CN110238824A - A kind of multi-mode parallel robot mechanism - Google Patents
A kind of multi-mode parallel robot mechanism Download PDFInfo
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- CN110238824A CN110238824A CN201910654734.4A CN201910654734A CN110238824A CN 110238824 A CN110238824 A CN 110238824A CN 201910654734 A CN201910654734 A CN 201910654734A CN 110238824 A CN110238824 A CN 110238824A
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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 discloses a kind of multi-mode parallel robot mechanisms, including fixed platform and motion platform, the fixed platform and motion platform by three circumferentially uniformly distributed change born of the same parents' mixed connection branch be connected, and three structures for becoming born of the same parents' mixed connection branch are identical, respectively first change born of the same parents' mixed connection branch, second become born of the same parents' mixed connection branch and third change born of the same parents' mixed connection branch, and the first change born of the same parents' mixed connection branch, second change born of the same parents' mixed connection branch and third change born of the same parents' mixed connection branch pass through first connecting rod, the second connecting rod and third connecting rod respectively and be connected with the motion platform.When three change born of the same parents' mixed connection branches switch between tri- kinds of different working modes of A, B and C, the New Multi-mode parallel robot mechanism can accordingly have 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R totally ten kinds of different operating modes, to convert its topological structure and freedom degree according to the difference of Practical Project and task demand.
Description
Technical field
The present invention relates to theory of mechanisms and robotics field more particularly to a kind of multi-mode parallel robot mechanisms.
Background technique
In the early stage of theory of mechanisms and robotics development, people's common concern is that have fixed freedom degree and single
The conventional machines robot mechanism of operating mode.
However, with the development of science and technology, there are multiple working stages, multi-functional and dexterous manipulation ability integrated
The demand of equipment is growing day by day.Robot field especially in industrial production and life application, to more with can be realized
Kind different working modes conversion, and then the integrated robot system for adapting to different operating mission requirements has more demands.
Summary of the invention
The present invention for the deficiencies of the prior art, proposes a kind of multi-mode parallel robot mechanism, can be according to practical work
The different operating mission requirements of journey convert its topological structure and freedom degree.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of multi-mode parallel robot mechanism of the present invention, including fixed platform and motion platform, the fixed platform and
Motion platform by three circumferentially uniformly distributed change born of the same parents' mixed connection branch be connected, and three structure phases for becoming born of the same parents' mixed connection branch
Together, respectively first becomes born of the same parents' mixed connection branch, second change born of the same parents' mixed connection branch and third change born of the same parents' mixed connection branch；Described first becomes born of the same parents' mixed connection
Branch, second change born of the same parents' mixed connection branch and third become born of the same parents' mixed connection branch and pass through first connecting rod, the second connecting rod and third company respectively
Extension bar is connected with the motion platform.
Further, the change born of the same parents mixed connection branch includes including change born of the same parents' monocycle closed chain interconnected and a four selfs
By degree series connection branch, the bottom for becoming born of the same parents' monocycle closed chain is connected in the fixed platform, the four-degree-of-freedom series connection branch
Top be connected on the motion platform；The change born of the same parents monocycle closed chain includes fixed bottom plate, a spherical five-bar mechanisms, one
Hooke's hinge, first connecting rod, first linkage rod and the second connecting rod, the first linkage rod, the second connecting rod one end lead to respectively
Cross the spherical five-bar mechanisms, Hooke is hinged and connected on the fixed bottom plate, the first linkage rod, the second connecting rod it is another
End and be connected respectively by the 6th revolute pair, the 7th revolute pair with the first connecting rod, the top of the first connecting rod with it is described
Four-degree-of-freedom series connection branch is connected；
Four-degree-of-freedom series connection branch includes second connecting rod, third connecting rod and fourth link, and the one of the second connecting rod
End is connected by the 11st revolute pair with the top of the first connecting rod, and the other end of the second connecting rod passes through the 8th revolute pair
It is connected with one end of the third connecting rod, the other end of the third connecting rod passes through one end phase of the 9th revolute pair fourth link
Even, the other end of the fourth link is connected with the tenth revolute pair, the tenth revolute pair by the connecting rod at top with it is described
Motion platform is connected.
Further, the spherical five-bar mechanisms include the first straight-bar being vertically fixed on the fixed bottom plate and
Two straight-bars；The end of first straight-bar is connected with one end of the first curved bar, the end of second straight-bar by the first revolute pair
Head is connected with one end of the second curved bar by the second revolute pair；The other end of first curved bar is connected with by third revolute pair
One end of third curved bar, the other end of second curved bar are connected with one end of the 4th curved bar by the 4th revolute pair, and described
The other end of four curved bars is connect with the other end of the third curved bar by the 5th revolute pair；First curved bar, the second curved bar,
The bent angle angle of third curved bar and the 4th curved bar is 90 °；The lower end of the first linkage rod is fixed on the bent angle of the 4th curved bar
Place, and first linkage rod, upwards perpendicular to the plane where the 4th curved bar, first revolute pair, the second revolute pair, third turn
The axis of dynamic secondary, the 4th revolute pair and the 5th revolute pair all passes through same center of rotation O point, all components of spherical five-bar mechanisms
The track of upper all the points is all the spherical curve centered on O point；
The Hooke's hinge includes third straight-bar, lower U-shaped revolute pair and upper U-shaped revolute pair, and the bottom end of the third straight-bar connects
It connects on the fixed bottom plate, the center of the U-shaped bar of the lower U-shaped revolute pair is connected to the top of the third straight-bar, described
Lower U-shaped revolute pair is connected with the axis vertical take-off of upper U-shaped revolute pair；
The center of the U-shaped bar of the upper U-shaped revolute pair is connect with the bottom end of second connecting rod；The lower U-shaped rotation
It is secondary coaxially arranged with second revolute pair.
Further, an emptiness avoiding hole is provided on the fixed bottom plate, the emptiness avoiding hole is located at five bar of spherical surface
The underface of mechanism.
Further, the first connecting rod, the second connecting rod are identical with the structure of third connecting rod and are all made of L shape
Bar.
Compared with prior art, advantageous effects of the invention:
A kind of multi-mode parallel robot mechanism of the present invention, including fixed platform and motion platform, two platforms pass through structure
Identical three circumferentially uniformly distributed change born of the same parents' mixed connection branch be connected；Becoming born of the same parents' mixed connection branch to include includes change born of the same parents interconnected
Monocycle closed chain and a four-degree-of-freedom series connection branch, becoming born of the same parents' monocycle closed chain includes fixed bottom plate, a spherical five-bar mechanisms, one
Hooke's hinge, first connecting rod, first linkage rod and the second connecting rod, four-degree-of-freedom series connection branch include three connecting rods, three rotations
Secondary and the 11st revolute pair.When work, the first rotation in the lower U-shaped revolute pair and spherical five-bar mechanisms of Hooke's hinge is chosen
Pair is secondary for two inputs for becoming born of the same parents' monocycle closed chain, will form tri- kinds of ABC different sub- structures when driving or lock different revolute pairs
State, when three change born of the same parents' mixed connection branches switch between tri- kinds of different working modes of A, B and C, the New Multi-mode parallel robot
Mechanism can accordingly have 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R totally ten kinds of different work
(when indicating operating mode, tee represents movement to mode, and letter r represents rotation, and the number before letter represents the representative fortune of T or R
Dynamic number), to convert its topological structure and freedom degree according to the difference of Practical Project and task demand.
Detailed description of the invention
The invention will be further described for explanation with reference to the accompanying drawing.
Fig. 1 is New Multi-mode parallel robot mechanism schematic diagram of the present invention；
Fig. 2 is the initial bit shape schematic diagram that the present invention becomes born of the same parents' mixed connection branch；
Fig. 3 is the operating mode A schematic diagram that the present invention becomes born of the same parents' mixed connection branch；
Fig. 4 is the operating mode B schematic diagram that the present invention becomes born of the same parents' mixed connection branch；
Fig. 5 is the operating mode C schematic diagram that the present invention becomes born of the same parents' mixed connection branch；
Description of symbols: 1, first becomes born of the same parents' mixed connection branch；2, second becomes born of the same parents' mixed connection branch；3, third becomes born of the same parents' mixed connection branch
Chain；4, fixed platform；5, motion platform；6, first connecting rod；7, the second connecting rod；8, third connecting rod；
101, fixed bottom plate；102, spherical five-bar mechanisms；102-1, the first straight-bar；102-2, the second straight-bar；102-3,
One revolute pair；102-4, the first curved bar；102-5, the second revolute pair；102-6, the second curved bar；102-7, third revolute pair；102-
8, third curved bar；102-9, the 4th revolute pair；102-10, the 4th curved bar；102-11, the 5th revolute pair；
103, Hooke's hinge；103-1, third straight-bar；103-2, lower U-shaped revolute pair；103-3, upper U-shaped revolute pair；
104, first linkage rod；105, first connecting rod；106, the second connecting rod；107, the 6th revolute pair；108, the 7th turn
Dynamic pair；
109, the 11st revolute pair；110, second connecting rod；111, third connecting rod；112, fourth link；113, eight revolution is dynamic
It is secondary；114, the 9th revolute pair；115, the tenth revolute pair.
Specific embodiment
As shown in Figure 1, a kind of multi-mode parallel robot mechanism, including fixed platform 4 and motion platform 5, the fixation
Platform 4 and motion platform 5 by three circumferentially uniformly distributed change born of the same parents' mixed connection branch be connected, and three born of the same parents' mixed connection branches that become
Structure is identical, and respectively first, which becomes born of the same parents' mixed connection branch 1, second, becomes born of the same parents' mixed connection branch 2 and third and become born of the same parents' mixed connection branch 3, and described the
One, which becomes born of the same parents' mixed connection branch 1, second, becomes born of the same parents' mixed connection branch 2 and third change born of the same parents' mixed connection branch 3 respectively by first connecting rod 6, second
Connecting rod 7 and third connecting rod 8 are connected with the motion platform 5.Specifically arbitrarily connected two become born of the same parents' mixed connection branch interchains
Angle is 120 °, and becomes born of the same parents' mixed connection branch and be mounted in the mounting groove of the fixed platform 4 by bolt；The first connecting rod
6, the second connecting rod 7 is identical with the structure of third connecting rod 8 and is all made of L shape bar, is circumferentially evenly arranged on the motion platform 5
On lateral surface, and an entirety is connected as with the motion platform 5.
As shown in Fig. 2, specific the changes born of the same parents mixed connection branch includes include change born of the same parents' monocycle closed chain interconnected with
One four-degree-of-freedom series connection branch, the bottom for becoming born of the same parents' monocycle closed chain are connected in the fixed platform 4, the four-degree-of-freedom
It is connected on the motion platform 5 at the top of series connection branch；
The change born of the same parents monocycle closed chain includes the fixed spherical five-bar mechanisms 102, one of bottom plate 101, one Hooke's hinge 103, the
One connecting rod 105, first linkage rod 104 and the second connecting rod 106, one end of the first linkage rod 104, the second connecting rod 106
It is connected on the fixed bottom plate 101 by the spherical five-bar mechanisms 102, Hooke's hinge 103 respectively, the first linkage rod
104, the other end of the second connecting rod 106 with pass through the 6th revolute pair 107, the 7th revolute pair 108 and the first connecting rod respectively
105 are connected, and the top of the first connecting rod 105 is connected with four-degree-of-freedom series connection branch；
Four-degree-of-freedom series connection branch includes second connecting rod 110, third connecting rod 111 and fourth link 112, and described second
One end of connecting rod 110 is connected by the 11st revolute pair 109 with the top of the first connecting rod 105, the second connecting rod 110
The other end is connected by the 8th revolute pair 113 with one end of the third connecting rod 111, and the other end of the third connecting rod 111 is logical
The one end for crossing 114 fourth link 112 of the 9th revolute pair is connected, and the other end of the fourth link 112 is connected with the tenth revolute pair
115, the tenth revolute pair 115 is connected by the connecting rod at top with the motion platform 5.
The spherical five-bar mechanisms 102 include the first straight-bar 102-1 for being vertically fixed on the fixed bottom plate 101 and the
Two straight-bar 102-2；The end of the first straight-bar 102-1 is connected with the one of the first curved bar 102-4 by the first revolute pair 102-3
End, the end of the second straight-bar 102-2 is connected with one end of the second curved bar 102-6 by the second revolute pair 102-5；Described
The other end of one curved bar 102-4 is connected with one end of third curved bar 102-8, second curved bar by third revolute pair 102-7
The other end of 102-6 is connected with one end of the 4th curved bar 102-10, the 4th curved bar 102-10 by the 4th revolute pair 102-9
The other end connect with the other end of the third curved bar 102-8 by the 5th revolute pair 102-11；The first curved bar 102-
4, the bent angle angle of the second curved bar 102-6, third curved bar 102-8 and the 4th curved bar 102-10 are 90 °；The first linkage rod
104 lower end is fixed on the corner of the 4th curved bar 102-10, and first linkage rod 104 is upwards perpendicular to the 4th curved bar 102-10
The plane at place, the first revolute pair 102-3, the second revolute pair 102-5, third revolute pair 102-7, the 4th revolute pair 102-
9 and the 5th revolute pair 102-11 axis all by same center of rotation O point, institute on all components of spherical five-bar mechanisms 102
Track a little is all the spherical curve centered on O point；
The Hooke's hinge 103 includes third straight-bar 103-1, lower U-shaped revolute pair 103-2 and upper U-shaped revolute pair 103-3, institute
The bottom end for stating third straight-bar 103-1 is connected on the fixed bottom plate 101, in the U-shaped bar of the lower U-shaped revolute pair 103-2
The heart is connected to the top of the third straight-bar 103-1, the axis of the lower U-shaped revolute pair 103-2 and upper U-shaped revolute pair 103-3
Orthogonal connection；The center of the U-shaped bar of the upper U-shaped revolute pair 103-3 is connect with the bottom end of second connecting rod 106；It is described
Lower U-shaped revolute pair 103-2 and the second revolute pair 102-5 are coaxially arranged.
Specifically, being provided with an emptiness avoiding hole on the fixed bottom plate 101, the emptiness avoiding hole is located at the five bar machine of spherical surface
The underface of structure 102 provides enough spaces for the movement of spherical five-bar mechanisms 102.
Action process of the invention is as follows:
Choose the lower U-shaped revolute pair 103-2 and spherical five-bar mechanisms and fixed bottom plate phase that Hooke's hinge is connected with fixed platform
The first revolute pair 102-3 even is the two inputs pair for becoming born of the same parents' monocycle closed chain, that is, descends U-shaped revolute pair 103-2 and the first revolute pair
102-3 is the input pair for becoming born of the same parents' mixed connection branch.
As shown in Fig. 2, when the first linkage rod 104 and the second connecting rod 106 for becoming born of the same parents' monocycle closed chain all with fixed bottom plate 101
When orthogonal, this shape is to become the initial bit shape of born of the same parents' monocycle closed chain.When initial bit shape, the 6th revolute pair 107 and the 7th revolute pair 108
Axis it is parallel with the axis of the first revolute pair 102-3 and upper U-shaped revolute pair 103-3.When initial bit shape, the second revolute pair 102-
5, the axis collinear of the 5th revolute pair 102-11 and lower U-shaped revolute pair 103-2.
As shown in figure 3, locking Hooke as the first revolute pair 102-3 that driving spherical five-bar mechanisms are connected with fixed bottom plate
The lower U-shaped revolute pair 103-2 being connected with fixed platform is cut with scissors, becomes born of the same parents' monocycle closed chain by initial bit shape and is switched to sub- structure state A.Sub- structure state
The first connecting rod 105 of A time-varying born of the same parents' monocycle closed chain makees the movement of direction transient change relative to fixed bottom plate 101, and moving direction is just
Meet at first linkage rod 104 and the second connecting rod 106.When sub- structure state A, becomes born of the same parents' monocycle closed chain and be equivalent to a prismatic pair, become born of the same parents
Monocycle closed chain number of degrees of freedom is 1.
As shown in figure 4, driving Hooke as the first revolute pair 102-3 that locked spherical five-bar mechanisms are connected with fixed bottom plate
The lower U-shaped revolute pair 103-2 being connected with fixed platform is cut with scissors, becomes born of the same parents' monocycle closed chain by initial bit shape and is switched to sub- structure state B.Sub- structure state
Whole the second revolute pair 102-5 axis being connected around spherical five-bar mechanisms with fixed bottom plate of B time-varying born of the same parents' monocycle closed chain rotates, and becomes born of the same parents
Monocycle closed chain is equivalent to a revolute pair, becomes born of the same parents' monocycle closed chain number of degrees of freedom as 1.
As shown in figure 5, the first revolute pair 102-3 and Hooke that spherical five-bar mechanisms ought be driven to be connected with fixed bottom plate simultaneously
The lower U-shaped revolute pair 103-2 being connected with fixed platform is cut with scissors, becomes born of the same parents' monocycle closed chain by initial bit shape and is switched to sub- structure state C.Sub- structure state
When C, become born of the same parents' monocycle closed chain number of degrees of freedom be 2, change born of the same parents' monocycle closed chain first connecting rod 105 freedom degree property into around five bar of spherical surface
Mechanism is connect with the rotation of the connected second revolute pair 102-5 axis of fixed bottom plate and along first linkage rod 104 and second is orthogonal to
The movement in 106 direction of bar, and the moving direction of first connecting rod 105 is transient change.
The axis of Hooke's hinge two upper U-shaped revolute pair 103-3 and lower U-shaped revolute pair 103-2 is with spherical five-bar mechanisms and admittedly
Relationship needs scheme cloth as described above between determining the axis of the first connected revolute pair 102-3 and the second revolute pair 102-5 of bottom plate 101
It sets, the monocycle closed chain, which just has, becomes born of the same parents' characteristic.If scheme arrangement, the monocycle closed chain do not have change born of the same parents spy as described above
Property, and there is movement bifurcation characteristic.
It is connected as shown in Fig. 2, born of the same parents' monocycle closed chain will be become with a four-degree-of-freedom series connection branch, a kind of change born of the same parents' mixed connection can be obtained
Branch.Four-degree-of-freedom connects branch by the 11st revolute pair 109, the 8th revolute pair 113, the 9th revolute pair 114 and the tenth rotation
Pair 115 forms, and the 8th revolute pair 113, the 9th revolute pair 114 are parallel with the axis of the tenth revolute pair 115, the 11st revolute pair
109 is different from the axis direction of the 8th revolute pair 113, the 9th revolute pair 114 and the tenth revolute pair 115.The four-degree-of-freedom string
Connection branch is connected with change born of the same parents' monocycle closed chain by the 11st revolute pair 109.Tenth revolute pair 115 becomes born of the same parents' mixed connection branch for connecting
And motion platform.
As shown in Fig. 2, becoming born of the same parents' mixed connection branch when change born of the same parents' monocycle closed chain is located at initial bit shape and being also correspondingly positioned at initial bit
Shape.When initial bit shape, the 11st revolute pair 109 and the second revolute pair 102-5 axis intersect at a point P.When initial bit shape, become born of the same parents
The instantaneous number of degrees of freedom of mixed connection branch is 6, and no geometrical constraint exists.
As shown in figure 3, locking Hooke as the first revolute pair 102-3 that driving spherical five-bar mechanisms are connected with fixed bottom plate
Cut with scissors the lower U-shaped revolute pair 103-2 being connected with fixed platform；When change born of the same parents' monocycle closed chain is switched to sub- structure state A from initial bit shape, become
Born of the same parents' mixed connection branch is also accordingly switched to operating mode A by initial bit shape.When operating mode A, become the number of degrees of freedom, of born of the same parents' mixed connection branch
Mesh is 5, and becoming born of the same parents' mixed connection branch, there are a constraint couple of forces.11st revolute pair, 109 axis is one group of line vector, the 8th revolute pair
113, the axis of the 9th revolute pair 114 and the tenth revolute pair 115 forms another group of line vector, the common normal direction of two groups of line vectors
As constrain couple of force direction.
As shown in figure 4, the lower U-shaped revolute pair 103-2 that driving Hooke's hinge is connected with fixed platform, locks spherical five-bar mechanisms
The first revolute pair 102-3 being connected with fixed bottom plate 101 becomes when change born of the same parents' monocycle closed chain is switched to sub- structure state B from initial bit shape
Born of the same parents' mixed connection branch is also accordingly switched to operating mode B by initial bit shape.When operating mode B, 109 axis of the 11st revolute pair and
Two revolute pair 102-5 axis intersect at a point P.When operating mode B, become born of the same parents' mixed connection branch number of degrees of freedom be 5, become born of the same parents mix
Joining branch, there are a constraint force vectors.The constraint force vector crosses 109 axis of the 11st revolute pair and the second revolute pair 102-5 axis
Intersection point P, and the constraint force vector and the axis of the 8th revolute pair 113, the 9th revolute pair 114 and the tenth revolute pair 115 are in the same direction.
As shown in figure 5, the five bar machine of lower U-shaped revolute pair 103-2 and spherical surface for driving Hooke's hinge to be connected with fixed platform simultaneously
The first revolute pair 102-3 that structure is connected with fixed bottom plate 101 becomes born of the same parents' mixed connection branch when change born of the same parents' monocycle closed chain is switched to sub- structure state C
Also operating mode C is accordingly switched to by initial bit shape.When operating mode C, become born of the same parents' mixed connection branch number of degrees of freedom be 6, become born of the same parents mix
Join branch without geometrical constraint.
In conclusion as shown in Figure 1, connecting parallel institution using three circumferentially uniformly distributed change born of the same parents mixed connection branches
Motion platform 5 and fixed platform 4, a kind of New Multi-mode parallel robot mechanism can be obtained.When three change born of the same parents' mixed connection branches
When switching between tri- kinds of different working modes of A, B and C, New Multi-mode parallel robot mechanism can accordingly have 3T3R, 3T2R,
2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R totally ten kinds of different operating modes.
It is as shown in Figure 1 the initial bit shape of multi-mode parallel robot mechanism, at this time three change born of the same parents' mixed connections being arranged symmetrically
Branch is all located at initial bit shape.When initial bit shape, three the second revolute pair 102-5 become on born of the same parents' mixed connection branch and the 11st rotation
The axis remittance of pair 109 meets at point P.P point in Fig. 1, the as center of rotation of the multi-mode parallel robot mechanism.
When three change born of the same parents' mixed connection branches are all located at initial bit shape, New Multi-mode parallel robot mechanism is claimed to be located at this time
Initial bit shape.When initial bit shape, three change born of the same parents' mixed connection branches are all without geometry effect of contraction in motion platform 5, the wink of motion platform 5
When freedom degree be 6.Initial bit shape is the position shape that multi-mode parallel robot mechanism different working modes switch over.
When three change born of the same parents' mixed connection branches are all switched to operating mode C, three change born of the same parents' mixed connection branches are all without geometrical constraint at this time
Motion platform 5 is acted on, motion platform 5 there can be 3T3R movement, and multi-mode parallel robot mechanism is switched to 3T3R work at this time
Operation mode.
It is switched to operating mode C when two of them become born of the same parents' mixed connection branch, remaining change born of the same parents' mixed connection branch is switched to work
A constraint couple of force will be present at this time and act on motion platform 5 for Mode A, and a rotation of motion platform 5 is restrained, and movement is flat
Platform is moved with 3T2R, and multi-mode parallel robot mechanism is switched to 3T2R operating mode at this time.
It is switched to operating mode C when two of them become born of the same parents' mixed connection branch, remaining change born of the same parents' mixed connection branch is switched to work
A constraint force vector will be present at this time and act on motion platform 5 for Mode B, and a movement of motion platform 5 is restrained, and movement is flat
Platform is moved with 2T3R, and multi-mode parallel robot mechanism is switched to 2T3R operating mode at this time.
It is switched to operating mode A when two of them become born of the same parents' mixed connection branch, remaining change born of the same parents' mixed connection branch is switched to work
Two constraint couple of forces will be present at this time and act on motion platform 5 by mode C, and two rotations of motion platform 5 are restrained, and movement is flat
Platform is moved with 3T1R, and multi-mode parallel robot mechanism is switched to 3T1R operating mode at this time.
When change born of the same parents' mixed connection branch is switched to operating mode A, change born of the same parents' mixed connection branch is switched to operating mode B, remains
Change born of the same parents' mixed connection branch of remaininging is switched to operating mode C, and a constraint couple of force will be present at this time and a constraint force vector acts on
Motion platform 5, a rotation and a movement for motion platform 5 is restrained, and motion platform is moved with 2T2R, at this time multi-mode
Parallel robot mechanism is switched to 2T2R operating mode.
When two change born of the same parents' mixed connection branches are switched to operating mode B, remaining change born of the same parents' mixed connection branch is switched to operating mode
There are two constraint force vectors at this time and act on motion platform 5 in C, two movements of motion platform 5 are restrained, and motion platform has
1T3R movement, multi-mode parallel robot mechanism is switched to 1T3R operating mode at this time.
When three change born of the same parents' mixed connection branches are all switched to operating mode A, it is flat to act on movement in the presence of three constraint couple of forces at this time
Three rotations of platform 5, motion platform 5 are all restrained, and motion platform is moved with 3T, at this time multi-mode parallel robot mechanism
It is switched to 3T operating mode.
When two change born of the same parents' mixed connection branches are switched to operating mode A, remaining change born of the same parents' mixed connection branch is switched to operating mode
, there are two constraint couple of forces in B and a constraint force vector acts on motion platform 5 at this time, and two of motion platform 5 rotate and one
Movement is restrained, and motion platform is moved with 2T1R, and multi-mode parallel robot mechanism is switched to 2T1R operating mode at this time.
When two change born of the same parents' mixed connection branches are switched to operating mode B, remaining change born of the same parents' mixed connection branch is switched to operating mode
There is two restraining force resultants, one constraint couple of force at this time and act on motion platform 5 in A, two movements of motion platform 5 with one
Rotate it is restrained, motion platform with 1T2R move, multi-mode parallel robot mechanism is switched to 1T2R operating mode at this time.
As three change born of the same parents mixed connection branch whole switching working mode B, it is flat that movement is acted in the presence of three constraint force vectors at this time
Platform 5, three of motion platform 5 are mobile all restrained, and motion platform is moved with 3R, at this time multi-mode parallel robot mechanism
It is switched to 3R operating mode.
Embodiment described above is only that preferred embodiment of the invention is described, and is not carried out to the scope of the present invention
It limits, without departing from the spirit of the design of the present invention, those of ordinary skill in the art make technical solution of the present invention
Various changes and improvements, should all fall into claims of the present invention determine protection scope in.
Claims (5)
1. a kind of multi-mode parallel robot mechanism, it is characterised in that: described solid including fixed platform (4) and motion platform (5)
Fixed platform (4) and motion platform (5) by three circumferentially uniformly distributed change born of the same parents' mixed connection branch be connected, and three change born of the same parents' mixed connections
The structure of branch is identical, and respectively first, which becomes born of the same parents' mixed connection branch (1), the second change born of the same parents' mixed connection branch (2) and third, becomes born of the same parents' mixed connection branch
Chain (3)；Described first, which becomes born of the same parents' mixed connection branch (1), the second change born of the same parents' mixed connection branch (2) and third, becomes born of the same parents' mixed connection branch (3) and leads to respectively
First connecting rod (6), the second connecting rod (7) and third connecting rod (8) is crossed to be connected with the motion platform (5).
2. New Multi-mode parallel robot mechanism according to claim 1, it is characterised in that: the change born of the same parents mixed connection branch
Including including change born of the same parents' monocycle closed chain interconnected and a four-degree-of-freedom series connection branch, the bottom for becoming born of the same parents' monocycle closed chain
Portion is connected on the fixed platform (4), is connected on the motion platform (5) at the top of the four-degree-of-freedom series connection branch；
The change born of the same parents monocycle closed chain include fixed bottom plate (101), a spherical five-bar mechanisms (102), a Hooke's hinge (103),
First connecting rod (105), first linkage rod (104) and the second connecting rod (106), the first linkage rod (104), the second connecting rod
(106) one end passes through the spherical five-bar mechanisms (102) respectively, Hooke's hinge (103) is connected to the fixed bottom plate (101)
On, the first linkage rod (104), the second connecting rod (106) the other end with respectively pass through the 6th revolute pair (107), the 7th
Revolute pair (108) is connected with the first connecting rod (105), and the top of the first connecting rod (105) is connected with the four-degree-of-freedom
Branch is connected；
Four-degree-of-freedom series connection branch includes second connecting rod (110), third connecting rod (111) and fourth link (112), and described the
One end of two connecting rods (110) is connected by the 11st revolute pair (109) with the top of the first connecting rod (105), and described second
The other end of connecting rod (110) is connected by the 8th revolute pair (113) with one end of the third connecting rod (111), and the third connects
The other end of bar (111) is connected by one end of the 9th revolute pair (114) fourth link (112), the fourth link (112)
The other end is connected with the tenth revolute pair (115), connecting rod and the motion platform of the tenth revolute pair (115) by top
(5) it is connected.
3. New Multi-mode parallel robot mechanism according to claim 2, it is characterised in that: the spherical five-bar mechanisms
It (102) include the first straight-bar (102-1) and the second straight-bar (102-2) being vertically fixed on the fixed bottom plate (101)；It is described
The end of first straight-bar (102-1) is connected with one end of the first curved bar (102-4) by the first revolute pair (102-3), and described the
The end of two straight-bars (102-2) is connected with one end of the second curved bar (102-6) by the second revolute pair (102-5)；Described first
The other end of curved bar (102-4) is connected with one end of third curved bar (102-8) by third revolute pair (102-7), and described second
The other end of curved bar (102-6) is connected with one end of the 4th curved bar (102-10) by the 4th revolute pair (102-9), and the described 4th
The other end of curved bar (102-10) is connect with the other end of the third curved bar (102-8) by the 5th revolute pair (102-11)；
First curved bar (102-4), the second curved bar (102-6), third curved bar (102-8) and the 4th curved bar (102-10) bent angle angle
Degree is 90 °；The lower end of the first linkage rod (104) is fixed on the corner of the 4th curved bar (102-10), and the first frame linking
Bar (104) is upwards perpendicular to the plane where the 4th curved bar (102-10), first revolute pair (102-3), the second revolute pair
The axis of (102-5), third revolute pair (102-7), the 4th revolute pair (102-9) and the 5th revolute pair (102-11) all passes through together
Center of rotation O point, the track of all the points is all that the spherical surface centered on O point is bent on all components of spherical five-bar mechanisms 102
Line；
The Hooke's hinge (103) includes third straight-bar (103-1), lower U-shaped revolute pair (103-2) and upper U-shaped revolute pair (103-
3), the bottom end of the third straight-bar (103-1) is connected on the fixed bottom plate (101), the lower U-shaped revolute pair (103-2)
The center of U-shaped bar be connected to the top of the third straight-bar (103-1), the lower U-shaped revolute pair (103-2) and upper U-shaped turn
The axis vertical take-off connection of dynamic pair (103-3)；The center of the U-shaped bar of the upper U-shaped revolute pair (103-3) and second connecting rod
(106) bottom end connection；The lower U-shaped revolute pair (103-2) and second revolute pair (102-5) are coaxially arranged.
4. New Multi-mode parallel robot mechanism according to claim 1, it is characterised in that: the fixed bottom plate
(101) emptiness avoiding hole is provided on, the emptiness avoiding hole is located at the underface of the spherical five-bar mechanisms (102).
5. multi-mode parallel robot mechanism according to claim 1, it is characterised in that: the first connecting rod (6),
Two connecting rods (7) are identical with the structure of third connecting rod (8) and are all made of L shape bar.
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| CN115890731B (en) * | 2022-11-30 | 2024-07-26 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Inchworm-imitating high-rigidity processing robot arm with serial-parallel configuration conversion |
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