CN110315509A - A kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element - Google Patents
A kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element Download PDFInfo
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- CN110315509A CN110315509A CN201910642202.9A CN201910642202A CN110315509A CN 110315509 A CN110315509 A CN 110315509A CN 201910642202 A CN201910642202 A CN 201910642202A CN 110315509 A CN110315509 A CN 110315509A
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- branch
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- connecting rod
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
The invention discloses a kind of full symmetric parallel institutions of few branch redundant drive containing closed-loop element, belong to robot field, including fixed platform and moving platform, contain the 5R-R branch chain link of closed-loop element between fixed platform and moving platform by two side-by-side, two revolute pairs that each branch is connect with fixed platform are respectively mounted motor as driving pair, and moving platform realizes horizontal and vertical two movements under four driving side effects and perpendicular to the unfixed rotation of center of rotation of plane of motion.The present invention have big working space, big turning power, big bearing capacity, high rigidity, high flexibility ratio, mechanism kinematic/power transmission performance is excellent, kinematics/dynamic performance is excellent, excellent in stability is driven, also has many advantages, such as to eliminate the ability of unexpected freedom degree.
Description
Technical field
The present invention relates to robot field, especially a kind of parallel institution containing closed-loop element.
Background technique
Parallel institution is the close loop mechanism being made of multiple branches, and the mechanism driven with parallel way, relative to tradition
Serial mechanism have that simple and compact for structure, rigidity is high, large carrying capacity on Unit Weight, error free accumulation, moving component matter
Measure it is small, be easily achieved high-speed motion, the advantages that track is easily controllable, these advantages compensate for serial mechanism to a certain extent
Deficiency achieves preferable application in terms of motion simulator, parallel machine, micro-manipulating robot, crawl.For
The higher modern comfort of the performance requirements such as safety, rigidity, flexibility is highly desirable to a kind of few branch redundancy containing closed-loop element drive
Full symmetric parallel institution is moved as main body mechanism, it is necessary to have high-precisions, big rotation for especially modern complex-curved processing
The multiaxis hybrid mechanism of ability, high flexibility ratio, the selection of the parallel module of multiaxis hybrid mechanism is particularly important, and parallel module is necessary
Meet fast pose adjustment ability, high rigidity, high response speed, high response acceleration, high-precision, high turning power, good driving
The performances such as stability, big bearing capacity, so that multiaxis series-parallel machine tool comprehensive performance is more preferable, however nowadays this kind of parallel institution
Very rare, therefore, the development of this kind of mechanism is of great significance.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of the full symmetric of few branch redundant drive containing closed-loop element
Parallel institution, there is big working space, big turning power, big bearing capacity, high rigidity, high flexibility ratio, mechanism kinematic/power to pass
It is excellent to pass function admirable, kinematics/dynamic performance, drives excellent in stability, also there is the ability for eliminating unexpected freedom degree
The advantages that.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
A kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element, including fixed platform and moving platform, allocate
Contain the 5R-R branch chain link of closed-loop element between platform and moving platform by two side-by-side, what each branch was connect with fixed platform
Two revolute pairs are respectively mounted motor as driving pair, and moving platform realizes horizontal and vertical two movements under four driving side effects
And the unfixed rotation of center of rotation perpendicular to plane of motion.
Technical solution of the present invention further improvement lies in that: two 5R-R branches are respectively the first branch and the second branch,
First branch and the second branched structure are full symmetric.
Technical solution of the present invention further improvement lies in that: the fixed platform and moving platform are cuboid plate structure,
Four revolute pairs uniformly distributed along straight line are connected on fixed platform, be equidistant between four revolute pairs, structure it is identical.
Technical solution of the present invention further improvement lies in that: the first branch include the first branch first connecting rod, the first branch
Second connecting rod, the first branch third connecting rod and the first branch fourth link, first branch first connecting rod one end pass through revolute pair
1A is connect with fixed platform, and the first branch first connecting rod other end is connect by revolute pair 1B with first branch second connecting rod one end,
The first branch second connecting rod other end is connect by revolute pair 1D with moving platform, the position between the first branch second connecting rod both ends
It is connect by revolute pair 1C with one end of the first branch third connecting rod, the other end of the first branch third connecting rod passes through revolute pair 1F
It is connect with one end of the first branch fourth link, the other end of the first branch fourth link is connected by revolute pair 1E and fixed platform
It connects, wherein five revolute pair compositions of revolute pair 1A, revolute pair 1B, revolute pair 1C, revolute pair 1F, revolute pair 1E in the first branch
One closed-loop element.
Technical solution of the present invention further improvement lies in that: the distance between described revolute pair 1B and revolute pair 1C and first
Branch third connecting rod is isometric.
Technical solution of the present invention further improvement lies in that: the second branch include the second branch first connecting rod, the second branch
Second connecting rod, the second branch third connecting rod and the second branch fourth link, second branch first connecting rod one end pass through revolute pair
2A is connect with fixed platform, and the second branch first connecting rod other end is connect by revolute pair 2B with second branch second connecting rod one end,
The second branch second connecting rod other end is connect by revolute pair 2D with moving platform, the position between the second branch second connecting rod both ends
It is connect by revolute pair 2C with one end of the second branch third connecting rod, the other end of the second branch third connecting rod passes through revolute pair 2F
It is connect with one end of the second branch fourth link, the other end of the second branch fourth link is connected by revolute pair 2E and fixed platform
It connects, wherein five revolute pair compositions of revolute pair 2A, revolute pair 2B, revolute pair 2C, revolute pair 2F, revolute pair 2E in the second branch
One closed-loop element.
Technical solution of the present invention further improvement lies in that: the distance between described revolute pair 2B and revolute pair 2C and second
Branch third connecting rod is isometric.
Technical solution of the present invention further improvement lies in that: the revolute pair axis of each revolute pair of each branch is mutually flat
Row.
Technical solution of the present invention further improvement lies in that: each revolute pair includes a U-shaped card slot and correspondence
Articulated shaft.
By adopting the above-described technical solution, the technological progress achieved by the present invention is:
Parallel institution of the present invention is whole and driving is secondary all has high symmetry；Therefore, which, which has, eliminates associated movement, subtracts
Few neat dystopy type, increases mechanism operability；Expand working space, improves whole rigidity and flexibility；Fault-tolerance is improved, is changed
Kind dexterity；The power transmission performance of mechanism is improved, driving stability is improved；Unexpected freedom degree is eliminated, mechanism drive is improved
Load state, avoid the occurrence of single driver cross the case where generation；Improve bearing capacity and accelerating ability；Improve the biography of function
Performance is passed, and motor torque can be optimized, the advantages that small electromotor error.
The distance between revolute pair 1B and revolute pair 1C and the first branch third connecting rod be isometric and revolute pair 2B and rotation
The distance between secondary 2C and the second branch third connecting rod are isometric, guarantee the high symmetry of mechanism, further increase the drive of mechanism
Dynamic stability.
Detailed description of the invention
Fig. 1 is a kind of three-dimensional structure signal of few full symmetric parallel institution of branch redundant drive containing closed-loop element of the present invention
Figure；
Wherein, 0, fixed platform, 1, moving platform, the 11, first branch first connecting rod, the 12, first branch second connecting rod, 13, first
Chain third connecting rod, the 14, first branch fourth link, the 21, second branch first connecting rod, the 22, second branch second connecting rod, 23,
Two branch third connecting rods, the 24, second branch fourth link.
Specific embodiment
The present invention is described in further details below with reference to embodiment:
Embodiment one
As shown in Figure 1, a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element, including 0 He of fixed platform
Moving platform 1 contains the 5R-R branch chain link of closed-loop element by two side-by-side between fixed platform 0 and moving platform 1.Two of them
5R-R branch is respectively the first branch and the second branch, and the first branch and the second branched structure are full symmetric.Two branches are
Active drive branch, wherein two revolute pairs that each branch is connect with fixed platform 0 are respectively mounted motor as driving pair, moving platform
1 drives at four and realizes the two 3 freedom degrees movements for moving one turn under side effect, is horizontal and vertical two movements respectively and vertical
Directly in the unfixed rotation of the center of rotation of plane of motion.
First branch includes the first branch first connecting rod 11, the first branch second connecting rod 12, the first branch third connecting rod 13
And the first branch fourth link 14,11 one end of the first branch first connecting rod are connect by revolute pair 1A with fixed platform 0, first
11 other end of chain first connecting rod is connect by revolute pair 1B with 12 one end of the first branch second connecting rod, the first branch second connecting rod 12
The other end is connect by revolute pair 1D with moving platform 1, and the position between 12 both ends of the first branch second connecting rod passes through revolute pair 1C
It is connect with one end of the first branch third connecting rod 13, the other end of the first branch third connecting rod 13 passes through revolute pair 1F and first
One end of chain fourth link 14 connects, and the other end of the first branch fourth link 14 is connect by revolute pair 1E with fixed platform 0,
In five revolute pairs of revolute pair 1A, revolute pair 1B, revolute pair 1C, revolute pair 1F, revolute pair 1E in the first branch form one
Closed-loop element.
Second branch includes the second branch first connecting rod 21, the second branch second connecting rod 22, the second branch third connecting rod 23
And the second branch fourth link 24,21 one end of the second branch first connecting rod are connect by revolute pair 2A with fixed platform 0, second
21 other end of chain first connecting rod is connect by revolute pair 2B with 22 one end of the second branch second connecting rod, the second branch second connecting rod 22
The other end is connect by revolute pair 2D with moving platform 1, and the position between 22 both ends of the second branch second connecting rod passes through revolute pair 2C
It is connect with one end of the second branch third connecting rod 23, the other end of the second branch third connecting rod 23 passes through revolute pair 2F and second
One end of chain fourth link 24 connects, and the other end of the second branch fourth link 24 is connect by revolute pair 2E with fixed platform 0,
In five revolute pairs of revolute pair 2A, revolute pair 2B, revolute pair 2C, revolute pair 2F, revolute pair 2E in the second branch form one
Closed-loop element.
Wherein the revolute pair axis of each revolute pair of the first branch and the second branch is parallel to each other.Revolute pair can be existing
There is any form in technology, as long as being able to achieve stable hinged relationship in rotational plane.
Fixed platform 0 and moving platform 1 are cuboid plate structure simultaneously, are connected on fixed platform 0 uniformly distributed along straight line
Four revolute pairs, i.e. revolute pair 1A, revolute pair 1E, revolute pair 2A, revolute pair 2E are equidistant between four revolute pairs, tie
Structure is all the same, keeps full symmetric.
Embodiment two
The distance between revolute pair 1B and revolute pair 1C and the first branch third connecting rod 13 are isometric in the present embodiment；Revolute pair 2B and
The distance between revolute pair 2C and the second branch third connecting rod 23 are isometric, guarantee the high symmetry of mechanism, further increase machine
The driving stability of structure.
Each revolute pair of the present embodiment includes a U-shaped card slot and corresponding articulated shaft simultaneously, is mentioned to each branch
Stable hinged rotation basis is supplied.
Finally, it should be noted that above-described embodiments are merely to illustrate the technical scheme, rather than to it
Limitation；Although the present invention is described in detail referring to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or to part of or all technical features into
Row equivalent replacement；And these modifications or substitutions, it does not separate the essence of the corresponding technical solution various embodiments of the present invention technical side
The range of case.
Claims (9)
1. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element, including fixed platform (0) and moving platform
(1), it is characterised in that: connected between fixed platform (0) and moving platform (1) by the 5R-R branch that two side-by-side contains closed-loop element
It connects, two revolute pairs that each branch is connect with fixed platform (0) are respectively mounted motor as driving pair, and moving platform (1) drives at four
Horizontal and vertical two movements and the unfixed rotation of center of rotation perpendicular to plane of motion are realized under dynamic side effect.
2. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 1,
Be characterized in that: two 5R-R branches are respectively the first branch and the second branch, and the first branch and the second branched structure are full symmetric.
3. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 2,
Be characterized in that: the fixed platform (0) and moving platform (1) are cuboid plate structure, are connected on fixed platform (0) straight along one
Four uniformly distributed revolute pairs of line, be equidistant between four revolute pairs, structure it is identical.
4. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 2,
Be characterized in that: the first branch includes the first branch first connecting rod (11), the first branch second connecting rod (12), the first branch third company
Bar (13) and the first branch fourth link (14), first branch first connecting rod (11) one end pass through revolute pair 1A and fixed platform
(0) it connecting, first branch first connecting rod (11) other end is connect by revolute pair 1B with first branch second connecting rod (12) one end,
First branch second connecting rod (12) other end is connect by revolute pair 1D with moving platform (1), the first branch second connecting rod (12) two
Position between end is connect by revolute pair 1C with one end of the first branch third connecting rod (13), the first branch third connecting rod (13)
The other end connect with one end of the first branch fourth link (14) by revolute pair 1F, the first branch fourth link (14) it is another
One end is connect by revolute pair 1E with fixed platform (0), wherein revolute pair 1A, revolute pair 1B, revolute pair 1C in the first branch, turn
Five dynamic secondary 1F, revolute pair 1E revolute pairs form a closed-loop element.
5. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 4,
Be characterized in that: the distance between described revolute pair 1B and revolute pair 1C and the first branch third connecting rod (13) are isometric.
6. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 2,
Be characterized in that: the second branch includes the second branch first connecting rod (21), the second branch second connecting rod (22), the second branch third company
Bar (23) and the second branch fourth link (24), second branch first connecting rod (21) one end pass through revolute pair 2A and fixed platform
(0) it connecting, second branch first connecting rod (21) other end is connect by revolute pair 2B with second branch second connecting rod (22) one end,
Second branch second connecting rod (22) other end is connect by revolute pair 2D with moving platform (1), the second branch second connecting rod (22) two
Position between end is connect by revolute pair 2C with one end of the second branch third connecting rod (23), the second branch third connecting rod (23)
The other end connect with one end of the second branch fourth link (24) by revolute pair 2F, the second branch fourth link (24) it is another
One end is connect by revolute pair 2E with fixed platform (0), wherein revolute pair 2A, revolute pair 2B, revolute pair 2C in the second branch, turn
Five dynamic secondary 2F, revolute pair 2E revolute pairs form a closed-loop element.
7. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 6,
Be characterized in that: the distance between described revolute pair 2B and revolute pair 2C and the second branch third connecting rod (23) are isometric.
8. according to claim 1~7 described in any item a kind of few branch redundant drives containing closed-loop element full symmetric and
Online structure, it is characterised in that: the revolute pair axis of each revolute pair of each branch is parallel to each other.
9. a kind of full symmetric parallel institution of few branch redundant drive containing closed-loop element according to claim 8,
Be characterized in that: each revolute pair includes a U-shaped card slot and corresponding articulated shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910642202.9A CN110315509B (en) | 2019-07-16 | 2019-07-16 | Fully-symmetrical parallel mechanism with few branched chains and redundant drive of closed-loop unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910642202.9A CN110315509B (en) | 2019-07-16 | 2019-07-16 | Fully-symmetrical parallel mechanism with few branched chains and redundant drive of closed-loop unit |
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| CN110315509B CN110315509B (en) | 2021-10-29 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111267078A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| WO2021109074A1 (en) * | 2019-12-05 | 2021-06-10 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
| CN114786884A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021109074A1 (en) * | 2019-12-05 | 2021-06-10 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN114786884A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN111267078A (en) * | 2020-04-02 | 2020-06-12 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
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