CN108621130A - Parallel institution with two kinds of motor patterns of 2R1T and 2T1R - Google Patents
Parallel institution with two kinds of motor patterns of 2R1T and 2T1R Download PDFInfo
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- CN108621130A CN108621130A CN201810356050.1A CN201810356050A CN108621130A CN 108621130 A CN108621130 A CN 108621130A CN 201810356050 A CN201810356050 A CN 201810356050A CN 108621130 A CN108621130 A CN 108621130A
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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
Parallel institution disclosed by the invention with two kinds of motor patterns of 2R1T and 2T1R, moving platform including rectangle and fixed platform, moving platform is connect by the first branch, the second branch and third branch with fixed platform respectively, to realize the transformation of two rotations, one movement and two one rotational motion patterns of movement, and the transformation that can be achieved with motor pattern need not be re-assemblied, also has the characteristics that rigidity is high, accuracy is high and dexterity is strong.
Description
Technical field
The invention belongs to robot fields, are related to a kind of parallel institution with two kinds of motor patterns of 2R1T and 2T1R.
Background technology
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor obtain extensive use.Parallel institution have 2,
3,4,5 or 6 degree of freedom, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free
The reduction of degree will be so that mechanism structure be more simple, and manufacture and control cost are relatively low, therefore is meeting expected job requirement
In the case of, Limited-DOF Parallel Robot has its unique advantage.
Parallel institution with multi-motion modes also referred to as can be changed, with multiple modes of operation, Displacement Subgroup with fortune
Dynamic fork or restructural parallel institution, it is characterized in that：Multi-motion modes may be implemented in less driving pair, and move mould
Formula need not re-assembly mechanism when converting, thus can fast implement mechanism reconstruct, some such parallel institutions exist
When carrying out motor pattern transformation, it is required to the Singularity by mechanism.Parallel institution use with multi-motion modes compared with
Multi-motion modes can be achieved in few driving, can be adapted to hoisting machine with less cost various in actual industrial production
Demand.
Parallel institution with two one moving movement patterns of rotation, is suitably applied the manipulator in bent general work, has
There is the features such as rigidity is high, accuracy is high, dexterity is strong.It, can be dynamic at it based on the parallel institution of two one moving movement patterns of rotation
Connect two revolute pairs, composition 5 axis machining center of series-parallel connection or Medical Robot on platform.Based on two one moving movement moulds of rotation
5 axis of formula and 6 axis hybrid mechanisms can be applied to welding airframe, can be used for the assembling of aircraft wing.It is moved with two
The parallel institution of a dynamic rotational motion pattern is answered in fields such as industry assembling robot, attitude adjuster, parallel machine, workbench
With than wide.However, realizing that two rotations, one movement and the parallel institution of two one rotational motion Mode changes of movement are less at present.
Submarine, driving of a tank motion simulator of this kind of methodology of novel parallel mechanism in military field, micro- surgical operation robot, large size are penetrated
Device for adjusting posture of electric astronomical telescope etc. has certain application prospect.
Invention content
The purpose of the present invention is to provide the parallel institutions with two kinds of motor patterns of 2R1T and 2T1R, can realize two turns
The transformation of a dynamic movement and two one rotational motion patterns of movement has the characteristics that rigidity is high, accuracy is high and dexterity is strong.
The technical solution adopted in the present invention is：Parallel institution with two kinds of motor patterns of 2R1T and 2T1R, including square
The moving platform and fixed platform of shape, moving platform are not originally connect by the first branch, the second branch and third branch with fixed platform.
The features of the present invention also characterized in that
First branch includes the revolute pair R being connect with fixed platform11, revolute pair R11It is connected with first connecting rod, revolute pair in turn
R12, second connecting rod, revolute pair R13, third connecting rod and revolute pair R14, revolute pair R14It is connect with moving platform.
Revolute pair R11, revolute pair R12And revolute pair R13It is arranged in parallel, and the revolute pair R11, revolute pair R12And turn
Dynamic secondary R13It is each perpendicular to fixed platform, revolute pair R14It is arranged along moving platform X-direction.
Revolute pair R11It is connected with the first rotary electric machine, revolute pair R12It is connected with the second rotary electric machine.
Second branch includes the universal hinge U being connect with fixed platform21, universal hinge U21It is connected with fourth link, revolute pair in turn
R22, the 5th connecting rod and universal hinge U23, universal hinge U23It is connect with moving platform.
Universal hinge U23In far from the revolute pair of moving platform, revolute pair R22, universal hinge U21In far from fixed platform revolute pair and
Fixed platform is arranged in parallel, universal hinge U23In and the revolute pair that is connect with moving platform perpendicular to moving platform, universal hinge U21In and
The revolute pair being connect with fixed platform is perpendicular to fixed platform.
Universal hinge U21In the revolute pair that is connect with fixed platform be connected with the motor of third rotation.
Third branch includes the flexural pivot S being connect with fixed platform31, flexural pivot S31It is connected with six-bar linkage, prismatic pair P in turn32、
Seven-link assembly and flexural pivot S33, flexural pivot S33It is connect with moving platform.
Prismatic pair P32It is also associated with fluid pressure drive device.
The beneficial effects of the invention are as follows：The present invention has the parallel institution of two kinds of motor patterns of 2R1T and 2T1R, has two
A mobile rotational motion pattern when moving platform is parallel to the movement of fixed platform, then is rotated, reaches corresponding mechanism position
Shape, then parallel institution have two rotation one moving movement patterns, the transformation that can be achieved with motor pattern need not be re-assemblied, and
And have the characteristics that rigidity is high, accuracy is high and dexterity is strong.
Description of the drawings
Fig. 1 is movement of the parallel institution of the invention with two kinds of motor patterns of 2R1T and 2T1R with two movements, one rotation
Mode configuration schematic diagram；
Fig. 2 is the instantaneous mechanism position shape structural representation for the parallel institution that the present invention has two kinds of motor patterns of 2R1T and 2T1R
Figure；
Fig. 3 is another instantaneous mechanism position shape structure for the parallel institution that the present invention has two kinds of motor patterns of 2R1T and 2T1R
Schematic diagram；
Fig. 4 is movement of the parallel institution of the invention with two kinds of motor patterns of 2R1T and 2T1R with two rotations, one movement
Mode configuration schematic diagram.
In figure：1. first connecting rod, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. the 6th connect
Bar, 7. seven-link assemblies, 8. moving platforms, 9. fixed platforms.
Specific implementation mode
The specific implementation method of the present invention is made a detailed explanation below in conjunction with the accompanying drawings.
The present invention has the parallel institution of two kinds of motor patterns of 2R1T and 2T1R, as shown in Figure 1, including rectangle moving platform 8
With fixed platform 9, moving platform 8 is connect by the first branch, the second branch and third branch with fixed platform 9 respectively, the first branch with
The junction of moving platform 8 is denoted as A1, the junction of the second branch and moving platform 8 is denoted as A2, the connection of third branch and moving platform 8
Place is denoted as A3, the junction of the first branch and fixed platform 9 is denoted as B1, the junction of the second branch and fixed platform 9 is denoted as B2, third
The junction of branch and fixed platform 9 is denoted as B3。
First branch includes and 9 (B of fixed platform1) connection revolute pair R11, revolute pair R11Be connected in turn first connecting rod 1,
Revolute pair R12, second connecting rod 2, revolute pair R13, third connecting rod 3 and revolute pair R14, revolute pair R14It is connect with moving platform 8, revolute pair
R11, revolute pair R12And revolute pair R13It is arranged in parallel, and revolute pair R11, revolute pair R12And revolute pair R13It is each perpendicular to allocate
Platform 9, revolute pair R14It is arranged along moving platform X-direction, revolute pair R11It is connected with the first rotary electric machine, revolute pair R12It is connected with
Two rotary electric machines, the second rotary electric machine are rotated from two movements one to two rotations, one movement fortune in parallel institution motor pattern of the present invention
It works when dynamic mode conversion.
Second branch includes and 9 (B of fixed platform2) connection universal hinge U21, universal hinge U21Be connected in turn fourth link 4,
Revolute pair R22, the 5th connecting rod 5 and universal hinge U23, universal hinge U23It is connect with moving platform 8, universal hinge U23In turn far from moving platform 8
Dynamic secondary, revolute pair R22, universal hinge U21In revolute pair far from fixed platform 9 and fixed platform (9) it is arranged in parallel, universal hinge U23
In and the revolute pair that is connect with moving platform 8 perpendicular to moving platform 8, universal hinge U21In and the revolute pair that is connect with fixed platform 9 it is vertical
In fixed platform 9, universal hinge U21In the revolute pair that is connect with fixed platform 9 be connected with the motor of third rotation.
Third branch includes and 9 (B of fixed platform3) connection flexural pivot S31, flexural pivot S31It is connected with six-bar linkage 6, movement in turn
Secondary P32, seven-link assembly 7 and flexural pivot S33, flexural pivot S33It is connect with moving platform 8, prismatic pair P32 is also associated with fluid pressure drive device, liquid
Hydraulic driver is for driving prismatic pair P32It is moved.
Fixed platform 9 is one or three, and when fixed platform 9 is three, fixed platform 9 includes the first fixed platform, the second fixed platform
And third fixed platform, the first fixed platform and first chain link, junction is denoted as B1, the second fixed platform and second chain link,
Junction is denoted as B2, third fixed platform and third branch chain link, junction is denoted as B3。
The present invention has the process tool of two kinds of motor patterns transformation of the parallel institution of two kinds of motor patterns of 2R1T and 2T1R
Body is as follows：
When parallel institution of the present invention is under position shape shown in Fig. 1, the revolute pair R in the first branch is controlled11, in the second branch
Universal hinge U21In connect with moving platform 8 revolute pair, the prismatic pair P in third branch32So that moving platform 8 is put down where it
The rotation of the planar movement of two dimensions and a dimension perpendicular to plane is done in face, at this time revolute pair R14Fixed platform is parallel to,
I.e. position shape shown in Fig. 1 has two one rotational motion patterns of movement.
Under the shape of mechanism position shown in Fig. 1, moving platform 8 is after 8 place plane of moving platform does finite displacement, in the second branch
TwozR is coaxial, and mechanism position shape is as shown in Figure 2.There are one cross 9 (B of fixed platform for the second branch tool at this time2) around being parallel to z2Axis turns
The dynamic partial rotational degree of freedom of shaft rotation.Under the shape of mechanism position shown in Fig. 2, mechanism freedom total number becomes 4, controls the first branch
In revolute pair R11、R12, universal hinge U in the second branch21In connect with moving platform 8 revolute pair, the movement in third branch
Secondary P32So that for moving platform 8 after position fixing system X-axis does finite displacement, moving platform 8 is in mechanism kinematic pattern shown in Fig. 1 again, because
And motor pattern possessed by parallel institution shown in Fig. 2 is instantaneous.Under position shape shown in Fig. 2, controls and turn in the first branch
Dynamic secondary R11、R12, universal hinge U in the second branch21In 8 are connect with moving platform revolute pair, the prismatic pair P in third branch32, make
Obtaining moving platform 8 keeps pose constant, and the second branch crosses 9 (B of a fixed platform2) around being parallel to z2After the shaft of axis rotates 90 °, second
In-plane displancement subgroup kinematic chain in branchyRyRyR can transform toxRxRxR obtains the mechanism position shape in Fig. 3.
Under the shape of mechanism position shown in Fig. 3, after moving platform does limited move along position fixing system Y-axis, the second branch terminals meeting
Increase an one-movement-freedom-degree, moving platform 8 has two two moving movement patterns of rotation at this time；When moving platform 8 determines seat around being parallel to
After the shaft rotation of mark system X-axis, moving platform has two one moving movement patterns of rotation.Thus, the fortune under the shape of mechanism position shown in Fig. 3
Dynamic model formula has instantaneity.
Under 8 shown in Fig. 3 shapes of moving platform, the revolute pair R in the first branch is controlled11、R12, it is universal in the second branch
Cut with scissors U21In connect with moving platform 8 revolute pair, the prismatic pair P in third branch32, done along the axis for being parallel to position fixing system X-axis
After restricted rotational movement, mechanism is in position shape shown in Fig. 4.
When mechanism position shape is under position shape shown in Fig. 4, the prismatic pair R in the first branch is controlled11, it is universal in the second branch
Cut with scissors U21In connect with moving platform 8 revolute pair, the prismatic pair P in third branch32So that moving platform 8 is planar done at it
The rotation of two dimensions and one-dimensional movement, mechanism have two one moving movement patterns of rotation.
The present invention has the work of two one rotational motion patterns of movement of the parallel institution of two kinds of motor patterns of 2R1T and 2T1R
Make process：When mechanism is under position shape shown in Fig. 1, the revolute pair R in the first branch is controlled11, U in the second branch21In with it is dynamic flat
The revolute pair that platform 8 connects, the prismatic pair P in third branch32So that moving platform 8 planar does the flat of two dimensions at it
The movement in face and one-dimensional rotation perpendicular to plane of motion.
The present invention has the work of two one moving movement patterns of rotation of the parallel institution of two kinds of motor patterns of 2R1T and 2T1R
Make process：When mechanism is under position shape shown in Fig. 4, the revolute pair R in the first branch is controlled11, U in the second branch21In with it is dynamic flat
The revolute pair that platform 8 connects, the prismatic pair P in third branch32So that moving platform 8 does turn along moving platform coordinate system x, y-axis
It moves and is rotated along 1 dimension of moving platform coordinate system y-axis.
The present invention has the parallel institution of two kinds of motor patterns of 2R1T and 2T1R, has two one rotational motion patterns of movement,
It when moving platform is parallel to the movement of fixed platform, then is rotated, reaches corresponding mechanism position shape, then parallel institution has two turns
A dynamic moving movement pattern need not re-assembly the transformation that can be achieved with motor pattern, and, accuracy height high with rigidity
And the feature that dexterity is strong.
Claims (10)
1. the parallel institution with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：Moving platform (8) including rectangle and fixed
Platform (9), the moving platform (8) are connect by the first branch, the second branch and third branch with fixed platform (9) respectively.
2. the parallel institution according to claim 1 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
First branch includes the revolute pair R being connect with fixed platform (9)11, the revolute pair R11It is connected with first connecting rod (1), rotation in turn
Secondary R12, second connecting rod (2), revolute pair R13, third connecting rod (3) and revolute pair R14, the revolute pair R14It is connect with moving platform (8).
3. the parallel institution according to claim 2 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Revolute pair R11, revolute pair R12And revolute pair R13It is arranged in parallel, and the revolute pair R11, revolute pair R12And revolute pair R13
Perpendicular to fixed platform (9), the revolute pair R14It is arranged along moving platform X-direction.
4. the parallel institution according to claim 3 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Revolute pair R11It is connected with the first rotary electric machine, the revolute pair R12It is connected with the second rotary electric machine.
5. the parallel institution according to claim 1 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Second branch includes the universal hinge U being connect with fixed platform (9)21, the universal hinge U21It is connected with fourth link (4), rotation in turn
Secondary R22, the 5th connecting rod (5) and universal hinge U23, the universal hinge U23It is connect with moving platform (8).
6. the parallel institution according to claim 5 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Universal hinge U23In far from the revolute pair of moving platform (8), revolute pair R22, universal hinge U21In revolute pair far from fixed platform (9) and fixed
Platform (9) is arranged in parallel, the universal hinge U23In and the revolute pair that is connect with moving platform (8) perpendicular to moving platform (8), institute
State universal hinge U21In and the revolute pair that is connect with fixed platform (9) perpendicular to fixed platform (9).
7. the parallel institution according to claim 6 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Universal hinge U21In and the revolute pair that is connect with fixed platform (9) be connected with the motor of third rotation.
8. the parallel institution according to claim 1 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Third branch includes the flexural pivot S being connect with fixed platform (9)31, the flexural pivot S31It is connected with six-bar linkage (6), prismatic pair in turn
P32, seven-link assembly (7) and flexural pivot S33, the flexural pivot S33It is connect with moving platform (8).
9. the parallel institution according to claim 8 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：It is described
Prismatic pair P32It is also associated with fluid pressure drive device.
10. the parallel institution according to claim 1 with two kinds of motor patterns of 2R1T and 2T1R, it is characterised in that：Institute
It is one or three to state fixed platform (9).
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| CN201810356050.1A CN108621130B (en) | 2018-04-19 | 2018-04-19 | Parallel mechanism with two motion modes of 2R1T and 2T1R |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129441A (en) * | 2018-10-23 | 2019-01-04 | 西安工程大学 | There are two types of the parallel institutions of a three mobile rotational motion modes for tool |
| CN109318222A (en) * | 2018-10-23 | 2019-02-12 | 西安工程大学 | There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool |
| CN109746896A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motor pattern |
| 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 |
| CN110000757A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile rotations and a two mobile screw modes |
| CN110000755A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile spirals and a two mobile rotational motion modes |
| CN112706152A (en) * | 2020-12-28 | 2021-04-27 | 燕山大学 | Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics |
| CN113352304A (en) * | 2021-07-16 | 2021-09-07 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN114683254A (en) * | 2022-05-31 | 2022-07-01 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129441A (en) * | 2018-10-23 | 2019-01-04 | 西安工程大学 | There are two types of the parallel institutions of a three mobile rotational motion modes for tool |
| CN109318222A (en) * | 2018-10-23 | 2019-02-12 | 西安工程大学 | There are three types of the single loop mechanisms of one-dimensional rotation freedom degree for tool |
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| CN110000757A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile rotations and a two mobile screw modes |
| CN110000755A (en) * | 2019-04-01 | 2019-07-12 | 西安工程大学 | Parallel institution with a two mobile spirals and a two mobile rotational motion modes |
| CN110000757B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes |
| CN110000755B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes |
| CN112706152A (en) * | 2020-12-28 | 2021-04-27 | 燕山大学 | Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics |
| CN113352304A (en) * | 2021-07-16 | 2021-09-07 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN114683254A (en) * | 2022-05-31 | 2022-07-01 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism |
| CN114683254B (en) * | 2022-05-31 | 2022-08-30 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism |
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