancy parallel institution that there is two rotation one to move |
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| CN113876432A (en) * | 2021-12-09 | 2022-01-04 | 北方工业大学 | Redundant parallel femoral fracture reduction robot |
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| CN106426118B (en) | 2018-12-21 |
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Effective date of registration: 20211118 Address after: 201619 room 206B, second floor, building 2, No. 50, Dongshe Road, Dongjing Town, Songjiang District, Shanghai Patentee after: Speed Automation Technology (Shanghai) Co.,Ltd. Address before: 330000 School of electromechanical and vehicle engineering, East China Jiaotong University, No. 808, Shuanggang East Street, Nanchang City, Jiangxi Province Patentee before: East China Jiaotong University |