CN109015602B - Three-translation 2CPR-URU parallel mechanism - Google Patents
Three-translation 2CPR-URU parallel mechanism Download PDFInfo
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- CN109015602B CN109015602B CN201810997298.6A CN201810997298A CN109015602B CN 109015602 B CN109015602 B CN 109015602B CN 201810997298 A CN201810997298 A CN 201810997298A CN 109015602 B CN109015602 B CN 109015602B
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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
The invention relates to a three-translation 2CPR-URU parallel mechanism, which comprises a movable platform, a fixed platform and a moving branched chain for connecting the movable platform and the fixed platform, wherein the moving branched chain comprises a first moving branched chain, a second moving branched chain and a third moving branched chain, the first moving branched chain and the second moving branched chain are symmetrically arranged, the third moving branched chain is positioned between the first moving branched chain and the second moving branched chain, the first moving branched chain and the second moving branched chain respectively comprise a moving branched chain loop bar, a sliding rod and a cylindrical pair, the first end of the moving branched chain loop bar is hinged with the movable platform, the first moving branched chain loop bar is connected with the sliding rod to form a moving pair, and the second end of the first sliding rod is connected with the fixed platform through the first cylindrical pair; the third moving branched chain comprises a connecting rod, a universal hinge and a third revolute pair, one end of the connecting rod is connected with one another through the third revolute pair, and the other end of the connecting rod is connected with the moving platform and the fixed platform respectively through the universal hinge. The parallel mechanism has simple structure and high running speed.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a three-translation 2CPR-URU parallel mechanism.
Background
The parallel mechanism is a mechanical structure opposite to the serial mechanism, and is different from the serial mechanism of a similar arm, the parallel mechanism is a closed chain mechanical structure formed by a plurality of parallel kinematic chains, and comprises a fixed platform, a movable platform and a plurality of kinematic chains connecting the fixed platform and the movable platform. Compared with a series mechanism, the parallel mechanism has the advantages of large rigidity, compact structure, small accumulated error, good dynamic performance and the like. The parallel mechanism is divided into a six-degree-of-freedom parallel mechanism and a less-degree-of-freedom parallel mechanism. The parallel mechanism with six degrees of freedom has the obvious defects of strong kinematic coupling, complex kinematic forward solution, small working space and the like, and does not need the six degrees of freedom in many application fields. In order to avoid the above disadvantages and reduce costs, parallel mechanisms with few degrees of freedom, in particular three-translation parallel mechanisms, have been explored.
Compared with a six-degree-of-freedom parallel mechanism, the three-translation parallel mechanism has the advantages of simple structure, low cost, relatively easy control and quite wide application, and belongs to the fields of aviation three-dimensional shockproof shooting platforms, three-dimensional assembly robots, three-dimensional coordinate measuring machines, three-dimensional sensors, 3D printing and the like. The existing three-translation parallel mechanism has the problems of complex mechanical structure, more number of kinematic pairs, smaller working space and low running speed of the mechanism due to large inertia of an end effector.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a three-translation 2CPR-URU parallel mechanism which has the advantages of simple structure, small number of kinematic pairs, large working space, compact structure, high running speed and capability of realizing space three-dimensional translation.
The invention is realized by the following steps:
a three-translation 2CPR-URU parallel mechanism comprises a movable platform, a fixed platform and a moving branched chain for connecting the movable platform and the fixed platform, wherein the moving branched chain comprises a first moving branched chain, a second moving branched chain and a third moving branched chain, the first moving branched chain and the second moving branched chain are symmetrically arranged, the third moving branched chain is positioned between the first moving branched chain and the second moving branched chain, the first moving branched chain comprises a first moving branched chain loop bar, a first sliding bar and a first cylindrical pair, the first end of the first moving branched chain loop bar is hinged with the movable platform, the second end of the first moving branched chain loop bar is connected with the first end of the first sliding bar, the first moving branched chain loop bar and the first sliding bar form a moving pair, and the second end of the first sliding bar is connected with the fixed platform through the first cylindrical pair; the second moving branched chain comprises a second moving branched chain sleeve rod, a second sliding rod and a second cylindrical pair, wherein the first end of the second moving branched chain sleeve rod is hinged with the movable platform, the second end of the second moving branched chain sleeve rod is connected with the first end of the second sliding rod, the second moving branched chain sleeve rod and the second sliding rod form a moving pair, and the second end of the second sliding rod is connected with the fixed platform through the second cylindrical pair; the third moving branched chain comprises a first connecting rod, a second connecting rod, a first universal hinge, a second universal hinge and a third revolute pair, the first end of the first connecting rod is connected with the moving platform through the first universal hinge, the second end of the first connecting rod is hinged with the first end of the second connecting rod through the third revolute pair, and the second end of the second connecting rod is connected with the fixed platform through the second universal hinge.
Preferably, the first end of the first moving branched chain sleeve rod is hinged with the moving platform through a first revolute pair, and the first end of the second moving branched chain sleeve rod is hinged with the moving platform through a second revolute pair.
Preferably, the first rotating pair is parallel to the axis of the first cylindrical pair, and the second rotating pair is parallel to the axis of the second cylindrical pair.
Preferably, the third revolute pair and the axis of the revolute pair of which the first universal hinge is far away from the movable platform are parallel to the axis of the revolute pair of which the second universal hinge is far away from the fixed platform.
Preferably, the axis of the second universal hinge close to the revolute pair of the fixed platform is perpendicular to the fixed platform, and the revolute pair of the second universal hinge far away from the fixed platform is perpendicular to the axial directions of the first cylindrical pair and the second cylindrical pair.
Compared with the prior art, the invention has the following beneficial effects:
(1) the three-translation 2CPR-URU parallel mechanism has the advantages of simple branch structure, small number of kinematic pairs, compact structure, high movement speed and capability of realizing space three-dimensional translation.
(2) The kinematic pair of the parallel mechanism is simple in configuration, low in manufacturing cost and easy to manufacture.
(3) The invention belongs to an asymmetric parallel mechanism, and compared with a symmetric parallel mechanism, the asymmetric parallel mechanism has larger working space and good motion flexibility.
(4) The driving pairs of the parallel mechanism are all placed on the fixed platform, so that the integral movement inertia of the parallel mechanism is greatly reduced, and the high-speed movement of the mechanism is realized.
Drawings
Fig. 1 is a schematic structural diagram of a three-translation 2CPR-URU parallel mechanism of the present invention.
Detailed Description
Exemplary embodiments, features and performance aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
A three-translation 2CPR-URU parallel mechanism comprises a movable platform 1, a fixed platform 2 and a moving branch chain for connecting the movable platform 1 and the fixed platform 2, wherein the moving branch chain comprises a first moving branch chain 5, a second moving branch chain 10 and a third moving branch chain 18, the first moving branch chain 5 and the second moving branch chain 10 are symmetrically arranged, namely two CPR branches and two CPR branches are respectively composed of a cylindrical pair C, a moving pair P and a revolute pair R, the third moving branch chain 18 is positioned between the first moving branch chain 5 and the second moving branch chain 10, the third moving branch chain 18 is URU, and the movable platform 1 and the fixed platform 2 are in transmission connection through the first moving branch chain 5, the second moving branch chain 10 and the third moving branch chain 18, namely are in transmission connection through the 2 CPR-URU.
The first moving branched chain 5 comprises a first moving branched chain sleeve rod 4, a first sliding rod 6 and a first cylindrical pair 7, the first end of the first moving branched chain sleeve rod 4 is hinged with the moving platform 1, the second end of the first moving branched chain sleeve rod 4 is connected with the first end of the first sliding rod 6, the first moving branched chain sleeve rod 4 and the first sliding rod 6 form a moving pair P, and the second end of the first sliding rod 6 is connected with the fixed platform 2 through the first cylindrical pair 7; the second moving branched chain 10 comprises a second moving branched chain sleeve rod 9, a second sliding rod 11 and a second cylindrical pair 12, the first end of the second moving branched chain sleeve rod 9 is hinged with the moving platform 1, the second end of the second moving branched chain sleeve rod 9 is connected with the first end of the second sliding rod 11, the second moving branched chain sleeve rod 9 and the second sliding rod 11 form a moving pair P, and the second end of the second sliding rod 11 is connected with the fixed platform 2 through the second cylindrical pair 12; the third moving branched chain 18 comprises a first connecting rod 14, a second connecting rod 16, a first universal hinge 13, a second universal hinge 17 and a third revolute pair 15, wherein the first end of the first connecting rod 14 is connected with the moving platform 1 through the first universal hinge 13, the second end of the first connecting rod 14 is hinged with the first end of the second connecting rod 16 through the third revolute pair 15, the second end of the second connecting rod 16 is connected with the fixed platform 2 through the second universal hinge 17, the first universal hinge 13 and the second universal hinge 17 are U, and the third revolute pair is R in a URU structure.
Preferably, the first end of the first moving branched chain loop bar 4 is hinged with the moving platform 1 through the first revolute pair 3, and the first end of the second moving branched chain loop bar 9 is hinged with the moving platform 1 through the second revolute pair 8. The first revolute pair 3 is parallel to the axis of the first cylindrical pair 7, and the second revolute pair 8 is parallel to the axis of the second cylindrical pair 12.
Preferably, the axes of the third revolute pair 15, the revolute pair of the first universal hinge 13 far away from the movable platform 1 and the axis of the revolute pair of the second universal hinge 17 far away from the fixed platform 2 are parallel to each other. The axis of the revolute pair of the second universal hinge 17 close to the fixed platform 2 is vertical to the fixed platform 2, and the revolute pair of the second universal hinge 17 far from the fixed platform 2 is vertical to the axial direction of the first cylindrical pair 7 and the second cylindrical pair 12.
Taking the application to a 3D printer based on a parallel mechanism as an example, by adding an electric push rod as a drive at a moving pair of the first cylindrical pair 7 and the second cylindrical pair 12, under the driving action of the electric push rod, a relative displacement occurs between the first slide bar 6 of the first moving branched chain and the second slide bar 11 of the second moving branched chain and the fixed platform 2, so that the relative positions between the first moving branched chain 5, the second moving branched chain 10 and the fixed platform 2 are changed. A servo motor driving mechanism is added at a revolute pair of a universal hinge close to the fixed platform 2, and under the driving action of a rotating motor, the second connecting rod 16 and the rack rotate relatively, so that the relative position between the third moving branch chain 18 and the fixed platform 2 changes, the printing head mounted on the movable platform 1 is driven to move according to a control track, and translation in three coordinate axis directions is realized. The printing head can move from an upper printing point to a lower printing point along an arbitrary curve, and has high moving speed and high motion precision.
The parallel mechanism is not limited to the application in a 3D printer, and can also be applied to various fields such as an aviation three-dimensional shockproof shooting platform, a three-dimensional assembly robot, a three-dimensional coordinate measuring machine, a three-dimensional sensor and the like.
In conclusion, the invention has the following advantages:
the three-translation 2CPR-URU parallel mechanism has the advantages of simple branch structure, small number of kinematic pairs, compact structure, high movement speed and capability of realizing a parallel structure of spatial three-dimensional translation. The kinematic pair of the parallel mechanism is simple in configuration, low in manufacturing cost and easy to manufacture. The invention belongs to an asymmetric parallel mechanism, and compared with a symmetric parallel mechanism, the asymmetric parallel mechanism has larger working space and good motion flexibility. The driving pairs of the parallel mechanism are all placed on the fixed platform, so that the integral movement inertia of the parallel mechanism is greatly reduced, and the high-speed movement of the mechanism is realized.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (2)
1. A three-translation 2CPR-URU parallel mechanism comprises a movable platform, a fixed platform and a moving branch chain for connecting the movable platform and the fixed platform, and is characterized in that: the moving branched chain comprises a first moving branched chain, a second moving branched chain and a third moving branched chain, the first moving branched chain and the second moving branched chain are symmetrically arranged, the third moving branched chain is positioned between the first moving branched chain and the second moving branched chain,
the first moving branched chain comprises a first moving branched chain sleeve rod, a first sliding rod and a first cylindrical pair, wherein the first end of the first moving branched chain sleeve rod is hinged with the moving platform, the second end of the first moving branched chain sleeve rod is connected with the first end of the first sliding rod, the first moving branched chain sleeve rod and the first sliding rod form a moving pair, and the second end of the first sliding rod is connected with the fixed platform through the first cylindrical pair;
the second moving branched chain comprises a second moving branched chain sleeve rod, a second sliding rod and a second cylindrical pair, wherein the first end of the second moving branched chain sleeve rod is hinged with the movable platform, the second end of the second moving branched chain sleeve rod is connected with the first end of the second sliding rod, the second moving branched chain sleeve rod and the second sliding rod form a moving pair, and the second end of the second sliding rod is connected with the fixed platform through the second cylindrical pair;
the third moving branched chain comprises a first connecting rod, a second connecting rod, a first universal hinge, a second universal hinge and a third revolute pair, wherein the first end of the first connecting rod is connected with the moving platform through the first universal hinge, the second end of the first connecting rod is hinged with the first end of the second connecting rod through the third revolute pair, and the second end of the second connecting rod is connected with the fixed platform through the second universal hinge;
the first end of the first moving branched chain sleeve rod is hinged with the movable platform through a first rotating pair, the first end of the second moving branched chain sleeve rod is hinged with the movable platform through a second rotating pair, the first rotating pair is parallel to the axis of the first cylindrical pair, and the second rotating pair is parallel to the axis of the second cylindrical pair;
and the axes of the third revolute pair, the revolute pair of which the first universal hinge is far away from the movable platform and the axis of the revolute pair of which the second universal hinge is far away from the fixed platform are parallel to each other.
2. The tri-translational 2CPR-URU parallel mechanism of claim 1, wherein: the axis of the second universal hinge close to the revolute pair of the fixed platform is perpendicular to the fixed platform, and the revolute pair of the second universal hinge far away from the fixed platform is perpendicular to the axial direction of the first cylindrical pair and the second cylindrical pair.
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| CN201810997298.6A CN109015602B (en) | 2018-08-29 | 2018-08-29 | Three-translation 2CPR-URU parallel mechanism |
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| CN201810997298.6A CN109015602B (en) | 2018-08-29 | 2018-08-29 | Three-translation 2CPR-URU parallel mechanism |
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| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
| CN113319832A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Three-translation parallel mechanism with symmetrical branches |
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| US4988244A (en) * | 1989-09-01 | 1991-01-29 | Kearney & Trecker | Six-axis machine tool |
| JP2003343678A (en) * | 2002-05-24 | 2003-12-03 | Hiihaisuto Seiko Kk | Multi-degree-of-freedom positioning mechanism of parallel rough/fine driving type |
| CN101497198B (en) * | 2009-02-24 | 2011-01-05 | 燕山大学 | Three-freedom degree rotary motion parallel connection mechanism with remote motion centre |
| CN102431027B (en) * | 2011-10-30 | 2014-04-16 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom |
| CN104002298B (en) * | 2014-05-12 | 2016-01-27 | 燕山大学 | A kind of two move a rotating decoupling parallel robot mechanism |
| CN104162885B (en) * | 2014-07-30 | 2016-05-04 | 常州大学 | A kind of three translations accurately capture robot mechanism |
| CN105729459A (en) * | 2016-03-30 | 2016-07-06 | 冯基洲 | Parallel robot |
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