CN110524519A - A kind of high rigidity highly redundant driven Parallel Kinematic Manipulator - Google Patents
A kind of high rigidity highly redundant driven Parallel Kinematic Manipulator Download PDFInfo
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- CN110524519A CN110524519A CN201910834206.7A CN201910834206A CN110524519A CN 110524519 A CN110524519 A CN 110524519A CN 201910834206 A CN201910834206 A CN 201910834206A CN 110524519 A CN110524519 A CN 110524519A
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- revolute pair
- platform
- branch
- connecting rod
- high rigidity
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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 present invention discloses a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator, is related to robotic technology field, and primary structure includes moving platform, fixed platform, compliant platform and 4 identical branches containing closed-loop elementIts structure is simple, and kinematic pair is low pair, can reduce manufacturing cost；The present invention contains two angle addition redundant drives of closed-loop element from containing redundancy branched chain again, mechanism of the present invention has highly redundant driving, not only mechanism is symmetrical for mechanism of the present invention, it is also full symmetric that it, which drives, therefore, mechanism of the present invention has high rigidity, big bearing capacity, stability, the performances such as good power/position transfer performance, and kinematics and dynamic analysis and control is well driven to be very easy to.8 symmetrical revolute pairs on fixed platform are that driving is secondary, and using motor driven, double rotation freedom degrees and vertical direction one-movement-freedom-degree in moving platform and compliant platform are realized under 8 driving effects.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator.
Background technique
With exploitation ocean, using nuclear energy and exploration of the universe space etc., there is an urgent need to the welding under extreme environment is appointed
Business, such as the construction of equipment reparation, future space station under nuclear environment, underground and pipelines in deep sea maintenance etc., due to nuclear radiation,
The influence of the factors such as irradiation space, anoxic and pressure, welder are not suitable for entering welding scene progress weld job, therefore bonding machine
It is best that device people, which replaces welder to enter extreme environment and complete weld task by the way of welding using " macroscopic view remote control, microcosmic autonomous ",
Selection, while alleviating the difficulty and danger level of mankind's direct operation, it is ensured that under special occasions the stability of weldquality and
Reliability has a very important significance.Therefore, high rigidity is needed for the ontology executing agency of welding robot, it is big to carry
Ability, the redundantly actuated parallel mechanism of the high performance such as big working space and high automaticity have very the development of this kind of mechanism
Important meaning.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator, the invention mechanism
All there is high symmetry with driving, make mechanism that there is highly redundant from redundant branch and the addition of angle containing closed-loop element redundant drive
Driving；Therefore, the mechanism have big working space, big turning power, big bearing capacity, high rigidity, high-precision, high flexibility ratio,
Mechanism kinematic and power transmission performance is excellent, kinematics and dynamic performance are excellent, the advantages that driving excellent in stability.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator, including moving platform, compliant platform, fixed platform and 4
The identical branch containing closed-loop element of itemThe moving platform is set to above the compliant platform, and
The moving platform and the compliant platform are rotatablely connected by the 6th revolute pair, and the fixed platform both ends pass through 2 branches respectively
It is separately connected with the moving platform both ends, another both ends of fixed platform pass through 2 branches and the compliant platform both ends respectively
It is separately connected.
Optionally, 4 branched structures containing closed loop size is identical, and every branch isType,
The branch includes first connecting rod, second connecting rod, third connecting rod, fourth link and the 5th connecting rod；
Optionally, one end of the first connecting rod is connect with one end of the fixed platform by the first revolute pair, and described
The other end of one connecting rod is connect with one end of the second connecting rod by the second revolute pair；The other end of the second connecting rod and institute
The one end for stating third connecting rod and the fourth link is connected by compound hinges；The other end of the fourth link and the described 5th
One end of connecting rod is connected by third revolute pair；The other end and the fixed platform of 5th connecting rod are connected by the 4th revolute pair
It connects；The other end of the third connecting rod is connect with one end of the moving platform, compliant platform by the 5th revolute pair；
Optionally, the pivot center of the 5th revolute pair of branch and the pivot center of the 6th revolute pair are perpendicular,
The pivot center of first, second, third and fourth revolute pair and compound hinges is parallel to each other；
Including four branches, the both ends of the both ends of the moving platform and the compliant platform are respectively and described in one
One end of branch is connected；
Optionally, the 5th revolute pair axis in two branches at the moving platform both ends is coaxially arranged；
Optionally, the 5th revolute pair axis coaxial line in two branches at the compliant platform both ends is set
It sets；
Optionally, fiveth revolute pair axis of the 6th revolute pair axis perpendicular to each branch；
Optionally, the first revolute pair of first and third branch is parallel to each other, described second, four branches first rotation
Pair is parallel to each other, and the first revolute pair of first and third branch is mutually perpendicular in the first revolute pair of described second, four branches；
Optionally, the first revolute pair and the 4th revolute pair of the first branch and third branch are arranged in one article of fixed platform
On heart line, another article of center line of fixed platform is arranged in the first revolute pair and the 4th revolute pair of the second branch and the 4th branch
On.
Optionally, the moving platform and the compliant platform are rectangular parallelepiped structure, and the complete phase of shape and size specification
Together
Optionally, 8 symmetrical revolute pairs on fixed platform are that driving is secondary, using motor driven, are driven at 8
Lower two rotations realized in moving platform plane of effect and vertical direction shift action.
The present invention achieves following technical effect compared with the existing technology:
High rigidity highly redundant driven Parallel Kinematic Manipulator primary structure in the present invention includes moving platform, fixed platform, compliant platform
With 4 identical branches containing closed-loop elementIts structure is simple, and kinematic pair is low pair, can drop
Low manufacturing cost；The present invention contains two angle addition redundant drives of closed-loop element, mechanism of the present invention from containing redundancy branched chain again
Having highly redundant driving, not only mechanism is symmetrical for mechanism of the present invention, and it is also full symmetric for driving, therefore, mechanism tool of the present invention
There are high rigidity, big bearing capacity, well drive stability, the performances such as good power/position transfer performance, and kinematics and dynamics
Analysis is very easy to control.8 symmetrical revolute pairs on fixed platform are that driving is secondary, using motor driven, at 8
Double rotation freedom degrees and vertical direction one-movement-freedom-degree in moving platform and compliant platform are realized under driving effect.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of high rigidity highly redundant driven Parallel Kinematic Manipulator of the present invention.
Description of symbols: b, the 6th revolute pair；5, fixed platform；6, moving platform；7, compliant platform；11, first connecting rod；
12, second connecting rod；13, third connecting rod；14, fourth link；15, the 5th connecting rod；A1, the first revolute pair.A2, the second revolute pair；
A3, compound hinges；A4, third revolute pair；A5, the 4th revolute pair；A6, the 5th revolute pair.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one:
As shown in Figure 1, the present embodiment provides a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator, including it is moving platform 6, servo-actuated flat
Platform 7, the identical branch containing closed-loop element of fixed platform 5 and 4The moving platform 6 is set to described
7 top of compliant platform, and the moving platform 6 and the compliant platform 7 are rotatablely connected by the 6th revolute pair b, the fixed platform 5
Both ends pass through 2 branches respectively and are separately connected with 6 both ends of moving platform, and another both ends of the fixed platform 5 pass through 2 branch respectively
Chain is separately connected with 7 both ends of compliant platform；
In this specific embodiment, as shown in Figure 1,4 branched structures containing closed loop size is identical, every branch
It isType, the branch include first connecting rod 11, second connecting rod 12, third connecting rod 13,14 and of fourth link
5th connecting rod 15；
Optionally, one end of the first connecting rod 11 is connect with one end of the fixed platform 5 by the first revolute pair a1, institute
The other end for stating first connecting rod 11 is connect with one end of the second connecting rod 12 by the second revolute pair a2；The second connecting rod 12
The other end connect with one end of the third connecting rod 13 and the fourth link 14 by compound hinges a3；The fourth link
14 other end is connect with one end of the 5th connecting rod 15 by third revolute pair a4；The other end of 5th connecting rod 15 with
The fixed platform 5 passes through the 4th revolute pair a5 connection；The other end of the third connecting rod 13 and the moving platform 6, compliant platform 7
One end pass through the 5th revolute pair a6 connection；The pivot center of the 5th revolute pair a6 of branch is with the 6th revolute pair b's
Pivot center is perpendicular, and the pivot center of first, second, third and fourth revolute pair and compound hinges a3 are parallel to each other.
The both ends of the moving platform 6 and the both ends of the compliant platform 7 are connected with one end of a branch respectively
It connects；The 5th revolute pair a6 axis co-axial line setting in two branches at 6 both ends of moving platform, is remembered herein
For the first branch and third branch；The 5th revolute pair a6 axis in two branches at 7 both ends of compliant platform
It is coaxially arranged, is denoted as the second branch and the 4th branch herein；The 6th revolute pair b axis perpendicular to each branch
Five revolute pair a6 axis；First revolute pair a1 of first and third branch is parallel to each other, described second, first turn of four branches
Dynamic secondary a1 is parallel to each other, and the first revolute pair a1 of first and third branch is in the first revolute pair a1 phase of described second, four branches
It is mutually vertical；One article of center line of fixed platform is arranged in the rotation of the first revolute pair a1 and the 4th a5 pair of first branch and third branch
On, another article of center line of fixed platform is arranged in the first revolute pair a1 and the 4th revolute pair a5 of the second branch and the 4th branch
On.The moving platform and the compliant platform are rectangular parallelepiped structure, and shape and size specification is identical.
8 symmetrical revolute pairs on fixed platform are that driving is secondary, using motor driven, under 8 driving effects
Realize two rotations and the vertical direction shift action in moving platform plane.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (6)
1. a kind of high rigidity highly redundant driven Parallel Kinematic Manipulator, which is characterized in that including moving platform, compliant platform, fixed platform and 4
Identical branch containing closed-loop elementThe moving platform is set to above the compliant platform, and described
Moving platform and the compliant platform are rotatablely connected by the 6th revolute pair, and the fixed platform both ends pass through 2 branches and institute respectively
The connection of moving platform both ends is stated, another both ends of fixed platform pass through 2 branches respectively and connect with the compliant platform both ends.
2. high rigidity highly redundant driven Parallel Kinematic Manipulator according to claim 1, which is characterized in that 4 branch containing closed loop
Chain structure size is identical, and every branch isType, the branch include first connecting rod, second connecting rod,
Third connecting rod, fourth link and the 5th connecting rod；
One end of the first connecting rod is connect with one end of the fixed platform by the first revolute pair, the first connecting rod it is another
End is connect with one end of the second connecting rod by the second revolute pair；The other end of the second connecting rod and the third connecting rod and
One end of the fourth link is connected by compound hinges；One end of the other end of the fourth link and the 5th connecting rod is logical
Cross the connection of third revolute pair；The other end of 5th connecting rod is connect with the fixed platform by the 4th revolute pair；The third
The other end of connecting rod is connect with one end of the moving platform or compliant platform by the 5th revolute pair.
3. high rigidity highly redundant driven Parallel Kinematic Manipulator according to claim 2, which is characterized in that the 5th revolute pair
Pivot center and the pivot center of the 6th revolute pair are perpendicular, first, second, third and fourth revolute pair and compound hinges
Pivot center is parallel to each other.
4. high rigidity highly redundant driven Parallel Kinematic Manipulator according to claims 1 to 3, which is characterized in that described in four
The both ends of branch, the both ends of the moving platform and the compliant platform are connected with one end of a branch respectively；
The 5th revolute pair axis in two branches at the moving platform both ends is coaxially arranged；
The 5th revolute pair axis in two branches at the compliant platform both ends is coaxially arranged；
Fiveth revolute pair axis of the 6th revolute pair axis perpendicular to each branch；
First revolute pair of first and third branch is parallel to each other, described second, the first revolute pair of four branches be parallel to each other,
First revolute pair of first and third branch is mutually perpendicular in the first revolute pair of described second, four branches；
The first revolute pair and the 4th revolute pair of first branch and third branch are arranged on one article of center line of fixed platform, and second
The first revolute pair and the 4th revolute pair of branch and the 4th branch are arranged on another article of center line of fixed platform.
5. high rigidity highly redundant driven Parallel Kinematic Manipulator according to claim 1, which is characterized in that the moving platform and described
Compliant platform is rectangular parallelepiped structure, and shape and size specification is identical.
6. high rigidity highly redundant driven Parallel Kinematic Manipulator according to claim 1, which is characterized in that 8 on fixed platform are right
The revolute pair for claiming distribution is that driving is secondary, and using motor driven, two turns in moving platform plane are realized under 8 driving effects
Dynamic and vertical direction shift action.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910834206.7A CN110524519B (en) | 2019-09-04 | 2019-09-04 | High-rigidity high-redundancy driving parallel mechanism |
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|---|---|---|---|
| CN201910834206.7A CN110524519B (en) | 2019-09-04 | 2019-09-04 | High-rigidity high-redundancy driving parallel mechanism |
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| CN110524519A true CN110524519A (en) | 2019-12-03 |
| CN110524519B CN110524519B (en) | 2022-04-15 |
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| CN110524519B (en) | 2022-04-15 |
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