CN110355741B - Parallel mechanism with two motion modes of 3T1R and 2T2R - Google Patents
Parallel mechanism with two motion modes of 3T1R and 2T2R Download PDFInfo
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- CN110355741B CN110355741B CN201910549776.1A CN201910549776A CN110355741B CN 110355741 B CN110355741 B CN 110355741B CN 201910549776 A CN201910549776 A CN 201910549776A CN 110355741 B CN110355741 B CN 110355741B
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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
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Abstract
The invention discloses a parallel mechanism with two motion modes of 3T1R and 2T2R, which comprises a movable platform and a fixed platform, wherein the movable platform is connected with a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and the movable platform respectively passes through the first branched chain, the second branched chain, the third branched chain,The fourth branched chain is connected with the fixed platform; the first branch chain comprises a revolute pair P which is connected in sequence11A first connecting rod and a revolute pair R11A second connecting rod and a revolute pair R12Third connecting rod and universal hinge U11Revolute pair P11And is also connected with a fixed platform and a universal hinge U11The movable platform is also connected with the movable platform; the second branch chain comprises universal hinges U which are connected in sequence21A fourth connecting rod and a sliding pair P21Fifth connecting rod and universal hinge U22Universal hinge U21And is also connected with a fixed platform and a universal hinge U22And is also connected with the movable platform. The parallel mechanism can rapidly change the motion mode, and meets the working requirements under complex conditions.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a parallel mechanism with two motion modes of 3T1R and 2T 2R.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
The parallel mechanism with multiple motion modes has the characteristic of motion bifurcation under the singular configuration of the mechanism, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the movement mode of the mechanism is changed without reassembling the mechanism, and the movement mode is high in changing speed and simple and convenient in process. In the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, a parallel structure which has two motion modes of three-movement one-rotation (3T1R) and two-movement two-rotation (2T2R) is required to adapt to various different motion modes, the parallel structure is suitable for work under various circumstances, the whole work flow is simplified, but the parallel structure which has two motion modes of three-movement one-rotation (3T1R) and two-movement two-rotation (2T2R) is less at present.
Disclosure of Invention
The invention aims to provide a parallel mechanism with two motion modes of 3T1R and 2T2R, which can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, can quickly change the motion modes and meet the working requirements under complex conditions.
The technical scheme adopted by the invention is that the parallel mechanism with two motion modes of 3T1R and 2T2R comprises a movable platform and a fixed platform, wherein the movable platform is connected with a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and the movable platform is connected with the fixed platform through the first branched chain, the second branched chain, the third branched chain and the fourth branched chain respectively;
the first branch chain comprises a revolute pair P which is connected in sequence11A first connecting rod and a revolute pair R11A second connecting rod and a revolute pair R12Third connecting rod and universal hinge U11Revolute pair P11And is also connected with a fixed platform and a universal hinge U11The movable platform is also connected with the movable platform;
the second branch chain comprises universal hinges U which are connected in sequence21A fourth connecting rod and a sliding pair P21Fifth connecting rod and universal hinge U22Universal hinge U21And is also connected with a fixed platform and a universal hinge U22And is also connected with the movable platform.
The present invention is also characterized in that,
sliding pair P11Is connected with a driving motor.
Sliding pair P21Is connected with a driving motor.
The third branched chain comprises spherical hinges S which are connected in sequence31A sixth connecting rod and a sliding pair P31Seventh connecting rod and spherical hinge S32Spherical hinge S31And also connected with the fixed platform by a spherical hinge S32And is also connected with the movable platform.
Sliding pair P31Is connected with a driving motor.
The fourth branched chain comprises a spherical hinge S which is connected in sequence41Eighth connecting rod, sliding pair P41Ninth connecting rod and spherical hinge S42Spherical hinge S41And also connected with the fixed platform by a spherical hinge S42And is also connected with the movable platform.
Sliding pair P41Is connected with a driving motor.
The parallel mechanism has the beneficial effects that the parallel mechanism has two motion modes of 3T1R and 2T2R, four branched chains can flexibly move, and the parallel mechanism can realize the motion modes of three-movement one-rotation (3T1R) and two-movement two-rotation (2T2R) by controlling the moving pair and the rotating pair, so that the parallel mechanism can quickly change the motion modes after being suitable for the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like, and meets the working requirements under the complex conditions.
Drawings
FIG. 1 is a schematic diagram of a parallel mechanism having two motion modes of 3T1R and 2T2R according to the present invention with a motion mode of 2T 2R;
FIG. 2 is a schematic diagram of the parallel mechanism with two motion modes of 3T1R and 2T2R according to the present invention with 3T2R instantaneous degrees of freedom;
fig. 3 is a schematic diagram of the parallel mechanism with two motion modes of 3T1R and 2T2R according to the present invention with a motion mode of 3T 1R.
In the figure, 1 is a fixed platform, 2 is a first connecting rod, 3 is a second connecting rod, 4 is a third connecting rod, 5 is a fourth connecting rod, 6 is a fifth connecting rod, 7 is a sixth connecting rod, 8 is a seventh connecting rod, 9 is an eighth connecting rod, 10 is a ninth connecting rod, and 11 is a movable platform.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a parallel mechanism with two motion modes of 3T1R and 2T2R, which comprises a movable platform 11 and a fixed platform 1, wherein the movable platform 11 is connected with a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and the movable platform 11 is connected with the fixed platform 1 through the first branched chain, the second branched chain, the third branched chain and the fourth branched chain respectively;
defining the joint of the movable platform 1 and the first branch chain as B1Defining the joint of the movable platform 1 and the second branched chain as B2Defining the joint of the movable platform 1 and the third branched chain as B3Defining the joint of the movable platform 1 and the fourth branched chain as B4；
The first branch chain comprises a revolute pair P which is connected in sequence11A first connecting rod 2 and a revolute pair R11A second connecting rod 3 and a revolute pair R12A third connecting rod 4 and a universal hinge U11Revolute pair P11And is also connected with the fixed platform 1 and is provided with a universal hinge U11Is also connected with the movable platform 11;
sliding pair P11And a revolute pair R11Rotation axis and revolute pair R12And universal hinge U11The axes of the revolute pairs connected with the third connecting rod 4 are all arranged perpendicular to the horizontal plane.
The second branch chain comprises universal hinges U which are connected in sequence21A fourth connecting rod 5 and a sliding pair P21Fifth connecting rod 6 and universal hinge U22Universal hinge U21And is also connected with the fixed platform 1 and is provided with a universal hinge U22And is also connected with the movable platform 11.
Sliding pair P11Is connected with a driving motor.
Sliding pair P21Is connected with a driving motor.
The third branched chain comprises spherical hinges S which are connected in sequence31A sixth connecting rod 7 and a sliding pair P31Seventh connecting rod 8 and spherical hinge S32Spherical hinge S31And is also connected with the fixed platform 1 and is provided with a spherical hinge S32And is also connected with the movable platform 11.
Sliding pair P31Is connected with a driving motor.
The fourth branched chain comprises a spherical hinge S which is connected in sequence41Eighth connecting rod 9 and sliding pair P41Ninth connecting rod 10 and spherical hinge S42Spherical hinge S41And is also connected with the fixed platform 1 and is provided with a spherical hinge S42And is also connected with the movable platform 11.
Sliding pair P41Is connected with a driving motor.
In the configuration shown in FIG. 1, the sliding pair P11And a revolute pair R11And a revolute pair R12And a universal hinge U connected with the third connecting rod 411The axes of the revolute pairs are vertical to the horizontal plane; universal hinge U21And universal hinge U22The axis of a revolute pair respectively connecting the fourth connecting rod 5 and the fifth connecting rod 6 is vertical to the horizontal plane; universal hinge U21And universal hinge U22In the universal joint U, the axes of the revolute pairs which are not connected with the fourth connecting rod 5 and the fifth connecting rod 6 are intersected, and the universal joint U22The axis of a revolute pair connected with the movable platform 11 and a universal hinge U connected with the movable platform 11 in a first branched chain11The axes of the revolute pairs are parallel.
Sliding pair P in third branch chain and fourth branch chain31And a sliding pair P41In the general direction of space.
In the mechanism configuration shown in fig. 1, the movable platform has a 2T2R motion mode to control the movable driving pair P41Of moving pair P31Of moving pair P21Of moving pair P11Control of the mechanism can be achieved.
The parallel mechanism of the present invention is deformed in the configuration shown in FIG. 1, and the sliding pair P is driven and locked41And a sliding pair P31And a sliding pair P21Controlling the sliding pair P11Causing the parallel mechanism of the present invention to move to the configuration of the mechanism shown in fig. 2. Under the position, the universal hinge U22Revolute pair and universal hinge U for connecting movable platform 1121The revolute pairs connected with the fixed platform 1 are parallel. At this time, the parallel mechanism of the present invention has 3T2R instantaneous degrees of freedom.
Controlling the sliding pair P21And a sliding pair P31And a sliding pair P41And a revolute pair R11In a locked state, controls and drives the sliding pair P11Moving in a direction parallel to the Z axis so that the parallel mechanism of the present invention is in the configuration shown in fig. 3; at the moment, the universal hinge U11Revolute pair and universal hinge U of middle-connected movable platform 1122The revolute pair of the middle connecting movable platform 11 is parallel and is provided with a universal hinge U22Wherein the axis of the revolute pair not connecting the movable platform 11 is not perpendicular to the horizontal plane. Drawing (A)3, the parallel mechanism of the present invention has a motion pattern of 3T 1R. Controlling the sliding pair P11And a sliding pair P21And a sliding pair P31And a sliding pair P41Control of the 3T1R motion pattern may be achieved.
According to the parallel mechanism, the fixed platform and the movable platform are connected through the four branched chains, different motion modes of the parallel mechanism can be realized by controlling the movable pair and the rotating pair, namely the parallel mechanism comprises a three-movement one-rotation (3T1R) and a two-rotation two-movement (2R2T), the parallel mechanism can be applied to motion simulation, machine assembly, sorting and grabbing and parallel machine tools, the motion modes can be rapidly changed, and the working requirements under complex conditions are met.
Claims (1)
1. The parallel mechanism with two motion modes of 3T1R and 2T2R is characterized by comprising a movable platform (11) and a fixed platform (1), wherein the movable platform (11) is connected with a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, and the movable platform (11) is connected with the fixed platform (1) through the first branched chain, the second branched chain, the third branched chain and the fourth branched chain respectively;
the first branch chain comprises a sliding pair P connected in sequence11A first connecting rod (2) and a revolute pair R11A second connecting rod (3) and a revolute pair R12A third connecting rod (4) and a universal hinge U11Said sliding pair P11And is also connected with a fixed platform (1), and the universal hinge U11Is also connected with the movable platform (11);
the second branched chain comprises universal hinges U which are connected in sequence21A fourth connecting rod (5) and a sliding pair P21A fifth connecting rod (6) and a universal hinge U22The universal hinge U21And is also connected with a fixed platform (1), and the universal hinge U22Is also connected with the movable platform (11);
the third branched chain comprises spherical hinges S which are connected in sequence31A sixth connecting rod (7) and a sliding pair P31A seventh connecting rod (8) and a spherical hinge S32The spherical hinge S31And is also connected with a fixed platform (1), and the spherical hinge S32And also with the moving platform(11) Connecting;
the fourth branched chain comprises spherical hinges S which are connected in sequence41An eighth connecting rod (9) and a sliding pair P41A ninth connecting rod (10) and a spherical hinge S42The spherical hinge S41And is also connected with a fixed platform (1), and the spherical hinge S42Is also connected with the movable platform (11);
the sliding pair P11A driving motor is connected on the upper part;
the sliding pair P21A driving motor is connected on the upper part;
the sliding pair P31A driving motor is connected on the upper part;
the sliding pair P41Is connected with a driving motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910549776.1A CN110355741B (en) | 2019-06-24 | 2019-06-24 | Parallel mechanism with two motion modes of 3T1R and 2T2R |
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| CN201910549776.1A CN110355741B (en) | 2019-06-24 | 2019-06-24 | Parallel mechanism with two motion modes of 3T1R and 2T2R |
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| CN110355741A CN110355741A (en) | 2019-10-22 |
| CN110355741B true CN110355741B (en) | 2020-12-01 |
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| CN108908296B (en) * | 2018-07-16 | 2020-11-17 | 西安工程大学 | Parallel mechanism with two motion modes of 3R1T and 2R2T |
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Effective date of registration: 20210722 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 Shaanxi province Xi'an Beilin District Jinhua Road No. 19 Patentee before: XI'AN POLYTECHNIC University |