CN1095730C - Vernier robot with decoupled parallel four freedoms and four-axle structure - Google Patents
Vernier robot with decoupled parallel four freedoms and four-axle structure Download PDFInfo
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- CN1095730C CN1095730C CN00100197A CN00100197A CN1095730C CN 1095730 C CN1095730 C CN 1095730C CN 00100197 A CN00100197 A CN 00100197A CN 00100197 A CN00100197 A CN 00100197A CN 1095730 C CN1095730 C CN 1095730C
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Abstract
The present invention relates to a decoupling parallel vernier robot with a four-freedom and four-axle structure. A motion worktable is connected with a fixed table by four connecting rods. The four connecting rods and the motion worktable are connected by elastic hinges distributed on three vertical planes on the motion worktable. The four connecting rods are connected with elastic moving pairs on the three vertical planes of the fixed table by the elastic hinges, and the elastic moving pairs are connected with a micro displacement driver. The decoupling robot of the present invention has simple and compact structure and can realize the decoupling four dimensional micromotion with zero friction, zero clearance and high resolution. The present invention can be widely used for micromotion worktables and fine operating and processing field.
Description
Technical field of the present invention:
The invention belongs to the advanced manufacturing technology field, particularly a kind of four-freedom four-shaft structure decoupling parallel jiggle robot.
Background technology of the present invention:
The jiggle robot of realizing accurate operation just is being subjected to people's growing interest along with going deep into of micrometer/nanometer engineering, utilize the alternative actual motion pair of flexible (or claiming elasticity) hinge to make the parallel-connection structure jiggle robot not only eliminate the gap that conventional kinematic pair had, friction, backlash phenomenon, and give full play of intrinsic quality characteristics such as the high rigidity of parallel institution, high accuracy.
At the initial stage in the sixties, Ellis proposes to use parallel institution as the fine motion manipulator, and is applied in biotechnology and the microsurgery.In order to improve precision, Magnani and Pernette] studied the elastic construction form (being flexible hinge) of revolute pair, moving sets, Hooke's hinge and ball pivot.Stoughton and Tanikawa realize the chopsticks operational movement with two six-degree-of-freedom parallel connection mechanisms; Hara and Hemini studying plane Three Degree Of Freedom and six-freedom micro displacement robot; The six-freedom parallel micromanipulator of Hudgens and Tesar research; Lee proposes space three-freedom jiggle robot structure; The Parikian research scheme of Delta parallel institution as the pure mobile jiggle robot in space.
At home, Tsing-Hua University has developed micro displacement workbench; " Chinese journal of scientific instrument " NO.1,1996 reports, Harbin Institute of Technology has developed Stewart platform structure six-freedom parallel jiggle robot; At application number is to disclose " parallel decoupling structure six-dimensional force and torque sensor " in 99119320.2,99102421.4 and 99121020.4 patent documents and " having sextuple power of elastic hinge and torque sensor " reaches " six-freedom parallel decoupling-structure jogging robot ".
Although many scholar's research multiple degrees of freedom jiggle robot in parallel is arranged both at home and abroad, but the subject matter that these achievements in research and patented technology exist is the complex structure that has, the demarcation difficulty that has, the mobile decoupling difficulty that has does not also propose or finds four-degree-of-freedom parallel micromotion and structure decoupling parallel jiggle robot mechanism especially at present both at home and abroad.
Technology contents of the present invention:
The objective of the invention is to overcome weak point of the prior art and a kind of four-freedom four-shaft structure decoupling parallel jiggle robot is provided.
Technical solution of the present invention is as follows:
The structure of four-freedom four-shaft structure decoupling parallel jiggle robot comprises fixed station, motion workbench, is connected and fixed four connecting rods of platform and motion workbench.Motion workbench is connected with fixed station by four connecting rods, four connecting rods are the elastic hinges that is distributed on three orthogonal planes of motion workbench with being connected of motion workbench, four connecting rods are connected by the resilient movement on three orthogonal planes of elastic hinge and fixed station is secondary, and the resilient movement pair is connecting micro-displacement driver.
Elastic hinge can be the elasticity Hooke's hinge, also can be the elasticity ball pivot.
Four connecting rods divide three groups to be connected with three mutually perpendicular planes of motion workbench and fixed station respectively, and wherein one group is two connecting rods, and two groups is single connecting rod.
In four connecting rods, the two ends that list in the connecting rod of three coplanes props up connecting rod are the elasticity Hooke's hinge, and connecting rod two ends in two connecting rods are elasticity Hooke's hinges, and it is elasticity ball pivots that the list beyond these three coplane connecting rods props up the connecting rod two ends, can an end be the elasticity ball pivot also, an end be the elasticity Hooke's hinge.
The present invention compared with prior art has following advantage:
Jiggle robot of the present invention has mobile decoupling, simple and compact for structure, advantage such as algorithm is simple, can realize not having friction, no gap and high-resolution four-dimensional fine motion.The proposition of this jiggle robot has the meaning of particular importance in the advanced manufacturing technology field, have wide and tangible application prospect and actual application value at accurate operation and processing, nano-scale manufacturing, micro displacement workbench, integrated circuit manufacturing, biology and fields such as genetic engineering, microsurgery.
The drawing of accompanying drawing of the present invention is described as follows:
Fig. 1 is a FG4ADPMR-1 type four-freedom four-shaft structure decoupling parallel jiggle robot structural representation;
Fig. 2 is a FG4ADPMR-2 type four-freedom four-shaft structure decoupling parallel jiggle robot structural representation.
The specific embodiment of the present invention is as follows:
Embodiment 1:
The structure of FG4ADPMR-1 type four-freedom four-shaft structure decoupling parallel jiggle robot as shown in Figure 1, motion workbench (4) is by four connecting rods (6), (14), (21), (23) and be connected by three orthogonal bottom panels (1), side panel (16) and the fixed station that backplate (10) is formed, four kinematic pairs that four connecting rods are connected with motion workbench are distributed on three mutually perpendicular planes of motion workbench, and four kinematic pairs that four connecting rods are connected with fixed station are distributed on orthogonal three panels of fixed station.What one end of connecting rod (23) was connected with motion workbench (4) is elasticity ball pivot (22), and what the other end was connected with resilient movement pair (3) on the fixed station is elasticity ball pivot (24), and resilient movement pair (3) is connecting piezoelectric micro-displacement actuator (2).What one end of connecting rod (6), (14), (21) was connected with motion workbench (4) is three elasticity Hooke's hinges (5), (15), (17), what the other end was connected with three resilient movement pairs (7), (12), (19) on the fixed station is three elasticity Hooke's hinges (9), (13), (20), and three resilient movement pairs (7), (12), (19) are connecting three piezoelectric micro-displacement actuators (8), (11), (18) respectively.One end of connecting rod (6), (14) is connected in parallel on the motion workbench back side, and the other end is connected in parallel on the resilient movement pair (7) and (12) on the fixed station backplate (10).
Jiggle robot of the present invention is integrated, and motion workbench, the fixed station that three orthogonal planes are arranged, four connecting rods and elasticity Hooke's hinge thereof, elasticity ball pivot, resilient movement pair are one.Motion workbench (4) drives four resilient movement pairs (3), (7), (12), (19) and realizes the four decoupler shaft micromotions that move and rotate around the Z axle along X, Y, three of Z by being distributed in four piezoelectric micro-displacement actuators (2) on three orthogonal planes of fixed station (1), (10), (16), (8), (11), (18).
Embodiment 2:
The structure of FG4ADPMR-2 type four-freedom four-shaft structure decoupling parallel jiggle robot as shown in Figure 2.Motion workbench (43) is by four connecting rods (45), (29), (35), (41) and be connected by three orthogonal bottom panels (25), side panel (34) and the fixed station that backplate (39) is formed, four kinematic pairs that four connecting rods are connected with motion workbench are distributed on three mutually perpendicular planes of motion workbench, and four kinematic pairs that four connecting rods are connected with fixed station are distributed on orthogonal three panels of fixed station.Resilient movement pair (27) on connecting rod (29), (35) and motion workbench (43) and the fixed station, (32) what be connected is elasticity ball pivot (30), (36) and ((28), (33), resilient movement pair (27), (32) are connecting piezoelectric micro-displacement actuator (26), (31).Connecting rod (41), (45) and motion workbench (43) are elasticity Hooke's hinge (37), (44) and (38), (46) with resilient movement pair (42), being connected of (47) on the fixed station, and resilient movement pair (42), (47) are connecting piezoelectric micro-displacement actuator (40), (48) respectively.One end of connecting rod (45), (29) is connected in parallel on the bottom surface of motion workbench, and the other end is connected in parallel on respectively on the resilient movement pair (47), (27) of fixed station bottom panel (25).
Jiggle robot of the present invention is integrated, and motion workbench, the fixed station that three orthogonal planes are arranged, four connecting rods and elasticity Hooke's hinge thereof, elasticity ball pivot, resilient movement pair are one.Motion workbench (43) drives four resilient movement pairs (47), (27), (31), (42) and realizes the four decoupler shaft micromotions that move and rotate around X-axis along X, Y, three of Z by being distributed in four piezoelectric micro-displacement actuators (48) on three orthogonal planes of fixed station (25), (34), (39), (26), (31), (40).
Claims (5)
1, a kind of four-freedom four-shaft structure decoupling parallel jiggle robot, comprise fixed station, motion workbench, be connected and fixed the connecting rod of platform and motion workbench, it is characterized in that: motion workbench is connected with fixed station by four connecting rods, four connecting rods are the elastic hinges that is distributed on three orthogonal planes of motion workbench with being connected of motion workbench, four connecting rods are connected by the resilient movement on three orthogonal planes of elastic hinge and fixed station is secondary, and the resilient movement pair is connecting micro-displacement driver.
2, according to the said four-freedom four-shaft structure decoupling parallel of claim 1 jiggle robot, it is characterized in that: elastic hinge can be the elasticity Hooke's hinge, also can be the elasticity ball pivot.
3, according to the said four-freedom four-shaft structure decoupling parallel of claim 1 jiggle robot, it is characterized in that: four connecting rods divide three groups to be connected with three mutually perpendicular planes of motion workbench and fixed station respectively, wherein one group is two connecting rods, and two groups is single connecting rod.
4, according to the said four-freedom four-shaft structure decoupling parallel of arbitrary claim jiggle robot in the claim 1～3, it is characterized in that: in four connecting rods, the two ends that list in the connecting rod of three coplanes props up connecting rod are the elasticity Hooke's hinge, connecting rod two ends in two connecting rods are elasticity Hooke's hinges, and it is elasticity ball pivots that the list beyond these three coplane connecting rods props up the connecting rod two ends.
5, according to the said four-freedom four-shaft structure decoupling parallel of arbitrary claim jiggle robot in the claim 1～3, it is characterized in that: in four connecting rods, the two ends that list in the connecting rod of three coplanes props up connecting rod are the elasticity Hooke's hinge, connecting rod two ends in two connecting rods are elasticity Hooke's hinges, it is the elasticity ball pivot that list beyond these three coplane connecting rods props up connecting rod two ends one end, and an end is the elasticity Hooke's hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00100197A CN1095730C (en) | 2000-01-17 | 2000-01-17 | Vernier robot with decoupled parallel four freedoms and four-axle structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00100197A CN1095730C (en) | 2000-01-17 | 2000-01-17 | Vernier robot with decoupled parallel four freedoms and four-axle structure |
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| Publication Number | Publication Date |
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| CN1257771A CN1257771A (en) | 2000-06-28 |
| CN1095730C true CN1095730C (en) | 2002-12-11 |
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| CN00100197A Expired - Fee Related CN1095730C (en) | 2000-01-17 | 2000-01-17 | Vernier robot with decoupled parallel four freedoms and four-axle structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100462208C (en) * | 2007-06-01 | 2009-02-18 | 浙江理工大学 | Four-freedom redundantly driven parallel robot mechanism |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102072383B (en) * | 2010-11-27 | 2012-09-05 | 江西理工大学 | Spatial four-degree-of-freedom oligodynamic ultra-precision positioning platform with full-compliant branched chains |
| CN109333509B (en) * | 2018-11-08 | 2021-05-25 | 天津大学 | Spherical coordinate type low coupling parallel mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999014018A1 (en) * | 1997-09-12 | 1999-03-25 | Abb Ab | A device for relative movement of two elements |
| CN1258589A (en) * | 1999-09-30 | 2000-07-05 | 燕山大学 | Six-freedom parallel decoupling-structure jogging robot |
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2000
- 2000-01-17 CN CN00100197A patent/CN1095730C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999014018A1 (en) * | 1997-09-12 | 1999-03-25 | Abb Ab | A device for relative movement of two elements |
| CN1258589A (en) * | 1999-09-30 | 2000-07-05 | 燕山大学 | Six-freedom parallel decoupling-structure jogging robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100462208C (en) * | 2007-06-01 | 2009-02-18 | 浙江理工大学 | Four-freedom redundantly driven parallel robot mechanism |
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| CN1257771A (en) | 2000-06-28 |
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