CN108544475B - Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm - Google Patents
Large-stroke force-control machining robot based on planar two-degree-of-freedom series-parallel mechanical arm Download PDFInfo
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- 238000003754 machining Methods 0.000 title claims description 32
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- 239000006096 absorbing agent Substances 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 238000000227 grinding Methods 0.000 claims description 3
- 238000005553 drilling Methods 0.000 claims description 2
- 238000003801 milling Methods 0.000 claims description 2
- 230000001629 suppression Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 238000005498 polishing Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a large-stroke force control processing robot based on a planar two-degree-of-freedom series-parallel mechanical arm, which comprises: the automatic guided vehicle is used for ensuring the large moving stroke of the robot; the planar two-degree-of-freedom hybrid mechanical arm is used for controlling two-degree-of-freedom motion in a plane; and the three-degree-of-freedom force control parallel processing module is used for controlling one degree of freedom of movement and two degrees of freedom of rotation and controlling positive pressure on the end effector. The robot has the advantages that the three-degree-of-freedom force control parallel processing module is arranged at the tail end of the planar two-degree-of-freedom parallel mechanical arm and matched with the unmanned carrying vehicle, the high-quality working space range of the robot is enlarged, the processing operation on all molded surfaces of a large structural member or a large wind power blade can be completed on the premise of one-time clamping, the processing operation efficiency is improved, meanwhile, the three-degree-of-freedom force control parallel processing module can control the positive pressure on the end effector during the processing operation, and the processing quality can be effectively guaranteed.
Description
Technical Field
The invention relates to the technical field of numerical control device manufacturing, in particular to a large-stroke force control machining robot based on a planar two-degree-of-freedom series-parallel mechanical arm.
Background
Under the background of high-speed development of aerospace, gas turbine and ship industries, the demand for integrated machining of large-scale structural components, large-scale turbine blades and large-scale propellers is increasingly prominent, and how to efficiently and highly finish machining of the large-scale structural components is very important in order to give full play to the advantages of integrated design. Meanwhile, under the background of the prevailing global low-carbon development mode, the demand for clean energy is increasing day by day. Wind energy is gaining more attention as a clean renewable energy source with abundant and widely distributed reserves. With the rapid development of wind energy utilization, the demand of wind turbine generators is increasing day by day, the blade is used as a key component in the wind turbine generator, so that the blade is widely concerned about how to effectively maintain the service life for a long time, and the front edge of the blade is easily polluted and becomes rough in the actual service process, so that the power generation efficiency of the wind turbine generator is greatly reduced, and the timely polishing of the wind turbine blade is very important. However, the large-scale wind power blade is huge in size, and a large amount of dust is generated in the polishing process, so that the robot is used for replacing manpower to perform machining operation on the large-scale wind power blade and a large-scale structural member, and the best mode for ensuring the precision and the efficiency is provided.
The large-scale structural part and the large-scale wind power blade are huge in size, the robot system is required to have a large stroke, the outer surface of the robot system is mostly a free-form surface, the curvature change condition is complex, and the robot system is required to realize five-axis linkage machining. The traditional tandem robot is formed by combining joints and connecting rods, and has the advantages of simple structural form, large working space, flexibility, joint accumulation, poor tail end rigidity and the like. The parallel mechanism ensures high rigidity of the tail end movable platform and compact structure by forming a plurality of kinematic branched chains between the fixed platform and the movable platform to form a closed loop structure, but the working space is generally small, and a solution is needed. The parallel mechanism and the series mechanism are organically combined to form the parallel mechanism, so that the overall performance can be effectively improved, and the advantages of two mechanism forms are combined.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a large-stroke force control machining robot based on a planar two-degree-of-freedom hybrid mechanical arm, which has the advantages of enlarging the high-quality working space range of the robot, improving the machining operation efficiency and effectively ensuring the machining quality.
In order to achieve the above object, an embodiment of the present invention provides a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom hybrid mechanical arm, including: the automatic guided vehicle is used for ensuring the large moving stroke of the robot; the planar two-degree-of-freedom hybrid mechanical arm is used for controlling two-degree-of-freedom motion in a plane; and the three-degree-of-freedom force control parallel processing module is used for controlling one degree of freedom of movement and two degrees of freedom of rotation and controlling positive pressure on the end effector.
According to the large-stroke force-control processing robot based on the planar two-degree-of-freedom parallel-serial mechanical arm, the three-degree-of-freedom force-control parallel processing module is arranged at the tail end of the planar two-degree-of-freedom parallel-serial mechanical arm and matched with the unmanned transport vehicle, so that the high-quality working space range of the robot is enlarged, the processing operation on all molded surfaces of a large structural member or a large wind power blade can be completed on the premise of one-time clamping, the processing operation efficiency is improved, meanwhile, the three-degree-of-freedom force-control parallel processing module can control the positive pressure on the end effector during the processing operation, and the processing quality.
In addition, the large-stroke force control processing robot based on the planar two-degree-of-freedom hybrid mechanical arm according to the above embodiment of the invention may further have the following additional technical features:
further, in an embodiment of the present invention, the planar two-degree-of-freedom hybrid mechanical arm includes: the large arm, the first connecting rod group and the large arm of the mechanical arm form a parallelogram mechanism so as to realize the rotation motion driven by the linear feed motion input by the large arm driving rod; the small arm, the second connecting rod group and the mechanical arm small arm form a parallelogram mechanism so as to realize the rotation motion driven by the linear feeding motion input by the small arm driving rod.
Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module includes: parallel module fixed platform; a parallel module moving platform; an end effector; a force control unit; the first branch chain is connected with the parallel module movable platform through two revolute pairs with mutually vertical axes and is connected with the parallel module fixed platform through one revolute pair, and the first branch chain comprises a lead screw and nut kinematic pair driven by input so as to realize the rotational freedom degree between the lead screw and the nut axes and the moving freedom degree of the lead screw along the branch chain; a second branch chain and a third branch chain, wherein the second branch chain and the third branch chain have the same structure as the first branch chain.
Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module is further characterized in that the first branched chain, the second branched chain and the third branched chain are respectively connected between the parallel module fixed platform and the parallel module movable platform to form a closed-loop parallel structure, so as to ensure that the parallel module movable platform has one degree of freedom of movement and two degrees of freedom of rotation after being fixedly connected with the end effector.
Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module is installed at the end of the planar two-degree-of-freedom hybrid mechanical arm to cooperate with the automated guided vehicle, so as to increase the range of the high-quality working space of the robot.
Further, in one embodiment of the present invention, the first branch chain comprises: one end of the first motor is connected with the three-degree-of-freedom force control parallel processing module fixed platform through a rotating pair; the first screw-nut pair is characterized in that a nut in the first screw-nut pair is fixedly connected with the first motor to form a cylindrical motion pair, so that the linear feeding freedom degree and the relative rotation freedom degree of the screw relative to the nut are realized, and the screw in the first screw-nut pair is connected with the parallel module moving platform through a Hooke hinge or two rotation pairs with mutually vertical axes.
Further, in one embodiment of the present invention, the force control unit includes: the force control spring realizes the control of the tail end positive pressure through position control in the operation process; a damping vibration absorber that can achieve vibration suppression under force control conditions through coordination with the force control spring; the control unit shell can be combined with the parallel processing module body structure to overcome the problem that the unit cannot bear torque.
Further, in an embodiment of the present invention, the force control unit may be disposed at a position of the first, second, and third branches where the lead screw is connected to the revolute pair, so as to implement force control on the first, second, and third branches.
Further, in an embodiment of the present invention, the force control unit may be further disposed at a position where the three-degree-of-freedom force control parallel processing module moving platform is connected to the end effector, so as to control an acting force on the end effector.
Further, in an embodiment of the present invention, the three-degree-of-freedom force control unit of the parallel processing module further includes: and the force sensor feeds back the applied positive pressure in the operation process, and realizes force/position hybrid control on the three-degree-of-freedom force control parallel module end effector according to data fed back by the force sensor through a force/position hybrid control algorithm.
Further, in an embodiment of the present invention, the three-degree-of-freedom force-controlled parallel processing module may also adopt a structural form of a force-free control unit.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom hybrid mechanical arm according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom hybrid mechanical arm according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom hybrid mechanical arm according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a planar two-degree-of-freedom hybrid mechanical arm according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a three-degree-of-freedom force-controlled parallel machining module according to an embodiment of the present invention;
FIG. 6 is an exploded view of a first branch chain, a fixed platform, and a movable platform of a three-degree-of-freedom force-controlled parallel processing module according to one embodiment of the present invention;
fig. 7 is an exploded view of the first branch chain, the fixed platform and the movable platform of the three-degree-of-freedom force-controlled parallel processing module according to another embodiment of the present invention.
Reference numerals:
in fig. 1: a three-degree-of-freedom force control parallel processing module I; a planar two-degree-of-freedom hybrid mechanical arm II; an automated guided vehicle III-1;
in fig. 2: a three-degree-of-freedom force control parallel processing module I; a planar two-degree-of-freedom hybrid mechanical arm II; an automated guided vehicle III-21; a linear guide III-22;
in fig. 3: a three-degree-of-freedom force control parallel processing module I; a planar two-degree-of-freedom hybrid mechanical arm II; a linear guide III-3;
a robot arm base 21; a robot arm boom 22; a large arm drive lever 23; a first link group 24; an attitude adjusting member 25; a small arm drive lever 26; a mechanical arm small arm 27; a second linkage 28; an end effector 29;
a first branch chain 31; a second branch 32; a third branch 33; parallel processing module fixed platform 34; a parallel processing module moving platform 35; an electric sanding head 36;
a first motor 411; a first lead screw 412; a first force control unit 413; a first U-shaped rotating member 414; a first spherical rotating member 415; parallel module fixed platforms 44; a parallel module moving platform 45; an end electric sanding head 46;
a first motor 511; a first lead screw 512; a first U-shaped rotating member 513; a first spherical rotating member 514; a parallel module fixed platform 54; a parallel module moving platform 55; a grinding motor 561; a power stage force control unit 562; an end effector mounting flange 563; an end effector 564.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a large-stroke force control processing robot based on a planar two-degree-of-freedom hybrid mechanical arm according to an embodiment of the present invention with reference to the accompanying drawings.
In the large-stroke force control processing robot based on the planar two-degree-of-freedom hybrid mechanical arm, the end effector is an electric polishing head, and the electric spindle can clamp a tool or weld the end effector.
In embodiment 1 of the present invention, as shown in fig. 1, a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom parallel-serial mechanical arm includes a three-degree-of-freedom force-controlled parallel machining module I; a planar two-degree-of-freedom hybrid mechanical arm II; the automated guided vehicle III-1.
In embodiment 2 of the present invention, as shown in fig. 2, a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom parallel-serial mechanical arm may further include a three-degree-of-freedom force-controlled parallel machining module I; a planar two-degree-of-freedom hybrid mechanical arm II; an automated guided vehicle III-21; linear guides III-22.
In embodiment 3 of the present invention, as shown in fig. 3, a large-stroke force-controlled machining robot based on a planar two-degree-of-freedom parallel-serial mechanical arm may also include a three-degree-of-freedom force-controlled parallel machining module I; a planar two-degree-of-freedom hybrid mechanical arm II; and a linear guide III-3.
The automated guided vehicle and the matched linear guide rail are mature commercial products, can be selected and purchased or customized according to actual use requirements, and are not described in detail herein.
Further, as shown in fig. 4, the planar two-degree-of-freedom hybrid mechanical arm includes a mechanical arm base 21, a mechanical arm large arm 22, a mechanical arm small arm 27, an end effector 29, a linkage group 24, a large arm driving rod 23, a small arm driving rod 26, an attitude adjusting component 25 and a linkage group 28, the three-degree-of-freedom force control parallel processing module is fixedly connected to the two-degree-of-freedom planar parallel mechanical arm end effector 29, the linkage group 24 and the mechanical arm large arm 22 form a parallelogram mechanism, the linkage group 28 and the mechanical arm small arm 27 form a parallelogram mechanism, the mechanical arm large arm 22 and the mechanical arm small arm 27 are respectively driven by the large arm driving rod 23 and the small arm driving rod 26, and the driving mode is linear feed driving.
As shown in fig. 5, the three-degree-of-freedom force-controlled parallel processing module III includes a first branch chain 31, a second branch chain 32, a third branch chain 33, a parallel processing module fixed platform 34, a parallel processing module movable platform 35, and an electric polishing head 36.
The first branched chain 31 is connected with a parallel processing module fixed platform 34 through a revolute pair, is connected with a parallel processing module movable platform 35 through two revolute pairs or a hook joint, the axes of which are vertical to each other, and is connected with the parallel processing module movable platform 35 and an electric polishing head 36; the second branched chain, the third branched chain and the first branched chain have the same structure, and the three branched chains are connected between the fixed platform and the movable platform to form a closed loop structure, so that one translational degree of freedom and two rotational degrees of freedom of the movable platform and the electric polishing head are finally realized.
Specifically, as shown in fig. 6, the first branch chain includes a first motor 411, a first lead screw 412, a first force control unit 413, a first U-shaped rotating member 414, and a first spherical rotating member 415. The first motor 411 is mounted on the parallel module fixed platform 44 to form a rotating pair, and a rotor of the first motor is fixedly connected with a nut in the first ball screw pair, so that the first screw 412 has a rotational freedom degree around the axis of the nut and a linear movement freedom degree along the axis direction to form a cylindrical pair; the end of the first lead screw 412 is fixedly connected with a first force control unit 413, and the first force control unit is embedded in the first U-shaped rotating member 414 and fixedly connected with the first U-shaped rotating member, so that the internal force of the first branch chain is controlled; the first U-shaped rotating part 414 is connected with the first spherical rotating part 415 to form a rotating pair, the first spherical rotating part 415 is connected with the movable platform to form a rotating pair, and the axes of the two rotating pairs are orthogonal to each other to form a Hooke's joint; the second branched chain, the third branched chain and the first branched chain have the same structure, and realize the control of the internal force of the branched chains and form a parallel closed-loop structure. The movable platform is fixedly connected with the tail end electric polishing head 46.
In another embodiment of the present invention, as shown in fig. 7, the first branch chain may further include a first motor 511; a first lead screw 512; a first U-shaped rotating member 513; a first spherical rotating member 514; the tail end electric polishing head comprises a polishing motor 561; a power stage force control unit 562; an end effector mounting flange 563; an end effector 564. The first motor 511 is mounted on the parallel module fixed platform 54 to form a rotating pair, and a rotor of the first motor is fixedly connected with a nut in the first ball screw pair, so that the first screw 512 has a rotational freedom degree around the axis of the nut and a linear movement freedom degree along the axis direction to form a cylindrical pair; the tail end of the first lead screw 512 is fixedly connected with a first U-shaped rotating part 513, the first U-shaped rotating part 513 is connected with a first spherical rotating part 514 to form a rotating pair, the first spherical rotating part 514 is connected with a movable platform to form a rotating pair, and the axes of the two rotating pairs are mutually orthogonal to form a Hooke's joint; the second and third branched chains have the same structure as the first branched chain, and realize the connection between the parallel module fixed platform 54 and the parallel module movable platform 55 to form a parallel closed loop structure. The polishing motor 561 is installed on the parallel module moving platform 55, the parallel module moving platform 55 is fixedly connected with the moving platform force control unit 562 to control the action of external force on the tail end electric polishing head, and the mounting flange 563 of the end effector realizes the mounting connection between the end effector 564 and the polishing motor 561.
In the embodiment of the invention, the three-degree-of-freedom force control parallel processing module has a large rotation angle range, and can realize processing operation on complex curved surfaces.
Furthermore, the large-stroke force control machining robot based on the planar two-degree-of-freedom series-parallel mechanical arm can realize a large working stroke and realize machining operation on all molded surfaces of a large structural member or a large wind power blade in a one-time clamping process.
Furthermore, the three-degree-of-freedom force control parallel processing module and the planar two-degree-of-freedom series-parallel mechanical arm can be mounted on a linear guide rail on the unmanned transport vehicle in a carrying mode or directly mounted on a full-stroke linear guide rail, and processing operation of all molded surfaces is achieved in the process of one-time clamping.
Furthermore, the three-degree-of-freedom force control parallel processing module can realize the moving type force/position hybrid control on the end effector in the processing process through the force control unit, and the processing operation quality can be effectively improved.
Furthermore, the three-degree-of-freedom force control parallel processing module can complete different types of processing operations such as grinding operation, welding operation, milling and drilling operation and the like by carrying different types of end effectors.
Further, the force control unit of the three-degree-of-freedom force control parallel processing module can adopt a combined form comprising a force control spring, a damping vibration absorber and a unit shell or a combined form of a force sensor and a control algorithm or a structural form of a force-free control unit.
According to the large-stroke force-control machining robot based on the planar two-degree-of-freedom parallel-serial mechanical arm, the three-degree-of-freedom force-control parallel machining module is arranged at the tail end of the planar two-degree-of-freedom parallel-serial mechanical arm and matched with the unmanned carrying vehicle, so that the high-quality working space range of the robot is enlarged, the machining operation on all the molded surfaces of a large structural member or a large wind power blade can be completed on the premise of one-time clamping, the machining operation efficiency is improved, meanwhile, the three-degree-of-freedom force-control parallel machining module can control the positive pressure on the end effector during the machining operation, and the machining quality can.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (4)
1. The utility model provides a big stroke force control processing robot based on two degree of freedom series-parallel mechanical arms in plane which characterized in that includes:
the automatic guided vehicle is used for ensuring the large moving stroke of the robot;
the planar two-degree-of-freedom hybrid mechanical arm is used for controlling two-degree-of-freedom motion in a plane, and comprises: the first connecting rod group and the large arm form a parallelogram mechanism so as to realize the rotation motion driven by the linear feed motion input by the large arm driving rod; the small arm, the second connecting rod group and the small arm form a parallelogram mechanism so as to realize the rotation motion driven by the linear feed motion input by the small arm driving rod;
the three-degree-of-freedom force control parallel processing module is used for controlling one degree of freedom of movement and two degrees of freedom of rotation and controlling positive pressure on an end effector, and is arranged at the tail end of the planar two-degree-of-freedom series-parallel mechanical arm and matched with the unmanned carrying vehicle so as to enlarge the working space range of the robot; or the robot is directly arranged on a linear guide rail or a full-stroke linear guide rail carried on the unmanned transport vehicle, so that the working stroke of the robot is increased; wherein,
the three-degree-of-freedom force control parallel processing module comprises: parallel module fixed platform; a parallel module moving platform; an end effector; a force control unit; the first branch chain is connected with the parallel module fixed platform through a revolute pair and is connected with the parallel module movable platform through two revolute pairs with mutually vertical axes, and specifically: the first branch chain comprises: the parallel module fixed platform comprises a first motor and a first lead screw nut pair, wherein one end of the first motor is connected with the parallel module fixed platform through a rotating pair; a nut in the first screw-nut pair is fixedly connected with the first motor to form a cylindrical motion pair, so that the linear feeding freedom degree and the relative rotation freedom degree of a screw relative to the nut are realized, and a screw in the first screw-nut pair is connected with the parallel module moving platform through a Hooke hinge or two rotation pairs with mutually vertical axes; the force control unit is arranged at the position, connected with the screw rod and the rotating pair, of the first branch chain, the second branch chain and the third branch chain so as to realize the force control on the first branch chain, the second branch chain and the third branch chain; or the parallel module moving platform is arranged at the position where the parallel module moving platform is connected with the end effector; the first branched chain, the second branched chain and the third branched chain are respectively connected between the parallel module fixed platform and the parallel module movable platform to form a closed-loop parallel structure, so that a moving degree of freedom and two rotating degrees of freedom are ensured after the parallel module movable platform is fixedly connected with an end effector.
2. The large-stroke force-controlled machining robot based on the planar two-degree-of-freedom hybrid mechanical arm as claimed in claim 1, wherein the force control unit comprises:
the force control spring controls the position to realize the control of the tail end positive pressure during the operation process;
a damping vibration absorber that achieves vibration suppression under force control conditions through coordination with the force control spring;
and the unit shell is combined with the parallel processing module body structure to overcome the problem that the force control unit cannot bear the torque.
3. The large-stroke force-controlled machining robot based on the planar two-degree-of-freedom hybrid mechanical arm according to claim 1, wherein the force control unit further comprises:
the force sensor feeds back the applied positive pressure in the operation process;
and the force/position hybrid control algorithm is used for realizing force/position hybrid control on the three-degree-of-freedom force control parallel processing module end executor according to the data fed back by the force sensor.
4. The large-stroke force-control processing robot based on the planar two-degree-of-freedom parallel-serial mechanical arm as claimed in claim 1, wherein the three-degree-of-freedom force-control parallel processing module carries different end effectors to complete grinding operation, welding operation or milling and drilling operation.
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| CN108608401B (en) * | 2018-04-11 | 2020-12-01 | 清华大学 | Rail-mounted large-span foldable machining robot |
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| CN100348386C (en) * | 2005-09-15 | 2007-11-14 | 天津大学 | Multi-coordinate serioparallel robot with redundant freedom |
| CN201073766Y (en) * | 2007-04-25 | 2008-06-18 | 大连理工大学 | Long-arm manipulator for curved steel sheet processing |
| CN101745820A (en) * | 2009-12-14 | 2010-06-23 | 北京航空航天大学 | Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method |
| CN102490179A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom |
| CN105818723B (en) * | 2016-04-29 | 2018-06-29 | 太原理工大学 | For the multiple freedom parallel mechanism vibration reduction platform of automobile seat |
| CN106078698B (en) * | 2016-08-14 | 2018-02-09 | 吉林大学 | A kind of multi-freedom parallel connection follower mechanism and its driving method |
| CN106828657B (en) * | 2017-03-20 | 2019-02-22 | 哈尔滨工业大学 | A kind of two-stage vibration damping ankle foot one parallel connection low impact walking foot mechanism and control method |
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