CN108656086A - A kind of variable-operation spatial redundancy driving 4UPU-R parallel institutions - Google Patents
A kind of variable-operation spatial redundancy driving 4UPU-R parallel institutions Download PDFInfo
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- CN108656086A CN108656086A CN201810562162.2A CN201810562162A CN108656086A CN 108656086 A CN108656086 A CN 108656086A CN 201810562162 A CN201810562162 A CN 201810562162A CN 108656086 A CN108656086 A CN 108656086A
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- pair
- universal
- movement branched
- fixed platform
- branched chain
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of variable-operation space 4UPU R parallel institutions, it can be achieved that the pure translational working space without singular regions.The UPU movement branched chains of dynamic/fixed platform are connected including fixed platform, motion platform and four.Movement branched chain is from top to bottom followed successively by universal pair, prismatic pair, universal pair.The mechanism has the pure translational stroke along X, Y, Z-direction, by the use of redundant drive branch, may be implemented inside working space without unusual purpose.The structure of four movement branched chains is identical, is rectangle apex region arrangement.Dynamic/fixed platform uses non-traditional rigid structure, and center rotating pair is added, and keeps the angle of the formed plane of allocinesi branch changeable.The driving parameter of upper and lower center rotating pair is identical, i.e. allocinesi branch upper and lower side universal sub-centers line is mutually parallel.It is proposed by the present invention to have the characteristics that the redundantly actuated parallel mechanism for becoming work spatial character is high with flexibility, Strange properties are good, rigidity is high, work, the sorting of agricultural production line babinet can be suitable for, the multitasks such as 3D printing require environment.
Description
Technical field
The present invention relates to a kind of variable-operation space parallel mechanism, and in particular to it is a kind of with redundant drive branch without strange
Different 4UPU-R parallel institutions.The mechanism can be used for work, the sorting transport of agricultural production line multiple types babinet, and multitask 3D printing executes
Mechanism etc..
Background technology
In the tradition research to parallel robot, mechanism usually possesses fixed operating mode and working space.But with
It is increasingly extensive parallel robot application background, especially in work, agricultural production, the installation site of mechanism is fixed, and is led to
Often need while meeting the different tasks demands such as part installation, the sorting of fruit case, transfer transport.The working space of this kind of mechanism utilizes
Rate is generally relatively low, when required one or several tasks concentrate on a part of region of mechanism working space, remaining working space
It is unable to get and efficiently uses, and can therefore accelerate mechanism driving joint in the rate of wear of a certain specific lift area, reduce machine
Structure service life.Thus self structure can be reconstructed according to different tasks by having derived some, to become the shape of working space
Formula realizes that multiplexing makees space overlapping, increases the mechanism of working space volume indirectly.Reconstruct mode include change driving joint direction,
Adjust the mode of branch and pedestal link position, add the structures such as passive branch and train, locking and release corresponding joint etc..
Although above method has reached reconstruct self structure, the purpose of working space variation, the driver of Ye Huishi mechanisms are realized
Quality increases, and the use in some compound motion pairs and locking joint can significantly increase the rotary inertia in joint, increase control difficulty,
Reduce the reliability of actual use.
Invention content
In order to solve the above problem, it is in parallel to propose a kind of tool variable-operation space, the 4UPU-R containing redundant drive by the present invention
Mechanism.
Technical scheme is as follows：
The present invention includes fixed platform, motion platform and four UPU movement branched chains for connecting dynamic/fixed platform.Each movement branch
Chain is from top to bottom universal pair, prismatic pair, universal pair, and structure size is identical, and every movement branched chain both ends are respectively by universal pair
It is connected with fixed platform, motion platform.
The fixed platform is two long rectangular plate cross-likes, and two rectangular slab size shapes are identical, and in centre
Trepanning connects two rectangular slabs by centre bore with revolute pair, and it is fixed platform center rotating pair to name the revolute pair.Each
Universal pair is installed in long rectangular plate both sides length of side center, and the revolute pair axis that universal pair is connect with rectangular slab is flat positioned at rectangular slab
In face, and perpendicular to the line of two universal sub-centers of place long rectangular plate；The revolute pair axis that universal pair is connect with movement branched chain
Perpendicular to the mobile secondary axis of the movement branched chain.
The motion platform is that two circular slabs stack shape, and two circular slab size shapes are identical, and are opened in centre
Hole connects two circular slabs by centre bore with revolute pair, and it is motion platform center rotating pair to name the revolute pair.In each circle
Universal pair is installed in the position that any diameter of shape plate intersects with circumference, and the revolute pair axis that universal pair is connect with circular slab is located at circle
In plate plane, and perpendicular to the line of two universal sub-centers of place circular slab；The turns auxiliary shaft that universal pair is connect with movement branched chain
Mobile secondary axis of the line perpendicular to the movement branched chain.
UPU movement branched chains both ends are connected with the universal pair on fixed platform, motion platform.Shifting in movement branched chain
Dynamic secondary using mobile electric cylinder structure, drive motion platform completes assigned tasks.
The fixed platform center rotating pair installs motor additional with motion platform revolute pair.Before mechanism start-up operation task,
After driving dynamic/fixed platform center rotating pair rotational angle to desired value, center rotating subjoint is locked, mechanism starts to execute work
Task.After completing task, center rotating pair angle is adjusted, next task is executed.During adjusting center rotating pair,
The driving parameter of upper and lower center rotating auxiliary-motor is identical.Keep the upper universal sub-centers line of allocinesi branch under
Universal sub-centers line is parallel.
The redundant drive 4UPU-R parallel institutions in tool variable-operation space proposed by the present invention, it is characterised in that：In adjustment
Heart revolute pair angle can be according to task needs, the adaptive change of implementation mechanism working space.Moving platform can realize three translations
Kinetic property avoids the generation of mechanism singularity phenomenon using four movement branched chains while improving rigidity：It is produced in mechanism
Fabrication stage, lower platform offside universal sub-centers wire length is different in holding, you can implementation mechanism working space is without unusual
Working space.
The redundant drive 4UPU-R parallel institutions in tool variable-operation space proposed by the present invention have the following advantages：
1, symmetrical configuration, simple, is easily assembled, processing cost is relatively low, it is easy to accomplish modularized production.
2, the separate driving branch of center rotating auxiliary-motor, reduces branch inertia force, and mechanism is made to have good movement and move
Mechanical property.
3, there is redundant drive characteristic, the significant increase rigidity of mechanism, and make inside working space without singular regions.
4, it can realize the variation of working space according to task needs, changing mechanism structural parameters, there is multitask to adapt to
Property.
Description of the drawings
Fig. 1 is the structure schematic diagram figure of the present invention
In figure：1- fixed platforms, 2- motion platforms, α1Fixed platform center rotating pair angle, α2Motion platform center turns
Dynamic pair angle, O- fixed platforms central point, O '-motion platforms central point, AxUniversal sub-centers point, B under xth movement branched chainx-
Universal sub-centers point, r in xth movement branched chainx1The turns auxiliary shaft that universal pair is connect with fixed platform under xth movement branched chain
Line, rx2Revolute pair axis, the r that universal pair is connect with movement branched chain under xth movement branched chainx3It is universal in xth movement branched chain
Revolute pair axis, the r that pair is connect with motion platformx4The turns auxiliary shaft that universal pair is connect with movement branched chain in xth movement branched chain
Line, wherein x=1-4.
Specific implementation mode
In 4UPU-R parallel machines shown in Fig. 1, the first movement branched chain, the second movement branched chain, third movement branched chain,
Four movement branched chains pass through universal pair A respectively1、A2、A3、A4It is connected with fixed platform, and passes through universal pair B1、B2、B3、B4With movement
Platform is connected.Wherein, the revolute pair axis that allocinesi branch universal pair is connected with dynamic/fixed platform is mutually parallel, and vertical
In respective universal sub-centers line, i.e. r11∥r31⊥A1A3, r21∥r41⊥A2A4, r13∥r33⊥B1B3, r23∥r43⊥B2B4；On
The revolute pair axis that lower universal pair is connected with place movement branched chain is parallel to each other, and hangs down with the mobile secondary axis of place movement branched chain
Directly, i.e. r12∥r14⊥A1B1, r22∥r24⊥A2B2, r32∥r34⊥A3B3, r42∥r44⊥A4B4；Two long rectangular plate of fixed platform,
And two circular slab size shape of motion platform is identical, upper and lower center rotating pair is located at dynamic/fixed platform place-centric, i.e. A1A3=
A2A4=2*A1O=2*A2O=2*A3O=2*A4O, B1B3=B2B4=2*A1O=2*A2O=2*A3O=2*A4O；Center rotating pair
Motor drives parameter identical, i.e., universal sub-centers line is parallel with lower universal sub-centers line on allocinesi branch：α1=α2Or
A1A3∥B1B3, A2A4∥B2B4.In the use of the present invention, fixed platform bottom is mounted on fixing bracket, related device installation
Portion on the moving platform after adjusting center rotating pair angle, can complete the tasks such as multitask, high-precision processing carrying.
Claims (1)
1. a kind of variable-operation spatial redundancy drives 4UPU-R parallel institutions comprising fixed platform, motion platform and connection it is dynamic/
Four UPU movement branched chains of fixed platform.Each movement branched chain is from top to bottom universal pair, prismatic pair, universal pair, and structure size phase
Together, every movement branched chain both ends are connected by universal pair with fixed platform, motion platform respectively.
The fixed platform is two long rectangular plate cross-likes, and two rectangular slab size shapes are identical, and in centre trepanning,
Two rectangular slabs are connected with revolute pair by centre bore, and it is fixed platform center rotating pair to name the revolute pair.In each long square
Universal pair is installed in shape plate both sides length of side center, and the revolute pair axis that universal pair is connect with rectangular slab is located at rectangular slab plane
It is interior, and perpendicular to the line of two universal sub-centers of place long rectangular plate；The revolute pair axis that universal pair is connect with movement branched chain hangs down
Directly in the mobile secondary axis of the movement branched chain.
The motion platform is that two circular slabs stack shape, and two circular slab size shapes are identical, and in centre trepanning, is led to
It crosses centre bore and two circular slabs is connected with revolute pair, and it is motion platform center rotating pair to name the revolute pair.In each circular slab
Universal pair is installed in the position that any diameter intersects with circumference, and the revolute pair axis that universal pair is connect with circular slab is flat positioned at circular slab
In face, and perpendicular to the line of two universal sub-centers of place circular slab；The revolute pair axis that universal pair is connect with movement branched chain hangs down
Directly in the mobile secondary axis of the movement branched chain.
UPU movement branched chains both ends are connected with the universal pair on fixed platform, motion platform.Prismatic pair in movement branched chain
Using mobile electric cylinder structure, drive motion platform completes assigned tasks.
The fixed platform center rotating pair installs motor additional with motion platform revolute pair.Before mechanism start-up operation task, driving
After dynamic/fixed platform center rotating pair rotational angle to desired value, center rotating subjoint is locked, mechanism starts to execute work times
Business.After completing task, center rotating pair angle is adjusted, next task is executed.During adjusting center rotating pair, on
The driving parameter of lower center rotating auxiliary-motor is identical.Keep the upper universal sub-centers line and lower ten thousand of allocinesi branch
It is parallel to sub-center line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562162.2A CN108656086B (en) | 2018-06-04 | 2018-06-04 | Variable working space redundancy drive 4UPU-R parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562162.2A CN108656086B (en) | 2018-06-04 | 2018-06-04 | Variable working space redundancy drive 4UPU-R parallel mechanism |
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| CN108656086A true CN108656086A (en) | 2018-10-16 |
| CN108656086B CN108656086B (en) | 2020-04-07 |
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| CN201810562162.2A Expired - Fee Related CN108656086B (en) | 2018-06-04 | 2018-06-04 | Variable working space redundancy drive 4UPU-R parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125919A (en) * | 2019-06-26 | 2019-08-16 | 燕山大学 | A kind of three freedom redundancy driven Parallel Kinematic Manipulator with big corner |
| CN111267078A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN117446163A (en) * | 2023-12-22 | 2024-01-26 | 中国航空工业集团公司西安飞机设计研究所 | Redundancy tilting control mechanism of tilting rotorcraft |
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| CN106346445A (en) * | 2016-06-23 | 2017-01-25 | 南京理工大学 | Four-degree-of-freedom parallel robot mechanism capable of achieving high-speed movement |
| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
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| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
| US20120209427A1 (en) * | 2011-02-16 | 2012-08-16 | Chang Jung Christian University | Manipulator with three degrees of freedom and control method for the same |
| CN103029122A (en) * | 2012-12-11 | 2013-04-10 | 北京交通大学 | Redundant-drive three-degree-of-freedom translation-type parallel-connection robot mechanism |
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| CN103586864A (en) * | 2013-11-21 | 2014-02-19 | 北华航天工业学院 | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125919A (en) * | 2019-06-26 | 2019-08-16 | 燕山大学 | A kind of three freedom redundancy driven Parallel Kinematic Manipulator with big corner |
| CN111267078A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| CN111267078B (en) * | 2020-04-02 | 2021-09-07 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
| CN117446163A (en) * | 2023-12-22 | 2024-01-26 | 中国航空工业集团公司西安飞机设计研究所 | Redundancy tilting control mechanism of tilting rotorcraft |
| CN117446163B (en) * | 2023-12-22 | 2024-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Redundancy tilting control mechanism of tilting rotorcraft |
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| CN108656086B (en) | 2020-04-07 |
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