CN111409059A - Four-degree-of-freedom parallel mechanism with closed-loop branched chain - Google Patents
Four-degree-of-freedom parallel mechanism with closed-loop branched chain Download PDFInfo
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- CN111409059A CN111409059A CN202010230598.9A CN202010230598A CN111409059A CN 111409059 A CN111409059 A CN 111409059A CN 202010230598 A CN202010230598 A CN 202010230598A CN 111409059 A CN111409059 A CN 111409059A
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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 relates to a four-degree-of-freedom parallel mechanism with a closed-loop branched chain, which comprises a main platform, a secondary platform and a fixed platform, wherein the main platform is connected with the secondary platform through a hinge; the secondary platform is connected with the main platform through a revolute pair; the secondary platform is connected with the fixed platform through a first driving branched chain and a third driving branched chain, and the main platform is connected with the fixed platform through a second driving branched chain and a fourth driving branched chain; the second driving branched chain and the fourth driving branched chain are linked to drive the main platform to turn back and forth; the first driving branched chain and the third driving branched chain are linked to drive the main platform to turn left and right; the first driving branched chain, the second driving branched chain, the third driving branched chain and the fourth driving branched chain can drive the main platform to move up and down or horizontally move left and right in a linkage manner. The mechanism has the characteristics of single direction and large rigidity, has high precision, can realize pose transformation of two rotations and two movements, can well solve the problems existing in the prior composite material tape laying, and meets the pose adjustment requirement in the tape laying process.
Description
Technical Field
The invention relates to the field of robots, and belongs to a four-degree-of-freedom parallel mechanism with high rigidity.
Background
The aircraft shell requires the tape laying head to adjust the pose accurately when winding and laying the tape, and meanwhile, because the tape laying head is heavy, the pose adjusting device is required to have the characteristics of high rigidity and high precision, the pose adjusting range is small, and the parallel mechanism has the advantages of high rigidity, high precision and quick response, and is more applied in the fields of pose adjustment and the like. Aiming at the design of the configuration of the parallel mechanism with less degrees of freedom, scholars at home and abroad carry out configuration synthesis on the mechanism with four degrees of freedom by methods such as a spiral theory, a group theory, a mechanism topology and the like, a mechanism branched chain obtained by mechanism synthesis is complex, and a plurality of configurations are not practical.
In response to the above problems, some scholars have adopted two new design approaches. The first is a mechanism evolution method, namely a 2T2R mechanism is obtained by introducing a U pair of five-constraint branched chain into a plane 6R mechanism by a Vancocay and the like; the second mode is a mode of adding a constraint branched chain in a six-degree-of-freedom mechanism, and in a bright day, an RPU branched chain is added in the six-degree-of-freedom mechanism to serve as a passive constraint branched chain; the Liujiankun uses a CPU branched chain to replace a branched chain with six degrees of freedom as an active branched chain; however, after analysis and comparison, the rigidity and precision of the existing four-degree-of-freedom parallel mechanism configuration still cannot meet the requirement of adjusting the head position of the tape laying of the aircraft shell.
Disclosure of Invention
The invention aims to provide a four-degree-of-freedom parallel mechanism with a closed-loop branched chain, which has the characteristics of high rigidity and high precision and realizes the pose adjustment effect of two rotations and two movements of a main platform in space.
The technical scheme for solving the problems is as follows: a four-degree-of-freedom parallel mechanism containing a closed-loop branched chain is characterized in that:
comprises a main platform, a secondary platform and a fixed platform;
the secondary platform is positioned between the main platform and the fixed platform and is connected with the main platform through a revolute pair;
the secondary platform is connected with the fixed platform through a first driving branched chain and a third driving branched chain, and the main platform is connected with the fixed platform through a second driving branched chain and a fourth driving branched chain;
the second driving branched chain and the fourth driving branched chain are linked to drive the main platform to turn back and forth;
the first driving branched chain and the third driving branched chain are linked to drive the main platform to turn left and right;
the first driving branched chain, the second driving branched chain, the third driving branched chain and the fourth driving branched chain can drive the main platform to move up and down or horizontally move left and right in a linkage manner.
Further, the second driving branched chain and the fourth driving branched chain have the same structure;
the second driving branched chain comprises a first rod piece, a second rod piece, a third rod piece and a fourth rod piece, wherein the first rod piece and the second rod piece form a first sliding pair;
the first sliding pair, the third rod piece and the fourth rod piece are connected end to form a triangular closed structure, wherein two ends of the third rod piece are hinged to one ends of the second rod piece and the fourth rod piece respectively, and the other end of the fourth rod piece and the end of the first rod piece are in composite hinge connection with the secondary platform.
Further, the middle part of the third rod piece is hinged with the fixed platform.
Furthermore, one end of the second driving branched chain and one end of the fourth driving branched chain are respectively connected with the driving platform through hooke joints, and the other end of the second driving branched chain and the other end of the fourth driving branched chain are respectively connected with the fixed platform through hooke joints.
Further, the second driving branched chain and the fourth driving branched chain have the same structure;
the second driving branched chain comprises a fifth rod piece and a sixth rod piece, the fifth rod piece and the sixth rod piece are combined to form a second sliding pair, and a fork-shaped hinge seat and a cross shaft are respectively arranged at the upper end of the fifth rod piece and the lower end of the sixth rod piece.
Further, the main platform is a flat plate.
Furthermore, the secondary platform is a rod piece, and two ends of the rod piece are provided with fork-shaped hinge seats.
Further, the fixing platform is a plate.
Furthermore, the hinge points of the second driving branched chain and the fourth driving branched chain with the main platform and the hinge points of the first driving branched chain and the third driving branched chain with the secondary platform are located on the same plane, and the four hinge points form a rhombus.
Furthermore, the hinge points of the second driving branched chain and the fourth driving branched chain with the fixed platform, the hinge points of the first driving branched chain and the third driving branched chain with the fixed platform are located on the same plane, and the four hinge points form a rhombus.
The invention has the advantages that:
because the two symmetrical branched chains adopt the triangular closed loop structure, the structural stability and rigidity of the two symmetrical branched chains are improved compared with the traditional mechanism, and meanwhile, the driving pair also selects a driving motor with smaller power and higher precision due to the reduction of the stress of the branched chains.
Drawings
FIG. 1 is an overall block diagram of a four degree-of-freedom parallel mechanism of the present invention including closed-loop branched chains;
FIG. 2 is a diagram of the connection of the first and third driving branches to the sub-platform according to the present invention;
FIG. 3 is a block diagram of a first drive branch of the present invention;
FIG. 4 is a diagram of a second driven branched chain of the present invention.
Wherein: 1. a main platform; 2. a secondary platform; 3. a fixed platform; 4. a first drive branch; 5. a second drive branch; 51. a fifth bar member; 52. a sixth bar member; 53. a forked hinge mount; 54. and a cross-shaft; 6. a third drive branch; 61. a first bar member; 62. a second bar member; 63. a third bar member; 64. a fourth bar member; 65. a through hole; 7. and a fourth drive branch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Referring to fig. 1, a four-degree-of-freedom parallel mechanism with a closed-loop branched chain comprises a main platform 1, a secondary platform 2 and a fixed platform 3; the secondary platform 2 is positioned between the main platform 1 and the fixed platform 3, and the secondary platform 2 is connected with the main platform 1 through a revolute pair. The secondary platform 2 is connected with the fixed platform 3 through a first driving branched chain 4 and a third driving branched chain 6, and the main platform 1 is connected with the fixed platform 3 through a second driving branched chain 5 and a fourth driving branched chain 7.
The second driving branched chain 5 and the fourth driving branched chain 7 are linked to drive the main platform 1 to turn back and forth; the first driving branched chain 4 and the third driving branched chain 6 are linked to drive the main platform 1 to turn left and right; the first driving branched chain 4, the second driving branched chain 5, the third driving branched chain 6 and the fourth driving branched chain 7 can drive the main platform 1 to move up and down or horizontally translate left and right in a linkage manner.
The main platform 1 is a flat plate. The secondary platform 2 is a rod, and two ends of the rod are provided with fork-shaped hinge seats 53. The fixed platform 3 is a plate.
As a preferred embodiment of the present invention, referring to fig. 2 and 3, the first driving branch 4 and the third driving branch 6 have the same structure. The third driving branched chain 6 comprises a first rod 61, a second rod 62, a third rod 63 and a fourth rod 64, wherein the first rod 61 and the second rod 62 form a first moving pair which can stretch and retract; the first sliding pair, the third rod 63 and the fourth rod 64 are connected end to form a triangular closed structure, wherein two ends of the third rod 63 are respectively hinged to one ends of the second rod 62 and the fourth rod 64, and the other end of the fourth rod 64 and the end of the first rod 61 are compositely hinged to the secondary platform 2.
As a preferred embodiment of the present invention, referring to fig. 3, the third rod 63 has a through hole 65 at the middle portion, and is hinged to the fixed platform 3 through the through hole 65.
As a preferred embodiment of the present invention, referring to fig. 1 and 4, the second driving branch 5 and the fourth driving branch 7 have the same structure. One ends of the second driving branched chain 5 and the fourth driving branched chain 7 are respectively connected with the main platform 1 through hook hinges, and the other ends of the second driving branched chain 5 and the fourth driving branched chain 7 are respectively connected with the fixed platform 3 through hook hinges.
The second driving branched chain 5 comprises a fifth rod 51 and a sixth rod 52, the fifth rod 51 and the sixth rod 52 are combined to form a second sliding pair, the second sliding pair can be extended and retracted, and a fork-shaped hinge base 53 and a cross shaft 54 are respectively arranged at the upper end of the fifth rod 51 and the lower end of the sixth rod 52.
In the invention, the hinge points of the second driving branched chain 5 and the fourth driving branched chain 7 with the main platform 1 and the hinge points of the first driving branched chain 4 and the third driving branched chain 6 with the secondary platform 2 are positioned on the same plane, and the four hinge points form a rhombus. And the hinge points of the second driving branched chain 5 and the fourth driving branched chain 7 with the fixed platform 3, the hinge points of the first driving branched chain 4 and the third driving branched chain 6 with the fixed platform 3 are positioned on the same plane, and the four hinge points form a rhombus.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can still make modifications to the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features. Therefore, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A four-degree-of-freedom parallel mechanism containing a closed-loop branched chain is characterized in that:
comprises a main platform (1), a secondary platform (2) and a fixed platform (3);
the secondary platform (2) is positioned between the main platform (1) and the fixed platform (3), and the secondary platform (2) is connected with the main platform (1) through a revolute pair;
the secondary platform (2) is connected with the fixed platform (3) through a first driving branched chain (4) and a third driving branched chain (6), and the main platform (1) is connected with the fixed platform (3) through a second driving branched chain (5) and a fourth driving branched chain (7);
the second driving branched chain (5) and the fourth driving branched chain (7) are linked to drive the main platform (1) to overturn front and back;
the first driving branched chain (4) and the third driving branched chain (6) are linked to drive the main platform (1) to turn left and right;
the first driving branched chain (4), the second driving branched chain (5), the third driving branched chain (6) and the fourth driving branched chain (7) are linked to drive the main platform (1) to move up and down or horizontally move left and right.
2. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 1, wherein:
the first driving branched chain (4) and the third driving branched chain (6) have the same structure;
the third driving branched chain (6) comprises a first rod piece (61), a second rod piece (62), a third rod piece (63) and a fourth rod piece (64), wherein the first rod piece (61) and the second rod piece (62) form a first sliding pair;
the first sliding pair, the third rod piece (63) and the fourth rod piece (64) are connected end to form a triangular closed structure, wherein two ends of the third rod piece (63) are hinged to one ends of the second rod piece (62) and the fourth rod piece (64) respectively, and the other end of the fourth rod piece (64) and the end of the first rod piece (61) are in composite hinge connection with the secondary platform (2).
3. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 2, wherein:
the middle part of the third rod piece (63) is hinged with the fixed platform (3).
4. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in any one of claims 1 to 3, wherein:
one ends of the second driving branched chain (5) and the fourth driving branched chain (7) are respectively connected with the main platform (1) through Hooke hinges, and the other ends of the second driving branched chain (5) and the fourth driving branched chain (7) are respectively connected with the fixed platform (3) through Hooke hinges.
5. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 4, wherein:
the second driving branched chain (5) and the fourth driving branched chain (7) have the same structure;
the second driving branched chain (5) comprises a fifth rod piece (51) and a sixth rod piece (52), the fifth rod piece (51) and the sixth rod piece (52) are combined to form a second sliding pair, and a fork-shaped hinge seat and a cross shaft (54) are respectively arranged at the upper end of the fifth rod piece (51) and the lower end of the sixth rod piece (52).
6. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 1, wherein:
the main platform (1) is a flat plate.
7. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 1, wherein:
the secondary platform (2) is a rod piece, and two ends of the rod piece are provided with fork-shaped hinge seats.
8. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 1, wherein:
the fixed platform (3) is a plate.
9. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 5, wherein:
and the hinge points of the second driving branched chain (5) and the fourth driving branched chain (7) and the main platform (1), the hinge points of the first driving branched chain (4) and the third driving branched chain (6) and the secondary platform (2) are positioned on the same plane, and the four hinge points form a rhombus.
10. The four-degree-of-freedom parallel mechanism with the closed-loop branched chain as claimed in claim 5, wherein:
and the hinge points of the second driving branched chain (5) and the fourth driving branched chain (7) and the fixed platform (3), the hinge points of the first driving branched chain (4) and the third driving branched chain (6) and the fixed platform (3) are positioned on the same plane, and the four hinge points form a rhombus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010230598.9A CN111409059B (en) | 2020-03-27 | 2020-03-27 | Four-degree-of-freedom parallel mechanism with closed-loop branched chain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010230598.9A CN111409059B (en) | 2020-03-27 | 2020-03-27 | Four-degree-of-freedom parallel mechanism with closed-loop branched chain |
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| CN111409059A true CN111409059A (en) | 2020-07-14 |
| CN111409059B CN111409059B (en) | 2022-02-11 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1417003A (en) * | 2002-12-04 | 2003-05-14 | 北方交通大学 | Parallel robot mechanism with three-freedom rotating platform |
| CN1546287A (en) * | 2003-11-28 | 2004-11-17 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| US8893578B2 (en) * | 2009-02-13 | 2014-11-25 | Fanuc Corporation | Parallel robot provided with wrist section having three degrees of freedom |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A kind of big corner 2T2R four-freedom parallel mechanism |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
-
2020
- 2020-03-27 CN CN202010230598.9A patent/CN111409059B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1417003A (en) * | 2002-12-04 | 2003-05-14 | 北方交通大学 | Parallel robot mechanism with three-freedom rotating platform |
| CN1546287A (en) * | 2003-11-28 | 2004-11-17 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| US8893578B2 (en) * | 2009-02-13 | 2014-11-25 | Fanuc Corporation | Parallel robot provided with wrist section having three degrees of freedom |
| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN108890627A (en) * | 2018-08-02 | 2018-11-27 | 北京交通大学 | A kind of five-freedom parallel structure of the branch containing closed loop |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A kind of big corner 2T2R four-freedom parallel mechanism |
| CN110682274A (en) * | 2019-10-15 | 2020-01-14 | 北京交通大学 | Five-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
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