CN107139166A - Broad sense decoupling parallel mechanism with three turn of one shifting property - Google Patents
Broad sense decoupling parallel mechanism with three turn of one shifting property Download PDFInfo
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- CN107139166A CN107139166A CN201710519769.8A CN201710519769A CN107139166A CN 107139166 A CN107139166 A CN 107139166A CN 201710519769 A CN201710519769 A CN 201710519769A CN 107139166 A CN107139166 A CN 107139166A
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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
It is a kind of that there is three turn of one broad sense decoupling parallel mechanism for moving property, it includes pedestal, four branches of moving platform and connection pedestal and moving platform, one end of each branch is connected by revolute pair or prismatic pair with pedestal, wherein one end of the first and second branches is connected by prismatic pair with pedestal, its other end is connected by revolute pair with moving platform, and the revolute pair axis being connected with moving platform is overlapped, one end of third and fourth branch is connected by revolute pair with pedestal, its other end is connected by prismatic pair and revolute pair with moving platform respectively, the mechanism and auxiliary connection of aforementioned four branch are different, it is full decoupled between different branches.Rigidity of the present invention is high, simple in construction, easily controllable, can realize that three rotations and a direction are moved full decoupled.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of parallel institution.
Background technology
Conventional parallel mechanism has the rigidity of structure good, large carrying capacity, the features such as accumulated error is small, make its robot,
Virtual-shaft machine tool, micromanipulator field are widely used.But because strong coupling presence causes parallel institution in structure
Type design and analysis is calculated and mechanism controls aspect has many difficulties, and the application of parallel institution is limited to a certain extent.
Decoupling is initially a concept used in control system, i.e., using certain structure or the suitable control rule of searching
Rule carrys out the relation that intercouples between each control loop in elimination system, and then to keep corresponding between input and output
Relation, i.e., each input only controls an output, and each output is also only influenceed by only one input signal.Though
Right researcher has found and applies the parallel institution with decoupling property, but is directed to the research of parallel institution decoupling very
Few, the theory of system has not yet been formed in the decoupling research of parallel institution.By the search discovery to prior art, Publication No.
CN105108734A Chinese patent discloses a kind of three turn of one shifting completely isotropic parallel robot mechanism, it is therefore an objective to provide
A kind of one-dimensional movement and Three dimensional rotation four-degree-of-freedom motion input and the completely one-to-one parallel institution of output, mechanism include knot
Three different side chains of structure, and in three side chains four powered motions pair be respectively prismatic pair (P11), revolute pair (Rz),
(R21), (R32), has the advantages that cost low, good kinematics and power transmission performance, can be applied to parallel robot, parallel connection
The occasions such as lathe, jiggle robot, but the mechanism, only containing three branches, rigidity is relatively low, and bearing capacity is weak.On the whole, three
Rotate a moving parallel connected robot mechanism to intercouple is in the majority, and the movement of three rotation one simple in construction, easy to control is wide
Adopted decoupling parallel robot mechanism is then still rare.
The content of the invention
It is an object of the invention to provide one kind it is simple in construction, easily controllable, can realize three rotate and a direction
Broad sense decoupling parallel mechanism is moved in mobile three full decoupled rotations one.
The present invention includes four branches of pedestal, moving platform and connection pedestal and moving platform, the one of four branches
End is distributed on pedestal, and its other end is distributed on moving platform in equilateral triangle, and first and second branch into same tie point,
The lower three revolute pair axis of original state are each perpendicular to pedestal, and moving platform is parallel with pedestal；First branch includes three connecting rods, one
Individual prismatic pair and three revolute pairs, wherein one end of first connecting rod are connected by the first prismatic pair with pedestal, first connecting rod it is another
One end passes sequentially through first, second revolute pair with second connecting rod, third connecting rod and is connected, and the other end of third connecting rod passes through the 3rd turn
Dynamic pair is connected with moving platform, wherein the first prismatic pair is parallel with the first revolute pair axis, the first revolute pair, the second revolute pair,
The pivot center of 3rd revolute pair is intersected at a bit；
Second branch includes five connecting rods, a prismatic pair and five revolute pairs, and wherein one end of fourth link passes through the
Two prismatic pairs are connected with pedestal, and the other end of fourth link and the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod are successively
Connected by the four, the five, the 6th and the 7th revolute pair, the other end of the 8th connecting rod is connected by the 8th revolute pair and moving platform
Connect, wherein the second prismatic pair is parallel with the secondary axis that the four, the 5th and the 6th rotates, and secondary axis phase is moved with the 7th and eighth-turn
Vertically, meanwhile, the second revolute pair of the first branch is overlapped with the 7th revolute pair axis of the second branch, the 3rd turn of the first branch
Dynamic pair is moved secondary axis with the eighth-turn of the second branch and overlapped；
3rd branch includes five connecting rods, three prismatic pairs and three revolute pairs, wherein one end of the 9th connecting rod passes through the
Nine revolute pairs are connected with pedestal, and the other end and the ten, the 11st connecting rods of the 9th connecting rod pass sequentially through the tenth and the 11st rotation
Pair connection, the other end and the 12nd and the 13rd connecting rod of the 11st connecting rod pass sequentially through three moving sets and the 4th prismatic pair company
Connect, the other end of the 13rd connecting rod is connected by the 5th prismatic pair with moving platform, wherein the 9th, the tenth and the 11st revolute pair
Axis is mutually perpendicular to, and the axis of the three, the 4th and the 5th prismatic pair is mutually perpendicular to；
4th branch includes five connecting rods and six revolute pairs, wherein the tenth double leval jib passes through the 12nd revolute pair and pedestal
Connection, the other end and the connecting rod of the 15th, the 16th, the 17th and the 18th of the tenth double leval jib pass sequentially through the 13rd, the tenth
4th, the 15th and the 16th revolute pair is connected, and the other end of the 18th connecting rod is connected by the 17th revolute pair with moving platform, its
In the axis of the 12nd and the 13rd revolute pair be parallel to each other, the axis of the 13rd and the 14th revolute pair is mutually perpendicular to, the tenth
4th, the axis of the 15th and the 16th revolute pair is parallel to each other and perpendicular to the axis of the 17th revolute pair；
First prismatic pair of first branch, the 9th revolute pair of the second prismatic pair of the second branch and the 3rd branch,
The axis of 12nd revolute pair of the 4th branch is parallel to each other.
Leading screw and motor are set in the first movement vice division chief of the first branch, motor is connected on pedestal, and its shifting axle
Line and the first prismatic pair axis collinear；Motor is set in the 5th rotation vice division chief of the second branch, motor is connected in the 5th connecting rod
On, and its pivot center and the 5th revolute pair axis collinear of the second branch；Driving is set in the tenth rotation vice division chief of the 3rd branch
Motor, motor is connected on the 9th connecting rod of the 3rd branch, and its pivot center and the tenth revolute pair axis of the 3rd branch are common
Line；The 4th branch the 17th rotation vice division chief set motor, motor is connected on the 18th connecting rod, and its pivot center with
17th revolute pair axis collinear of the 4th branch.
The present invention has the following advantages that compared with prior art：
Rigidity is big, precision is high, simple in construction, light, and decoupling motion is realized by revolute pair or prismatic pair, that is, is overcome
Tradition three rotates a mobile parallel connection mechanism and controls complicated, strong coupling, analysis to calculate cumbersome shortcoming, and parallel institution is remained again
The advantage that intensity is high, stability is good.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
In figure：1- first connecting rods, 2- second connecting rods, 3- third connecting rods, 4- fourth links, the connecting rods of 5- the 5th, 6- the 6th connect
Bar, 7- seven-link assemblies, the connecting rods of 8- the 8th, the connecting rods of 9- the 9th, the connecting rods of 10- the tenth, the connecting rods of 11- the 11st, the connecting rods of 12- the 12nd,
The connecting rods of 13- the 13rd, the double leval jibs of 14- the tenth, the connecting rods of 15- the 15th, the six-bar linkages of 16- the tenth, the seven-link assemblies of 17- the tenth, 18- the tenth
Eight connecting rods, 19- moving platforms, 20- pedestals.
Embodiment
Shown in Fig. 1 there is three turn one to be moved in the broad sense decoupling parallel mechanism schematic diagram of property, one end of four branches
It is distributed on pedestal 20, its other end is distributed on moving platform 19 in equilateral triangle, first and second branch into same connection
Point, the lower three revolute pair axis of original state are each perpendicular to pedestal, and moving platform is parallel with pedestal；First connecting rod in first branch
1 one end is connected by the first prismatic pair P1 with pedestal, and the other end of first connecting rod passes through the first revolute pair R1 and second connecting rod 2
One end connection, the other end of second connecting rod is connected by the second revolute pair R2 with one end of third connecting rod 3, third connecting rod it is another
One end is connected by the 3rd revolute pair R3 with moving platform, wherein the first prismatic pair P1 is parallel with the first revolute pair R1 axis, the
One revolute pair R1, the second revolute pair R2, the 3rd revolute pair R3 pivot center are intersected at a bit；
One end of fourth link 4 in second branch is connected by the second prismatic pair P2 with pedestal, fourth link it is another
End is connected by the 4th revolute pair R4 with one end of the 5th connecting rod 5, and the other end of the 5th connecting rod passes through the 5th revolute pair R5 and the
One end connection of six-bar linkage 6, the other end of six-bar linkage is connected by the 6th revolute pair R6 with one end of seven-link assembly 7, and the 7th
The other end of connecting rod is connected by the 7th revolute pair R7 with one end of the 8th connecting rod 8, and the other end of the 8th connecting rod passes through eighth-turn
Dynamic secondary R8 is connected with moving platform, wherein the second prismatic pair P2 and the 4th revolute pair R4, the 5th revolute pair R5 and the 6th revolute pair R6
Secondary axis it is parallel, and with the 7th revolute pair R7 and the 8th revolute pair R8 axis perpendiculars, meanwhile, the first branch second rotate
Secondary R2 is overlapped with the 7th revolute pair R7 axis of the second branch, the 3rd revolute pair R3 and the eighth-turn of the second branch of the first branch
Dynamic secondary R8 axis are overlapped；
One end of the 9th connecting rod 9 in 3rd branch is connected by the 9th revolute pair R9 with pedestal, the 9th connecting rod it is another
End is connected by the tenth revolute pair R10 with one end of the tenth connecting rod 10, and the other end of the tenth connecting rod passes through the 11st revolute pair R11
Be connected with one end of the 11st connecting rod 11, the other end of the 11st connecting rod pass through three moving sets P3 and the 12nd connecting rod 12 one
End connection, the other end of the 12nd connecting rod is connected by the 4th prismatic pair P4 with one end of the 13rd connecting rod 13, the 13rd connecting rod
The other end be connected by the 5th prismatic pair P5 with moving platform, wherein the 9th revolute pair R9, the tenth revolute pair R10 and the 11st turn
Dynamic secondary R11 axis is mutually perpendicular to, and three moving sets P3, the 4th prismatic pair P4 and the 5th prismatic pair P5 axis are mutually perpendicular to；
The tenth double leval jib 14 in 4th branch is connected by the 12nd revolute pair R12 with pedestal, the tenth double leval jib it is another
One end is connected by the 13rd revolute pair R13 with the 15th connecting rod 15, and the other end of the 15th connecting rod passes through the 14th revolute pair
R14 is connected with one end of the tenth six-bar linkage 16, and the other end of the tenth six-bar linkage passes through the 15th revolute pair R15 and the tenth seven-link assembly
17 one end connection, the other end of the tenth seven-link assembly is connected by the 16th revolute pair R16 with the 18th connecting rod, the 18th connecting rod
The other end be connected by the 17th revolute pair R17 with moving platform, wherein the 12nd revolute pair R12 and the 13rd revolute pair R13
Axis be parallel to each other, the 13rd revolute pair R13 and the 14th revolute pair R14 axis are mutually perpendicular to, the 14th revolute pair
R14, the 15th revolute pair R15 and the 16th revolute pair R16 axis are parallel to each other and perpendicular to the 17th revolute pair R17 axle
Line；
First prismatic pair P1 of first branch, the second prismatic pair P2 of the second branch and the 9th rotation of the 3rd branch
Secondary R9, the 12nd revolute pair R12 of the 4th branch axis are parallel to each other.
Leading screw and motor are set at the first prismatic pair P1 of the first branch, motor is connected on pedestal, and it is moved
Axis and the first prismatic pair P1 axis collinears；Motor is set at the 5th revolute pair R5 of the second branch, motor is connected in
On five connecting rods, and its pivot center and the 5th revolute pair R5 axis collinears of the second branch；In the tenth revolute pair of the 3rd branch
Motor is set at R10, motor is connected on the 9th connecting rod of the 3rd branch, and the tenth turn of its pivot center and the 3rd branch
Dynamic secondary R10 axis collinears；Motor is set at the 17th revolute pair R17 of the 4th branch, motor is connected in the 18th connecting rod
On, and its pivot center and the 17th revolute pair R17 axis collinears of the 4th branch.Pass through control and P1, R5, R10 and R17 axle
Line distinguishes four conllinear motors, and moving platform achieves that in space three movements rotated with a direction, and
Three rotate full decoupled with mobile four frees degree.
Claims (3)
1. it is a kind of have three turn one shifting property broad sense decoupling parallel mechanism, it include pedestal, moving platform and connection pedestal and
Four branches of moving platform, it is characterised in that：One end of four branches is distributed on pedestal, and its other end is in equilateral triangle
It is distributed on moving platform, first and second branch into same tie point, and the lower three revolute pair axis of original state are each perpendicular to
Pedestal, moving platform is parallel with pedestal；First branch includes three connecting rods, a prismatic pair and three revolute pairs, wherein first connects
One end of bar is connected by the first prismatic pair with pedestal, and the other end and second connecting rod, the third connecting rod of first connecting rod are passed sequentially through
First, second revolute pair is connected, and the other end of third connecting rod is connected by the 3rd revolute pair with moving platform, wherein the first prismatic pair
Parallel with the first revolute pair axis, the first revolute pair, the second revolute pair, the pivot center of the 3rd revolute pair are intersected at a bit；
Second branch includes five connecting rods, a prismatic pair and five revolute pairs, and wherein one end of fourth link is moved by second
Dynamic pair is connected with pedestal, and the other end of fourth link is passed sequentially through with the 5th connecting rod, six-bar linkage, seven-link assembly, the 8th connecting rod
Four, the five, the 6th and the 7th revolute pair is connected, and the other end of the 8th connecting rod is connected by the 8th revolute pair with moving platform, its
In the second prismatic pair with the four, the 5th and the 6th rotate secondary axis it is parallel, and with the 7th and eighth-turn move secondary axis it is perpendicular,
Meanwhile, the second revolute pair of the first branch is overlapped with the 7th revolute pair axis of the second branch, the 3rd revolute pair of the first branch
Secondary axis is moved with the eighth-turn of the second branch to overlap；
3rd branch includes five connecting rods, three prismatic pairs and three revolute pairs, wherein one end of the 9th connecting rod passes through the 9th turn
Dynamic pair is connected with pedestal, and the other end and the ten, the 11st connecting rods of the 9th connecting rod pass sequentially through the tenth and the 11st revolute pair company
Connect, the other end of the 11st connecting rod passes sequentially through three moving sets with the 12nd and the 13rd connecting rod and the 4th prismatic pair is connected,
The other end of 13rd connecting rod is connected by the 5th prismatic pair with moving platform, wherein the 9th, the tenth and the 11st turns auxiliary shaft
Line is mutually perpendicular to, and the axis of the three, the 4th and the 5th prismatic pair is mutually perpendicular to；
4th branch includes five connecting rods and six revolute pairs, wherein the tenth double leval jib is connected by the 12nd revolute pair and pedestal
Connect, the other end and the connecting rod of the 15th, the 16th, the 17th and the 18th of the tenth double leval jib pass sequentially through the 13rd, the 14th,
15th and the 16th revolute pair is connected, and the other end of the 18th connecting rod is connected by the 17th revolute pair with moving platform, wherein
The axis of 12nd and the 13rd revolute pair is parallel to each other, and the axis of the 13rd and the 14th revolute pair is mutually perpendicular to, the 14th,
The axis of 15th and the 16th revolute pair is parallel to each other and perpendicular to the axis of the 17th revolute pair.
2. according to claim 1 have three turn of one broad sense decoupling parallel mechanism for moving property, it is characterised in that：Described
First prismatic pair of one branch, the 9th revolute pair of the second prismatic pair of the second branch and the 3rd branch, the tenth of the 4th branch the
The axis of two revolute pairs is parallel to each other.
3. according to claim 1 have three turn of one broad sense decoupling parallel mechanism for moving property, it is characterised in that：First
First movement vice division chief of branch sets leading screw and motor, and motor is connected on pedestal, and its mobile axis and the first prismatic pair
Axis collinear；Motor is set in the 5th rotation vice division chief of the second branch, motor is connected on the 5th connecting rod, and its pivot center
With the 5th revolute pair axis collinear of the second branch；Motor is set in the tenth rotation vice division chief of the 3rd branch, motor is connected in
On 9th connecting rod of the 3rd branch, and its pivot center and the tenth revolute pair axis collinear of the 3rd branch；In the 4th branch
17th rotation vice division chief sets motor, and motor is connected on the 18th connecting rod, and the tenth of its pivot center and the 4th branch the
Seven revolute pair axis collinears.
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| CN201710519769.8A CN107139166B (en) | 2017-06-30 | 2017-06-30 | The broad sense decoupling parallel mechanism of property is moved with three turn one |
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| CN201710519769.8A CN107139166B (en) | 2017-06-30 | 2017-06-30 | The broad sense decoupling parallel mechanism of property is moved with three turn one |
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| CN107139166B CN107139166B (en) | 2019-11-22 |
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Cited By (5)
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| CN108854036A (en) * | 2018-07-17 | 2018-11-23 | 广东工业大学 | A kind of vigor plate sliding hunting gear |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN111438683A (en) * | 2020-04-10 | 2020-07-24 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
| WO2020200231A1 (en) * | 2019-04-01 | 2020-10-08 | 东莞理工学院 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108854036A (en) * | 2018-07-17 | 2018-11-23 | 广东工业大学 | A kind of vigor plate sliding hunting gear |
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| CN109746895B (en) * | 2018-12-11 | 2021-02-05 | 西安工程大学 | Four-degree-of-freedom parallel mechanism with three 3T1R dynamic modes |
| WO2020200231A1 (en) * | 2019-04-01 | 2020-10-08 | 东莞理工学院 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN111438683A (en) * | 2020-04-10 | 2020-07-24 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
| CN111438683B (en) * | 2020-04-10 | 2021-05-14 | 燕山大学 | Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation |
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