CN109531552B - Two-degree-of-freedom pure rotation parallel mechanism - Google Patents
Two-degree-of-freedom pure rotation parallel mechanism Download PDFInfo
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- CN109531552B CN109531552B CN201910065084.XA CN201910065084A CN109531552B CN 109531552 B CN109531552 B CN 109531552B CN 201910065084 A CN201910065084 A CN 201910065084A CN 109531552 B CN109531552 B CN 109531552B
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- 239000011159 matrix material Substances 0.000 abstract description 4
- 230000008878 coupling Effects 0.000 description 2
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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 two-degree-of-freedom pure rotation parallel mechanism, which consists of a movable platform, a fixed platform and two branch motion chains connecting the two platforms. The first branch kinematic chain is a mixed kinematic chain, and is formed by connecting a closed loop formed by a single open chain formed by a first cylindrical pair, a first movable pair and a first universal hinge and a first rotating pair in series with a second rotating pair, so that one rotational degree of freedom of the movable platform is controlled; the second branch moving chain is a single open chain and consists of a second cylindrical pair, a second movable pair and a second universal hinge, and the second branch moving chain controls the other rotation degree of freedom of the movable platform. Because the speed jacobian matrix of the mechanism is a diagonal matrix, the output speed of the mechanism moving platform and the input speed of the driving joint are in one-to-one correspondence control relation, and the problems of poor kinematic decoupling and difficult control design of a common parallel mechanism are solved.
Description
Technical Field
The invention relates to the field of robot space mechanisms, in particular to a two-degree-of-freedom pure rotation parallel mechanism.
Background
Compared with a serial mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, high bearing capacity, high precision, small accumulated error and the like, and is widely applied to various fields. The parallel mechanism can be divided into a six-degree-of-freedom parallel mechanism and a few-degree-of-freedom parallel mechanism, and compared with the six-degree-of-freedom parallel mechanism, the few-degree-of-freedom parallel mechanism has the advantages of simple structure, lower processing and manufacturing cost, large working space and the like, wherein the two-degree-of-freedom pure-rotation parallel mechanism is an important branch of the few-degree-of-freedom parallel mechanism, and has a very large application prospect in the fields requiring pose adjustment such as medical equipment, cameras, telescope positioning, antennas, solar panels and the like. However, most of the two-rotation parallel mechanisms at present have the defects of difficult track planning, difficult control and the like caused by strong coupling, such as a Chinese patent application number of CN201610305762.1 which is a two-degree-of-freedom rotation parallel mechanism with two continuous rotation axes and a Chinese patent application number of CN201310605981.8 which is a four-branch two-degree-of-freedom rotation parallel mechanism without a convergence point. Therefore, it is necessary to design a two-degree-of-freedom pure rotation parallel mechanism with good decoupling and simple control.
Disclosure of Invention
The invention aims to design a two-degree-of-freedom pure-rotation full-decoupling parallel mechanism, and solves the technical problems of strong coupling, difficult control and the like of the existing two-degree-of-freedom pure-rotation full-decoupling parallel mechanism.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the two-degree-of-freedom pure rotation parallel mechanism comprises a movable platform, a fixed platform, a first branch moving chain and a second branch moving chain, wherein the first branch moving chain and the second branch moving chain are connected with the movable platform and the fixed platform;
the first branch kinematic chain is formed by connecting a closed loop structure and a second revolute pair in series, wherein the closed loop structure is formed by a single-open-chain structure formed by a first cylindrical pair, a first movable pair and a first universal hinge and a first revolute pair so as to realize the overturning motion of the movable platform around the axis of the first revolute pair; the first cylindrical pair and the first revolute pair are both arranged on the fixed platform, the axis of the first cylindrical pair is in a vertical direction, and the rotation axis of the first revolute pair is in a horizontal direction; the first moving pair is connected with the first cylindrical pair and one end of the first universal hinge through the first connecting rod and the second connecting rod respectively, and the other end of the first universal hinge, the first rotating pair and the second rotating pair are installed at the end part of the T-shaped connecting rod respectively; the first universal hinge is provided with two perpendicular rotation axes, the rotation axis of the first universal hinge connected with the second connecting rod is parallel to the axis of the first cylindrical pair and perpendicular to the movement axis of the movable pair, the rotation axis of the first universal hinge connected with the T-shaped connecting rod is parallel to the rotation axis of the first rotary pair and perpendicular to the rotation axis of the second rotary pair, and the second rotary pair is arranged on the movable platform;
the second branch kinematic chain comprises a second cylindrical pair, a second movable pair and a second universal hinge, wherein the second cylindrical pair is arranged on the fixed platform, the axis of the second cylindrical pair is parallel to the rotation axis of the first movable pair and is perpendicular to the axis of the first cylindrical pair, the second universal hinge is arranged on the movable platform and is provided with two perpendicular rotation axes, the second movable pair is connected with the second cylindrical pair and the second universal hinge through a third connecting rod and a fourth connecting rod respectively, the rotation axis of the second universal hinge connected with the fourth connecting rod is parallel to the axis of the second cylindrical pair and is perpendicular to the movement axis of the second movable pair, and the rotation axis of the second universal hinge connected with the movable platform is parallel to the rotation axis of the second rotary pair, so that the movable platform can perform overturning motion around the rotation axis of the second rotary pair.
The first cylindrical pair in the first branch kinematic chain and the second cylindrical pair in the second branch kinematic chain are active pairs, and linear input of the two cylindrical pairs is used as active input of a mechanism.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, one branch motion chain controls one rotation degree of freedom of the movable platform, the other branch motion chain controls the other rotation degree of freedom of the movable platform, and the speed Jacobian matrix of the mechanism is a diagonal matrix, so that a one-to-one corresponding control relationship exists between the output speed of the mechanism platform and the input speed of the driving joint, the mutual influence among the branch motion chains is greatly reduced, and the problems of poor decoupling property, small working space, high control difficulty and the like of a common parallel mechanism are solved. Has good development prospect in the fields of industrial robots, parallel machine tools, aerospace and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
the marks in the figure: 1. the device comprises a fixed platform, 2, a movable platform, L1, a first branch moving chain, L2, a second branch moving chain, C1, a first cylinder pair, C2, a second cylinder pair, P1, a first moving pair, P2, a second moving pair, I-1, a first connecting rod, I-2, a second connecting rod, I-3, a T-shaped connecting rod, U1, a first universal hinge, U2, a second universal hinge, R1, a first rotating pair, R2, a second rotating pair, II-1, a third connecting rod, II-2 and a fourth connecting rod.
Detailed Description
The technical scheme of the invention is further described through specific embodiments with reference to the accompanying drawings.
The two-degree-of-freedom pure rotation parallel mechanism consists of a fixed platform 1, a movable platform 2 and two branch motion chains L1 and L2 connected between the two platforms. The first branch motion chain L1 is a hybrid motion chain, and is formed by connecting a single open chain formed by a first cylindrical pair C1, a first movable pair P1 and a first universal hinge U1 with a closed loop formed by the first movable pair R1 in series with a second rotary pair R2, wherein the first movable pair P1 is respectively connected with the first cylindrical pair C1 and one end of the first universal hinge U1 through a first connecting rod I-1 and a second connecting rod I-2, the other end of the first universal hinge U1, the first rotary pair R1 and the second rotary pair R2 are simultaneously connected with a T-shaped connecting rod I-3, and the movable platform 2 can be controlled to perform overturning motion around the rotation axis of the first rotary pair R1 of the first branch motion chain L1.
In addition, the axis of the first cylindrical pair C1 in the first branch kinematic chain L1 is parallel to the rotation axis U1-1 of the first universal joint U1 connected with the second connecting rod I-2 and perpendicular to the movement axis of the first movable pair P1, the rotation axis of the first rotary pair R1 is parallel to the rotation axis U1-2 of the first universal joint U1 connected with the T-shaped connecting rod I-3 and perpendicular to the rotation axis of the second rotary pair R2, and the rotation axis U1-1 and the rotation axis U1-2 of the first universal joint U1 are perpendicular to each other.
The second branch moving chain L2 is a single open chain and consists of a second cylindrical pair C2, a second movable pair P2 and a second universal hinge U2, the movable platform 2 can be controlled to do overturning motion around the rotation axis of a second revolute pair R2 of the first branch moving chain L1, the second movable pair P2 is connected with the second cylindrical pair C2 and the second universal hinge U2 through a third connecting rod II-1 and a fourth connecting rod II-2 respectively, and the axis of the second cylindrical pair C2 is parallel to the rotation axis U2-1 connected with the fourth connecting rod II-2 in the second universal hinge U2 and is perpendicular to the movement axis of the second movable pair P2.
The first cylindrical pair C1, the first rotating pair R1 and the second cylindrical pair C2 in the second branched moving chain L1 are mounted on the fixed platform 1, the axis of the first cylindrical pair C1 is a vertical axis, the axis of rotation of the first rotating pair R1 and the axis of the second cylindrical pair C2 are horizontal axes, and the axis of the second cylindrical pair C2 in the second branched moving chain L2 is parallel to the axis of rotation of the first rotating pair R1 in the first branched moving chain L1 and is perpendicular to the axis of the first cylindrical pair C1 in the first branched moving chain L1. The second revolute pair R2 in the first branch moving chain L1 and the second universal hinge U2 in the second branch moving chain L2 are mounted on the mechanism moving platform 2, and the rotation axis of the second revolute pair R2 in the first branch moving chain L1 is parallel to the rotation axis U2-2 connected with the moving platform 2 in the second universal hinge U2.
In addition, the first cylindrical pair C1 and the second cylindrical pair C2 in the first branch motion chain L1 and the second branch motion chain L2 are active pairs, and the linear inputs of the two cylindrical pairs C1 and C2 are the active inputs of the mechanism.
Claims (2)
1. A two-degree-of-freedom pure rotation parallel mechanism is characterized in that: the device comprises a movable platform, a fixed platform, a first branch moving chain and a second branch moving chain, wherein the first branch moving chain and the second branch moving chain are connected with the movable platform and the fixed platform;
the first branch kinematic chain is formed by connecting a closed loop structure and a second revolute pair in series, wherein the closed loop structure is formed by a single-open-chain structure formed by a first cylindrical pair, a first movable pair and a first universal hinge and a first revolute pair so as to realize the overturning motion of the movable platform around the axis of the first revolute pair; the first cylindrical pair and the first revolute pair are both arranged on the fixed platform, the axis of the first cylindrical pair is in a vertical direction, and the rotation axis of the first revolute pair is in a horizontal direction; the first moving pair is connected with the first cylindrical pair and one end of the first universal hinge through the first connecting rod and the second connecting rod respectively, and the other end of the first universal hinge, the first rotating pair and the second rotating pair are installed at the end part of the T-shaped connecting rod respectively; the first universal hinge is provided with two perpendicular rotation axes, the rotation axis of the first universal hinge connected with the second connecting rod is parallel to the axis of the first cylindrical pair and perpendicular to the movement axis of the movable pair, the rotation axis of the first universal hinge connected with the T-shaped connecting rod is parallel to the rotation axis of the first rotary pair and perpendicular to the rotation axis of the second rotary pair, and the second rotary pair is arranged on the movable platform;
the second branch kinematic chain comprises a second cylindrical pair, a second movable pair and a second universal hinge, wherein the second cylindrical pair is arranged on the fixed platform, the axis of the second cylindrical pair is parallel to the rotation axis of the first movable pair and is perpendicular to the axis of the first cylindrical pair, the second universal hinge is arranged on the movable platform and is provided with two perpendicular rotation axes, the second movable pair is connected with the second cylindrical pair and the second universal hinge through a third connecting rod and a fourth connecting rod respectively, the rotation axis of the second universal hinge connected with the fourth connecting rod is parallel to the axis of the second cylindrical pair and is perpendicular to the movement axis of the second movable pair, and the rotation axis of the second universal hinge connected with the movable platform is parallel to the rotation axis of the second rotary pair, so that the movable platform can perform overturning motion around the rotation axis of the second rotary pair.
2. The two-degree-of-freedom pure rotation parallel mechanism of claim 1, wherein: the first cylindrical pair in the first branch kinematic chain and the second cylindrical pair in the second branch kinematic chain are active pairs, and linear input of the two cylindrical pairs is used as active input of a mechanism.
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| CN201910065084.XA CN109531552B (en) | 2019-01-23 | 2019-01-23 | Two-degree-of-freedom pure rotation parallel mechanism |
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| CN109940589B (en) * | 2019-04-01 | 2020-12-18 | 燕山大学 | Symmetrical two-rotation one-movement complete decoupling parallel mechanism |
| WO2020200231A1 (en) * | 2019-04-01 | 2020-10-08 | 东莞理工学院 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
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| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN205033197U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
| CN209425435U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | A kind of pure one-rotation parallel mechanism of two degrees of freedom |
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- 2019-01-23 CN CN201910065084.XA patent/CN109531552B/en active Active
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| CN102211333A (en) * | 2011-06-15 | 2011-10-12 | 天津职业技术师范大学 | Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement |
| FR3022482A1 (en) * | 2014-06-23 | 2015-12-25 | Commissariat Energie Atomique | CO-HANDLING ROBOT HAVING ROBOT CONTROL MEANS |
| CN104552279A (en) * | 2015-01-20 | 2015-04-29 | 江南大学 | 1T&(2R)&1R four-degrees of freedom decoupling hybrid mechanism |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN205033197U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
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