CN112008699A - Complete decoupling two-rotation one-movement parallel mechanism - Google Patents
Complete decoupling two-rotation one-movement parallel mechanism Download PDFInfo
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- CN112008699A CN112008699A CN202010987455.2A CN202010987455A CN112008699A CN 112008699 A CN112008699 A CN 112008699A CN 202010987455 A CN202010987455 A CN 202010987455A CN 112008699 A CN112008699 A CN 112008699A
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Abstract
The invention provides a complete decoupling two-rotation one-movement parallel mechanism which has three degrees of freedom, namely rotation in two directions and movement in one direction, and when a first cylindrical pair in a first branch kinematic chain is independently input as a driving pair, a movable platform has one degree of freedom of rotation; when the first sliding pair in the second branch kinematic chain is independently input as a driving pair, the moving platform has another degree of freedom of rotation; when the linear displacement of the first and second cylindrical pairs in the first and third branched kinematic chains is simultaneously used as the input of the driving pair, and the input displacement is simultaneously shifted, the movable platform has a degree of freedom of movement. The three branched kinematic chains of the parallel mechanism move in a specific relationship, the jacobian matrix of the speed is a triangular matrix, the parallel mechanism has the kinematics characteristic of complete decoupling, and the bearing capacity of the parallel mechanism is improved through the arrangement relationship of the three branched kinematic chains, so that the parallel mechanism has good development prospects in the fields of robots, machine tools, aerospace and the like.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a complete decoupling two-rotation one-movement parallel mechanism.
Background
The parallel mechanism is connected with the fixed platform and the movable platform through two or more branched chains to form a special multi-closed-loop structure. The parallel mechanism is a novel mechanism, and has the characteristics of high precision, small accumulated error, large bearing capacity, compact structure and the like compared with the traditional serial mechanism. Has been widely applied in the fields of high-precision technologies such as industrial robots, parallel machine tools, aerospace and the like.
The parallel robot mechanism with less degrees of freedom is a robot mechanism with degrees of freedom between 2 and 5, and compared with the parallel robot mechanism with less degrees of freedom and 6 degrees of freedom, the parallel robot mechanism with less degrees of freedom has the advantages of higher rigidity, precision, bearing capacity and the like, and has become one of the hot points of research in the field of mechanics in recent years, particularly, the parallel robot mechanism with three degrees of freedom of two-rotation and one-movement has good application prospect in practical application due to the characteristics of easy realization of motion control and trajectory planning and the like. The method can be applied to motion simulators, coordinate measuring machines, machining centers and the like. Therefore, a plurality of mechanisms of the type are researched and designed by domestic scholars, but most of the existing parallel robot mechanisms still have the problems of strong kinematic coupling, small working space, difficult control and the like.
Disclosure of Invention
The invention aims to provide a complete decoupling two-rotation one-movement parallel mechanism to solve the problems of strong kinematic coupling, poor decoupling, small working space and the like of a parallel mechanism in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: a complete decoupling two-rotation one-movement parallel mechanism comprises a fixed platform, a movable platform and three branched kinematic chains, wherein the three branched kinematic chains are respectively a first branched kinematic chain, a second branched kinematic chain and a third branched kinematic chain,
the first branch motion chain comprises a first cylindrical pair with one end connected to the fixed platform, a universal hinge with one end connected to the movable platform and a first rotating pair arranged between the first cylindrical pair and the universal hinge, the two ends of the first rotating pair are respectively connected to the first cylindrical pair and the universal hinge through a first connecting rod and a second connecting rod, and the axis of the first cylindrical pair, the axis of the first rotating pair and the inner axis of the universal hinge are arranged in parallel;
the second branch kinematic chain comprises a first moving pair, a second rotating pair, a third rotating pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the first moving pair and the ball pair are respectively connected to the fixed platform and the movable platform, and the axes of the second rotating pair and the third rotating pair are parallel;
the third branched kinematic chain comprises a second cylindrical pair and a fourth revolute pair which are connected through a connecting rod, the free ends of the second cylindrical pair and the fourth revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the second cylindrical pair and the fourth revolute pair are positioned in the same plane and are arranged vertically to each other;
the first cylinder pair, the second cylinder pair and the first moving pair are power input ends and are respectively connected with a driving motor.
Furthermore, the axis of the second revolute pair, the axis of the fourth revolute pair and the outer axis of the universal hinge are arranged in parallel.
Furthermore, the axis of the first cylinder pair and the axis of the second cylinder pair are arranged in parallel, and the axes of the first cylinder pair and the second cylinder pair are perpendicular to the axis of the fourth rotating pair.
Furthermore, an arc-shaped track matched with the first moving pair is formed in the fixed platform, and the axis of the second cylindrical pair is perpendicular to the plane where the arc-shaped track is located and passes through the circle center of the arc-shaped track.
Furthermore, the fourth revolute pair is located at the center of the movable platform, the universal hinge, the fourth revolute pair and the spherical pair are sequentially arranged along the length direction of the movable platform and are distributed on the same straight line.
Furthermore, the second revolute pair is connected with the third revolute pair through a fourth connecting rod, and free ends of the second revolute pair and the third revolute pair are connected to the first moving pair and the ball pair through a third connecting rod and a fifth connecting rod respectively.
Furthermore, the second cylindrical pair is connected with the fourth rotating pair through a sixth connecting rod.
Compared with the prior art, the invention has the beneficial effects that: the invention has three degrees of freedom, namely rotation in two directions and movement in one direction, when a first cylindrical pair in a first branch kinematic chain is independently input as a driving pair, the moving platform has one degree of freedom of rotation; when the first sliding pair in the second branch kinematic chain is independently input as a driving pair, the moving platform has another degree of freedom of rotation; when the linear displacement of the first and second cylindrical pairs in the first and third branched kinematic chains is simultaneously used as the input of the driving pair, and the input displacement is simultaneously shifted, the movable platform has a degree of freedom of movement. The three branched kinematic chains of the parallel mechanism move in a specific relationship, the jacobian matrix of the speed is a triangular matrix, the parallel mechanism has the kinematics characteristic of complete decoupling, and the bearing capacity of the parallel mechanism is improved through the arrangement relationship of the three branched kinematic chains, so that the parallel mechanism has good development prospects in the fields of robots, machine tools, aerospace and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a fully decoupled two-rotation one-movement parallel mechanism of the present invention;
fig. 2 is a schematic distribution diagram of the universal hinge, the spherical pair and the fourth revolute pair on the movable platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
A completely-decoupled two-rotation one-movement parallel mechanism is shown in figure 1 and comprises a fixed platform 10 and a movable platform 20, wherein L1, L2 and L3 respectively represent a first branch kinematic chain, a second branch kinematic chain and a third branch kinematic chain.
The first branch kinematic chain L1 comprises a first cylindrical pair C11, a first revolute pair R12 and a universal hinge U13, wherein one end of the first cylindrical pair C11 and one end of the universal hinge U13 are directly connected with the fixed platform 10 and the movable platform 20 respectively, and the first revolute pair R12 is connected with the other ends of the first cylindrical pair C11 and the universal hinge U13 through a first connecting rod 1-1 and a second connecting rod 1-2 respectively. The axis of the first cylinder pair C11, the axis of the first rotating pair R12 and the axis of the universal hinge U13 connected with the second connecting rod 1-2, namely the inner axis, are parallel to each other.
The second branching kinematic chain L2 includes a first kinematic pair P21, a second revolute pair R22, a third revolute pair R23 and a ball pair S24. The first sliding pair P21 and the ball pair S24 are respectively and directly connected with the fixed platform 10 and the movable platform 20, the second revolute pair R22 is respectively connected with the first sliding pair P21 and the third revolute pair R23 through a third connecting rod 2-1 and a fourth connecting rod 2-2, and the third revolute pair R23 is connected with the ball pair S24 through a fifth connecting rod 2-3. The second revolute pair R22 is parallel to the axis of the third revolute pair R23.
The third branched kinematic chain L3 comprises a second cylindrical pair C31 and a fourth revolute pair R32. The second cylinder pair C31 and the fourth rotating pair R32 are respectively connected with the fixed platform 10 and the movable platform 20, and the fourth rotating pair R32 is connected with the second cylinder pair C31 through a sixth connecting rod 3-1. The axis of the second cylinder pair C31 and the axis of the fourth revolute pair R32 are in the same plane and perpendicular to each other.
In order to further optimize the scheme, the axes of the two revolute pairs in the second branched kinematic chain L2, the axis of the fourth revolute pair R32 in the third branched kinematic chain L3 and the axis of the universal hinge U13 connected with the movable platform 20, namely the outer axis, are all arranged in parallel.
Further optimizing the scheme, the axis of the first cylindrical pair C11 and the axis of the second cylindrical pair C31 are parallel and are perpendicular to the axis of the fourth revolute pair R32 in the third branched kinematic chain L3.
Further optimizing the scheme, the first kinematic pair P21 in the second branched kinematic chain L2 moves along the circular arc-shaped track, and the axis of the second cylindrical pair C31 in the third branched kinematic chain L3 is perpendicular to the plane where the circular arc-shaped track is located and passes through the center of the circular arc-shaped track.
Further optimizing the scheme, as shown in fig. 2, the universal hinge U13 in the first branched kinematic chain L1 and the ball pair S24 in the second branched kinematic chain L2 are distributed on both sides of the movable platform 20, and the fourth revolute pair R32 in the third branched kinematic chain L3 is located in the center of the movable platform 20, and the three are distributed on the same straight line.
In this embodiment, the kinematic pair connected to the fixed platform 10 in the three branched kinematic chains is respectively selected as the active pair, wherein the first cylindrical pair C11 in the first branched kinematic chain L1 and the second cylindrical pair C31 in the third branched kinematic chain L3 both use linear displacement as the main input.
The control principle of the invention is as follows: the driving pair is driven by a servo motor, and the moving platform 20 is powered by three branch kinematic chains. The first driving motor drives the first cylinder pair C11 in the first branched kinematic chain L1 to enable the movable platform 20 to rotate around the axial direction of the fourth revolute pair R32 in the third branched kinematic chain L3; the second driving motor drives the first moving pair P21 in the second branched moving chain L2, so that the moving platform 20 rotates around the axial direction of the second cylindrical pair C31 in the third branched moving chain L3, and the first driving motor and the third driving motor respectively drive the first cylindrical pair C11 in the first branched moving chain L1 and the second cylindrical pair C31 in the third branched moving chain L3, so that the moving platform 20 moves along the axial direction of the second cylindrical pair C31 in the third branched moving chain L3, thereby realizing two-rotation and one-movement three-degree-of-freedom of the parallel mechanism in space.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a two rotation of complete decoupling zero one remove parallel mechanism, includes fixed platform, moves platform and three branch's kinematics chains, its characterized in that: the three branched kinematic chains are respectively a first branched kinematic chain, a second branched kinematic chain and a third branched kinematic chain, wherein,
the first branch motion chain comprises a first cylindrical pair with one end connected to the fixed platform, a universal hinge with one end connected to the movable platform and a first rotating pair arranged between the first cylindrical pair and the universal hinge, the two ends of the first rotating pair are respectively connected to the first cylindrical pair and the universal hinge through a first connecting rod and a second connecting rod, and the axis of the first cylindrical pair, the axis of the first rotating pair and the inner axis of the universal hinge are arranged in parallel;
the second branch kinematic chain comprises a first moving pair, a second rotating pair, a third rotating pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the first moving pair and the ball pair are respectively connected to the fixed platform and the movable platform, and the axes of the second rotating pair and the third rotating pair are parallel;
the third branched kinematic chain comprises a second cylindrical pair and a fourth revolute pair which are connected through a connecting rod, the free ends of the second cylindrical pair and the fourth revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the second cylindrical pair and the fourth revolute pair are positioned in the same plane and are arranged vertically to each other;
the first cylinder pair, the second cylinder pair and the first moving pair are power input ends and are respectively connected with a driving motor.
2. A fully decoupled two-rotation one-movement parallel mechanism according to claim 1, characterized in that: and the axis of the second revolute pair, the axis of the fourth revolute pair and the outer axis of the universal hinge are arranged in parallel.
3. A fully decoupled two-rotation one-movement parallel mechanism according to claim 2, characterized in that: the axis of the first cylinder pair and the axis of the second cylinder pair are arranged in parallel, and the axes of the first cylinder pair and the second cylinder pair are perpendicular to the axis of the fourth rotating pair.
4. A fully decoupled two-rotation one-movement parallel mechanism according to claim 3, wherein: and the fixed platform is provided with an arc-shaped track matched with the first moving pair, and the axis of the second cylindrical pair is perpendicular to the plane of the arc-shaped track and passes through the circle center of the arc-shaped track.
5. A fully decoupled two-rotation one-movement parallel mechanism according to claim 4, wherein: the fourth revolute pair is located at the center of the movable platform, and the universal hinge, the fourth revolute pair and the spherical pair are sequentially arranged along the length direction of the movable platform and distributed on the same straight line.
6. A fully decoupled two-rotation one-movement parallel mechanism according to claim 1, characterized in that: the second revolute pair is connected with the third revolute pair through a fourth connecting rod, and free ends of the second revolute pair and the third revolute pair are connected to the first moving pair and the ball pair through a third connecting rod and a fifth connecting rod respectively.
7. A fully decoupled two-rotation one-movement parallel mechanism according to claim 1, characterized in that: and the second cylindrical pair is connected with the fourth rotating pair through a sixth connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010987455.2A CN112008699A (en) | 2020-09-18 | 2020-09-18 | Complete decoupling two-rotation one-movement parallel mechanism |
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| CN202010987455.2A CN112008699A (en) | 2020-09-18 | 2020-09-18 | Complete decoupling two-rotation one-movement parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319832A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Three-translation parallel mechanism with symmetrical branches |
| CN113319831A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
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2020
- 2020-09-18 CN CN202010987455.2A patent/CN112008699A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113319832A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Three-translation parallel mechanism with symmetrical branches |
| CN113319831A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
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