CN110524519B - High-rigidity high-redundancy driving parallel mechanism - Google Patents
High-rigidity high-redundancy driving parallel mechanism Download PDFInfo
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- CN110524519B CN110524519B CN201910834206.7A CN201910834206A CN110524519B CN 110524519 B CN110524519 B CN 110524519B CN 201910834206 A CN201910834206 A CN 201910834206A CN 110524519 B CN110524519 B CN 110524519B
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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 high-rigidity high-redundancy driving parallel mechanism, which relates to the technical field of robots and mainly comprises a movable platform, a fixed platform, a follow-up platform and 4 identical branched chains containing closed-loop units
The structure is simple, and the kinematic pairs are all low pairs, so that the manufacturing cost can be reduced; the mechanism has high redundancy drive, is symmetrical and completely symmetrical in drive, has high rigidity, large bearing capacity, good drive stability, good force/position transmission performance and the like, and is very easy to analyze and control kinematics and dynamics. The 8 symmetrically distributed revolute pairs on the fixed platform are driving pairs, and are driven by a motor, so that two rotational degrees of freedom and two vertical degrees of freedom in the orbiting platform and the follow-up platform are realized under the action of 8 driving.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-rigidity high-redundancy driving parallel mechanism.
Background
With the urgent needs of ocean development, nuclear energy utilization, space exploration and the like, welding tasks in extreme environments, such as equipment repair in the nuclear environment, construction of future space stations, maintenance of underground and deep sea pipelines and the like, because of the influence of factors such as nuclear radiation, space radiation, oxygen deficiency, pressure and the like, welders are not suitable for entering welding sites to carry out welding operation, therefore, a welding robot is the best choice for replacing the welders to enter the extreme environments and complete the welding tasks by adopting a 'macroscopic remote control and microscopic autonomous' welding mode, meanwhile, the difficulty and the danger degree of direct operation of the human are reduced, and the stability and the reliability of the welding seam quality in special occasions are ensured, so that the method has very important significance. Therefore, the redundant driving parallel mechanism with high rigidity, large bearing capacity, large working space, high flexibility and other high performances is required for the body actuating mechanism of the welding robot, and the redundant driving parallel mechanism has very important significance for the development of the mechanism.
Disclosure of Invention
In order to solve the technical problems, the invention provides a high-rigidity high-redundancy driving parallel mechanism, the mechanism and the driving of the mechanism have high symmetry, and the mechanism has high-redundancy driving by adding redundancy driving from the angle of a redundancy branch and a closed-loop unit; therefore, the mechanism has the advantages of large working space, large rotation capacity, large bearing capacity, high rigidity, high precision, high flexibility, excellent mechanism motion and force transmission performance, excellent kinematics and dynamics performance, excellent driving stability and the like.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a high-rigidity high-redundancy driving parallel mechanism which comprises a movable platform, a follow-up platform, a fixed platform and 4 identical branched chains containing closed-loop units
The movable platform is arranged above the follow-up platform and is rotationally connected with the follow-up platform through a sixth revolute pair, two ends of the fixed platform are respectively connected with two ends of the movable platform through 2 branched chains, and the other two ends of the fixed platform are respectively connected with two ends of the follow-up platform through 2 branched chains.
Optionally, the 4 closed-loop branched chains have the same structure size, and each branched chain is
The branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;
optionally, one end of the first connecting rod is connected with one end of the fixed platform through a first revolute pair, and the other end of the first connecting rod is connected with one end of the second connecting rod through a second revolute pair; the other end of the second connecting rod is connected with one end of the third connecting rod and one end of the fourth connecting rod through a composite hinge; the other end of the fourth connecting rod is connected with one end of the fifth connecting rod through a third revolute pair; the other end of the fifth connecting rod is connected with the fixed platform through a fourth revolute pair; the other end of the third connecting rod is connected with one end of the movable platform and one end of the follow-up platform through a fifth revolute pair;
optionally, the rotation axis of the branched fifth revolute pair is perpendicular to the rotation axis of the sixth revolute pair, and the rotation axes of the first revolute pair, the second revolute pair, the third revolute pair, the fourth revolute pair and the compound hinge are parallel to each other;
the two ends of the movable platform and the two ends of the follow-up platform are respectively connected with one end of one branched chain;
optionally, the axes of the fifth revolute pairs in the two branched chains at the two ends of the movable platform are coaxially arranged;
optionally, the axes of the fifth revolute pairs in the two branched chains at the two ends of the follow-up platform are arranged coaxially;
optionally, the sixth revolute pair axis is perpendicular to the fifth revolute pair axis of each branched chain;
optionally, the first revolute pairs of the first and third branched chains are parallel to each other, the first revolute pairs of the second and fourth branched chains are parallel to each other, and the first revolute pairs of the first and third branched chains are perpendicular to the first revolute pairs of the second and fourth branched chains;
optionally, the first rotating pair and the fourth rotating pair of the first branched chain and the third branched chain are arranged on one central line of the fixed platform, and the first rotating pair and the fourth rotating pair of the second branched chain and the fourth branched chain are arranged on the other central line of the fixed platform.
Optionally, the movable platform and the follow-up platform are both cuboid structures, and the shapes and the dimensions are completely the same
Optionally, the 8 symmetrically distributed revolute pairs on the fixed platform are all driving pairs, and are driven by a motor to realize two rotations and vertical movement in the plane of the orbiting platform under the action of the 8 driving pairs.
Compared with the prior art, the invention has the following technical effects:
the high-rigidity high-redundancy driving parallel mechanism mainly structurally comprises a movable platform, a fixed platform, a follow-up platform and 4 identical branched chains containing closed-loop units
The structure is simple, and the kinematic pairs are all low pairs, so that the manufacturing cost can be reduced; the mechanism has high redundancy drive, is symmetrical and completely symmetrical in drive, has high rigidity, large bearing capacity, good drive stability, good force/position transmission performance and the like, and is very easy to analyze and control kinematics and dynamics. The 8 symmetrically distributed revolute pairs on the fixed platform are driving pairs, and are driven by a motor, so that two rotational degrees of freedom and two vertical degrees of freedom in the orbiting platform and the follow-up platform are realized under the action of 8 driving.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a high-rigidity high-redundancy driving parallel mechanism of the invention.
Description of reference numerals: b. a sixth revolute pair; 5. fixing a platform; 6. a movable platform; 7. a follow-up platform; 11. a first link; 12. a second link; 13. a third link; 14. a fourth link; 15. a fifth link; a1, first rotating pair. a2, a second revolute pair; a3, compound hinge; a4, a third revolute pair; a5, a fourth revolute pair; a6, fifth revolute pair.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the embodiment provides a high-rigidity high-redundancy driving parallel mechanism, which includes a movable platform 6, a following platform 7, a fixed platform 5, and 4 identical branched chains containing closed-loop units
The movable platform 6 is arranged above the follow-up platform 7, the movable platform 6 is rotatably connected with the follow-up platform 7 through a sixth revolute pair b, two ends of the fixed platform 5 are respectively connected with two ends of the movable platform 6 through 2 branched chains, and the other two ends of the fixed platform 5 are respectively connected with two ends of the follow-up platform 7 through 2 branched chains;
in this embodiment, as shown in FIG. 1, the 4 branched chains containing closed loops have the same size, and each branched chain is a branched chain
The branched chain comprises a first connecting rod 11, a second connecting rod 12, a third connecting rod 13, a fourth connecting rod 14 and a fifth connecting rod 15;
optionally, one end of the first link 11 is connected to one end of the fixed platform 5 through a first revolute pair a1, and the other end of the first link 11 is connected to one end of the second link 12 through a second revolute pair a 2; the other end of the second link 12 is connected to one ends of the third link 13 and the fourth link 14 by a compound hinge a 3; the other end of the fourth link 14 is connected with one end of the fifth link 15 through a third revolute pair a 4; the other end of the fifth connecting rod 15 is connected with the fixed platform 5 through a fourth revolute pair a 5; the other end of the third connecting rod 13 is connected with one end of the movable platform 6 and one end of the follow-up platform 7 through a fifth revolute pair a 6; the rotating axis of the branched fifth rotating pair a6 is perpendicular to the rotating axis of the sixth rotating pair b, and the rotating axes of the first rotating pair, the second rotating pair, the third rotating pair, the fourth rotating pair and the compound hinge a3 are parallel to each other.
Two ends of the movable platform 6 and two ends of the follow-up platform 7 are respectively connected with one end of one branched chain; the axes of the fifth revolute pair a6 in the two branched chains at the two ends of the movable platform 6 are arranged coaxially, and are referred to as a first branched chain and a third branched chain; the axes of the fifth revolute pair a6 in the two branched chains at the two ends of the follow-up platform 7 are arranged coaxially, and are referred to as a second branched chain and a fourth branched chain; the axis of the sixth revolute pair b is perpendicular to the axis of the fifth revolute pair a6 of each branched chain; the first revolute pairs a1 of the first and third branched chains are parallel to each other, the first revolute pairs a1 of the second and fourth branched chains are parallel to each other, and the first revolute pairs a1 of the first and third branched chains are perpendicular to each other in the first revolute pairs a1 of the second and fourth branched chains; the first revolute pair a1 and the fourth revolute pair a5 of the first branched chain and the third branched chain are arranged on one central line of the fixed platform, and the first revolute pair a1 and the fourth revolute pair a5 of the second branched chain and the fourth branched chain are arranged on the other central line of the fixed platform. The movable platform and the follow-up platform are both of cuboid structures and are completely identical in shape and size.
The 8 symmetrically distributed revolute pairs on the fixed platform are driving pairs, and are driven by a motor to realize two rotations and vertical movement in the plane of the orbiting platform under the action of 8 driving forces.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. A high-rigidity high-redundancy driving parallel mechanism is characterized by comprising a movable platform, a follow-up platform, a fixed platform and 4 identical branched chains containing closed-loop units
The movable platform is arranged above the follow-up platform and is rotationally connected with the follow-up platform through a sixth revolute pair, two ends of the fixed platform are respectively connected with two ends of the movable platform through 2 branched chains, and the other two ends of the fixed platform are respectively connected with two ends of the follow-up platform through 2 branched chains;
the sizes of the 4 closed-loop branched chains are completely the same, and each branched chain is
The branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;
one end of the first connecting rod is connected with one end of the fixed platform through a first revolute pair, and the other end of the first connecting rod is connected with one end of the second connecting rod through a second revolute pair; the other end of the second connecting rod is connected with one end of the third connecting rod and one end of the fourth connecting rod through a composite hinge; the other end of the fourth connecting rod is connected with one end of the fifth connecting rod through a third revolute pair; the other end of the fifth connecting rod is connected with the fixed platform through a fourth revolute pair; the other end of the third connecting rod is connected with one end of the movable platform or the servo platform through a fifth revolute pair;
the 8 symmetrically distributed revolute pairs on the fixed platform are driving pairs, and are driven by a motor to realize two rotations and vertical movement in the plane of the orbiting platform under the action of 8 driving forces.
2. The parallel high-rigidity and high-redundancy driving mechanism according to claim 1, wherein the rotation axis of the fifth rotating pair is perpendicular to the rotation axis of the sixth rotating pair, and the rotation axes of the first, second, third and fourth rotating pairs and the compound hinge are parallel to each other.
3. The high-rigidity high-redundancy driving parallel mechanism is characterized by comprising four branched chains, wherein two ends of the movable platform and two ends of the follow-up platform are respectively connected with one end of one branched chain;
the axes of the fifth rotating pairs in the two branched chains at the two ends of the movable platform are coaxially arranged;
the axes of the fifth rotating pairs in the two branched chains at the two ends of the follow-up platform are coaxially arranged;
the sixth revolute pair axis is perpendicular to the fifth revolute pair axis of each branched chain;
the first rotating pairs of the first and third branched chains are parallel to each other, the first rotating pairs of the second and fourth branched chains are parallel to each other, and the first rotating pairs of the first and third branched chains are perpendicular to the first rotating pairs of the second and fourth branched chains;
the first rotating pair and the fourth rotating pair of the first branched chain and the third branched chain are arranged on one central line of the fixed platform, and the first rotating pair and the fourth rotating pair of the second branched chain and the fourth branched chain are arranged on the other central line of the fixed platform.
4. The high-rigidity high-redundancy driving parallel mechanism according to claim 1, wherein the movable platform and the follow-up platform are both of rectangular parallelepiped structures and are identical in shape and size specification.
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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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| CN114786883A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN111267077B (en) * | 2020-04-02 | 2021-05-07 | 燕山大学 | Non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism |
| CN113211417B (en) * | 2021-06-04 | 2022-08-30 | 燕山大学 | Three-translation parallel mechanism |
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