CN113855245A - Full-revolute pair parallel mechanism with two rotations and one movement and far-center movement - Google Patents

Full-revolute pair parallel mechanism with two rotations and one movement and far-center movement Download PDF

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CN113855245A
CN113855245A CN202111159323.1A CN202111159323A CN113855245A CN 113855245 A CN113855245 A CN 113855245A CN 202111159323 A CN202111159323 A CN 202111159323A CN 113855245 A CN113855245 A CN 113855245A
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revolute pair
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CN113855245B (en
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车林仙
林雪冬
蒋海义
宋泽良
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Chongqing Vocational Institute of Engineering
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    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
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Abstract

The invention belongs to the field of parallel mechanisms, and particularly relates to a full-revolute-pair two-rotation one-movement remote center movement parallel mechanism. The full-revolute-pair two-rotation one-movement remote center movement parallel mechanism comprises a fixed platform, a movable platform and three branch chains. The three branch chains comprise the first branch chain, the second branch chain and the third branch chain. The first branch chain and the second branch chain are the same in structure. The first branch chain comprises a hooke joint U11, a revolute pair R13 and a revolute pair R14 which are sequentially connected. The center of the revolute pair R13 and the center of the revolute pair R14 are the point A 1, the point B 1 and the point C 1 correspondingly. A hooke joint U11 is equivalent to a revolute pair R11 and a revolute pair R12 whose two axes are vertically intersected at a point A 1, and the revolute pair R12, a revolute pair R13 and a revolute pair R14 are parallel to each other. According to the structure, three degrees of freedom (two-rotation and one-movement) are output, it is guaranteed that movement can be flexibly conducted at the far end with high precision, the requirement of minimally invasive surgery is met, and the surgery safety is guaranteed from the mechanical structure.

Description

Full-revolute pair parallel mechanism with two rotations and one movement and far-center movement
Technical Field
This scheme belongs to the parallel mechanism field, concretely relates to two rotations of full revolute pair one move far-center motion parallel mechanism.
Background
Minimally invasive surgery is an important development trend in the medical surgery field today. It has the advantages of small wound, light pain, quick recovery, short hospitalization time of patients and less bleeding, and is beneficial to the environmental stability and functional recovery in the body. The appearance of surgical robots, and the application to minimally invasive surgery, bring huge technical convenience and progress promotion for this field. The surgical robot can increase the visual field angle; the system can automatically correct errors, overcome the arm shaking of doctors during minimally invasive surgery operation and reduce the working strength of the doctors; the robot is more flexible than a manual minimally invasive surgery and can operate near a target organ at different angles; surgical robots can work in a smaller space than humans.
The patent with the application number of CN201710117339.3 discloses a 2-HRRR parallel surgical robot for minimally invasive surgery, which comprises a surgical module, a base and two branch mechanisms, wherein the surgical module is rotatably positioned on a movable platform, the base is positioned below the movable platform, and the two branch mechanisms are connected between the movable platform and the base in parallel to drive the surgical module to move; each branch mechanism comprises a first rotating pair, a first connecting rod, a second rotating pair, a second connecting rod, a third rotating pair, a third connecting rod, a hinge sleeve of a spiral pair and a fourth connecting rod serving as a screw of the spiral pair, wherein the first rotating pair, the first connecting rod, the second rotating pair, the second connecting rod, the third rotating pair, the third connecting rod and the hinge sleeve of the spiral pair are sequentially connected between the movable platform and the base; in each branch, the first and second and third revolute pair axes are parallel to each other and perpendicular to the surgical module rotation axis and the screw pair rotation axis; the rotation axes of the screw pairs in the two branches intersect the rotation axis of the surgical module at a point.
The scheme mainly adopts a three-degree-of-freedom motion form, and a motion pair is required to be additionally added at the tail end, so that the motion is difficult to be flexibly carried out at the far end with higher precision, and the requirement of minimally invasive surgery is met.
Disclosure of Invention
The scheme provides a full-revolute pair two-rotation one-movement far-center-movement parallel mechanism capable of improving the far-center movement precision.
In order to achieve the aim, the scheme provides a full-revolute pair parallel mechanism with two rotations and one movement and far-center movement, which comprises a fixed platform, a movable platform and three branched chains; the three branched chains comprise a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain have the same structure,
the first branch chain comprises Hooke's hinge U connected in sequence11And a revolute pair R13And a revolute pair R14Said revolute pair R13And a revolute pair R14Respectively, is a point A1、B1And C1Hooke's joint U11Equivalent to two axes perpendicularly intersecting at point A1Revolute pair R11And a revolute pair R12And a revolute pair R12And a revolute pair R13And a revolute pair R14Are parallel to each other;
the second branched chain comprises Hooke's joint U connected in sequence21And a revolute pair R23And a revolute pair R24Said revolute pair R23And a revolute pair R24Respectively, is a point A2、B2And C2Hooke's joint U21Equivalent to two axes perpendicularly intersecting at point A2Revolute pair R21And a revolute pair R22And a revolute pair R22And a revolute pair R23And a revolute pair R24Are parallel to each other;
the third branched chain comprises Hooke's joint U connected in sequence31And a revolute pair R33Hooke's joint U32Said revolute pair R33Hooke's joint U32Respectively, is a point A3、B3And C3(ii) a Hooke joint U31Equivalent to two axes perpendicularly intersecting at point A3Revolute pair R31And a revolute pair R32The hook joint U32Equivalent to two axes perpendicularly intersecting at point C3Revolute pair R34And a revolute pair R35Said revolute pair R32And a revolute pair R33And a revolute pair R34Are parallel to each other;
revolute pair R11And a revolute pair R21And a revolute pair R31Is connected with the fixed platform and has a revolute pair R11And a revolute pair R21Coaxial line，R31Axis of (A) and R11And R21Perpendicularly intersect at a point;
revolute pair R14And a revolute pair R24And a revolute pair R35Connected with the movable platform and provided with a revolute pair R14And a revolute pair R24The axes of the movable platform are parallel to each other and vertical to the plane of the movable platform;
and a revolute pair R connected with the fixed platform11And a revolute pair R21And a revolute pair R31Are all driving pairs.
Further, the first branched chain and the second branched chain are both branched chains with 4 degrees of freedom, and the orientation characteristic matrix is as follows:
Figure BDA0003289509660000021
in the formula, MbiRepresenting an orientation feature matrix of the branched chain i; t and r represent the degrees of freedom of movement and rotation, respectively, and the upper right label represents the degrees of freedom; (-) Ri2) Denotes perpendicular to Ri2Plane of axis (R)i1,Ri2) Represents Ri1And Ri2A plane defined by two intersecting axes; t is t2(⊥Ri2) Representing two degrees of freedom of movement and oriented perpendicular to Ri2Axis of the pair (R)i2// y-axis), r2(∥◇(Ri1,Ri2) Denotes two rotational degrees of freedom with two axes of rotation parallel to (R)i1,Ri2)。
Further, the third branched chain is a branched chain with 5 degrees of freedom, and the orientation characteristic matrix is as follows:
Figure BDA0003289509660000031
in the formula, t2(⊥R32) Representing two degrees of freedom of movement and oriented perpendicular to R32Axis of (a) r3Indicating three rotational degrees of freedom (being the spatial full rotational degree of freedom).
The beneficial effect of this scheme: the structure is small and simple, higher rigidity is ensured, the motion accumulated error is reduced, and the precision of the operation is improved; the device can output three degrees of freedom (two rotations and one movement), can flexibly move at a far end with higher precision, meets the requirement of minimally invasive surgery, guarantees the surgery safety from the mechanical structure, is more reliable in a mode of ensuring the safety through a control algorithm compared with the mode of ensuring the safety through the control algorithm, can be used as the body structure of a minimally invasive surgery robot needing to realize far-center movement in ophthalmology, needle biopsy and the like, and has strong practicability.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
FIG. 2 shows a planar kinematic chain formed by a first branch and a second branch in example 1 of the present invention.
FIG. 3 shows a planar kinematic chain formed by the third branch chain in example 1 of the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
example 1 is substantially as shown in figure 1:
a full revolute pair parallel mechanism with two rotations and one movement and far-center movement comprises a fixed platform, a movable platform and three branched chains;
establishing a coordinate system OXYZ on a fixed platform, wherein the X axis and the Y axis are respectively along OA1And OA3The direction, Z axis is perpendicular to the plane of the fixed platform.
Establishing a coordinate system PXYZ on the movable platform, wherein the X axis and the Y axis are respectively along OC1And OC3Direction, determining Y axis according to right hand coordinate system, and moving platform as coordinate point C1C3C2C4Of a quadrilateral of symmetry of which the diagonal C is3C4Is diagonal line C1C2The foot is a point P, the minimally invasive surgery end effector is arranged on the movable platform and is along a straight line PC4And (4) direction.
The three branched chains comprise a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain have the same structure,
the first branch chain comprises sequentially connected Hooke's hingesU11And a revolute pair R13And a revolute pair R14Rotational pair R13And a revolute pair R14Respectively, is a point A1、B1And C1Hooke's joint U11Equivalent to two axes perpendicularly intersecting at point A1Revolute pair R11And a revolute pair R12And a revolute pair R12And a revolute pair R13And a revolute pair R14Are parallel to each other;
the second branched chain comprises Hooke's joint U connected in sequence21And a revolute pair R23And a revolute pair R24Rotational pair R23And a revolute pair R24Respectively, is a point A2、B2And C2Hooke's joint U21Equivalent to two axes perpendicularly intersecting at point A2Revolute pair R21And a revolute pair R22And a revolute pair R22And a revolute pair R23And a revolute pair R24Are parallel to each other;
the third branched chain comprises Hooke's joint U connected in sequence31And a revolute pair R33Hooke's joint U32Rotational pair R33Hooke's joint U32Respectively, is a point A3、B3And C3(ii) a Hooke joint U31Equivalent to two axes perpendicularly intersecting at point A3Revolute pair R31And a revolute pair R32Hooke's joint U32Equivalent to two axes perpendicularly intersecting at point C3Revolute pair R34And a revolute pair R35Rotational pair R32And a revolute pair R33And a revolute pair R34Are parallel to each other;
revolute pair R11And a revolute pair R21And a revolute pair R31Is connected with the fixed platform and has a revolute pair R11And a revolute pair R21Coaxial line, R31Axis of (A) and R11And R21Perpendicularly intersects point O;
revolute pair R14And a revolute pair R24And a revolute pair R35Connected with the movable platform and provided with a revolute pair R14And a revolute pair R24Are parallel to each other and perpendicular to the moving platform plane C1C3C2C4(ii) a Revolute pair R35Along axis PC3And (4) direction.
Revolute pair R connected with fixed platform11And a revolute pair R21And a revolute pair R31Are all driving pairs with angular displacement of theta1、θ2And theta3。
As shown in fig. 2:
the first branched chain and the second branched chain are both 4-freedom branched chains, and the orientation characteristic matrix is
Figure BDA0003289509660000041
In the formula, MbiRepresenting an orientation feature matrix of the branched chain i; t and r represent the degrees of freedom of movement and rotation, respectively, and the upper right label represents the degrees of freedom; (-) Ri2) Denotes perpendicular to Ri2Plane of axis (R)i1,Ri2) Represents Ri1And Ri2A plane defined by two intersecting axes; t is t2(⊥Ri2) Representing two degrees of freedom of movement and oriented perpendicular to Ri2Axis of the pair (R)i2// y-axis), i.e., at some instant in time at plane PXZ (noted as
Figure BDA0003289509660000051
) Moving inwards; r is2(∥◇(Ri1,Ri2) Denotes two rotational degrees of freedom with two axes of rotation parallel to (R)i1,Ri2)。
As shown in fig. 3:
the third branched chain is a branched chain with 5 degrees of freedom, and the orientation characteristic matrix is
Figure BDA0003289509660000052
In the formula, t2(⊥R32) Representing two degrees of freedom of movement and oriented perpendicular to R32I.e. a certain instant in the plane of the third branch (noted
Figure BDA0003289509660000053
) Moving inwards; r is3Indicating three rotational degrees of freedom (being the spatial full rotational degree of freedom).
Because the orientation characteristic matrix of the parallel mechanism is the intersection of the orientation characteristic matrices of all the branched chains,
and due to t2(⊥R12)＝t2(⊥R22) Is a plane
Figure BDA0003289509660000054
Movement of inner, t2(⊥R32) Is a plane
Figure BDA0003289509660000055
The movement of the inner part,
then t2(⊥R12),t2(⊥R22) And t2(⊥R32) Is along a plane
Figure BDA0003289509660000056
And
Figure BDA0003289509660000057
the movement in the direction of the intersection line OP; while
Figure BDA0003289509660000058
Then r2(∥◇(R11,R12)),r2(∥◇(R21,R22) And r)3Is r2(∥◇(R11,R12)). The orientation feature matrix of the mechanism is
Figure BDA0003289509660000059
In the formula, MPaAn orientation feature matrix representing the parallel mechanism. Plane surface
Figure BDA00032895096600000510
And
Figure BDA00032895096600000511
the intersection line of the two-dimensional motion mechanism passes through the fixed point O constantly, so that the mechanism moving platform always moves through the fixed point O and rotates around the point O, namely, the end effector arranged on the OP rod can do two-degree-of-freedom rotation and one-degree-of-freedom movement after passing through the fixed center (far center) point O.
The above formula shows that the 2URR-URU parallel (a full revolute pair two-rotation one-movement far-center-motion parallel) has three degrees of freedom (two rotations and one movement), where the rotation axis of the two rotational degrees of freedom is parallel (R)11,R12) One degree of freedom of movement is movement in the OP direction.
Example 2:
the difference between this embodiment and embodiment 1 lies in, still includes detection mechanism, and detection mechanism includes infrared emitter, infrared receiver, singlechip and signal lamp, and infrared emitter, infrared receiver and signal lamp all with singlechip electric connection.
An infrared emitter is arranged at the point P on the diagonal line C3C4, an infrared receiver is arranged at the point P on the diagonal line C1C2, and the single chip microcomputer and the signal lamp are arranged on the fixed platform.
Because diagonal line C3C4 is the perpendicular bisector of diagonal line C1C2 and the drop foot is point P, the minimally invasive surgical end effector is mounted on the mobile platform and oriented along line PC 4. The performance of the product can be detected through the detection mechanism.
When the mechanism is in operation, when diagonal C3C4 is perpendicular to diagonal C1C2, and the foot point that hangs down is the P point, the signal that infrared emitter transmitted is received by infrared receiver, and infrared receiver feeds back the signal to the singlechip this moment, and then the singlechip starts the signal lamp for the signal lamp is luminous, shows that this product is qualified.
When the mechanism runs through a flow, the diagonal line C3C4 is perpendicular to the diagonal line C1C2, but the vertical foot point is not P, the signal emitted by the infrared emitter cannot be received by the infrared receiver, and the signal lamp does not emit light, so that the product is unqualified. Or when the diagonal line C3C4 is not perpendicular to the diagonal line C1C2 during the operation of the mechanism, the signal lamp does not emit light, and the product is unqualified.
The beneficial effects of this embodiment:
1. through setting up detection mechanism for this mechanism carries out performance detection before dispatching from the factory, makes qualified mechanism just can apply in the minimal access surgery, maintains unqualified mechanism, and then has improved the precision and the accuracy of minimal access surgery, makes the success rate of minimal access surgery obtain improving, has reduced because of the unqualified reason of mechanism self causes the operation failure, leads to bad consequence.
2. And this mechanism is through long-time use, the connection between each part is easy not hard up, and then probably cause the movable platform, the relation of connection between fixed platform and the three branched chains takes place the dislocation, when the relation of connection of certain two subassemblies takes place the dislocation wherein, can make when the sufficient point of hanging down of diagonal C3C4 and diagonal C1C2 is not P, and then the signal lamp can not give out light, and then the staff can learn this mechanism problem as early as possible, need maintenance or change, the stack error that the relation of connection dislocation between each part brought has been avoided, cause the failure of operation.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.

Claims (3)

1. A full revolute pair parallel mechanism with two rotations and one movement and far-center movement comprises a fixed platform, a movable platform and three branched chains; the method is characterized in that:
the three branched chains comprise a first branched chain, a second branched chain and a third branched chain, the first branched chain and the second branched chain have the same structure,
the first branch chain comprises Hooke's hinge U connected in sequence11And a revolute pair R13And a revolute pair R14The hook joint U11And a revolute pair R13And a revolute pair R14Respectively, is a point A1、B1And C1Hooke's joint U11Equivalent to two axes perpendicularly intersecting at point A1Revolute pair R11And a revolute pair R12And a revolute pair R12And a revolute pair R13And a revolute pair R14Are parallel to each other;
the second branched chain comprises Hooke's joint U connected in sequence21And a revolute pair R23And a revolute pair R24The hook joint U21And a revolute pair R23And a revolute pair R24Respectively, is a point A2、B2And C2Hooke's joint U21Equivalent to two axes perpendicularly intersecting at point A2Revolute pair R21And a revolute pair R22And a revolute pair R22And a revolute pair R23And a revolute pair R24Are parallel to each other;
the third branched chain comprises Hooke's joint U connected in sequence31And a revolute pair R33Hooke's joint U32Said revolute pair R33Hooke's joint U32Respectively, is a point A3、B3And C3(ii) a Hooke joint U31Equivalent to two axes perpendicularly intersecting at point A3Revolute pair R31And a revolute pair R32The hook joint U32Equivalent to two axes perpendicularly intersecting at point C3Revolute pair R34And a revolute pair R35Said revolute pair R32And a revolute pair R33And a revolute pair R34Are parallel to each other;
the revolute pair R11And a revolute pair R21And a revolute pair R31Is connected with the fixed platform and has a revolute pair R11And a revolute pair R21Coaxial line, revolute pair R31Axis and revolute pair R11And a revolute pair R21Perpendicularly intersect at a point;
revolute pair R14And a revolute pair R24And a revolute pair R35Is connected with the movable platform, and is provided with a movable platform,revolute pair R14And a revolute pair R24The axes of the movable platform are parallel to each other and vertical to the plane of the movable platform;
and a revolute pair R connected with the fixed platform11And a revolute pair R21And a revolute pair R31Are all driving pairs.
2. The full revolute pair two-rotation one-translation-far-center-motion parallel mechanism of claim 1, wherein: the first branched chain and the second branched chain are both branched chains with 4 degrees of freedom, and the orientation characteristic matrix is as follows:
Figure FDA0003289509650000021
in the formula, MbiRepresenting an orientation feature matrix of the branched chain i; t and r represent the degrees of freedom of movement and rotation, respectively, and the upper right label represents the degrees of freedom; (-) Ri2) Denotes perpendicular to Ri2Plane of axis (R)i1,Ri2) Represents Ri1And Ri2A plane defined by two intersecting axes; t is t2(⊥Ri2) Representing two degrees of freedom of movement and oriented perpendicular to Ri2Axis of the pair (R)i2// y-axis), r2(∥◇(Ri1,Ri2) Denotes two rotational degrees of freedom with two axes of rotation parallel to (R)i1,Ri2)。
3. The full revolute pair two-rotation one-translation-far-center-motion parallel mechanism of claim 1, wherein: the third branched chain is a branched chain with 5 degrees of freedom, and the orientation characteristic matrix is as follows:
Figure FDA0003289509650000022
in the formula, t2(⊥R32) Representing two degrees of freedom of movement and oriented perpendicular to R32Axis of (a) r3Indicating three rotational degrees of freedom (null)Full rotational freedom).
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626919A (en) * 2012-03-22 2012-08-08 燕山大学 Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes
CN105082112A (en) * 2015-09-06 2015-11-25 江南大学 Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
WO2020125044A1 (en) * 2018-12-21 2020-06-25 清华大学 Four degrees of freedom parallel robot provided with dual moving platform structure
US20210094168A1 (en) * 2018-12-21 2021-04-01 Tsinghua University Two-degree-of-freedom parallel robot with spatial kinematic chain
CN112959302A (en) * 2021-02-05 2021-06-15 重庆工程职业技术学院 Plane-symmetric one-moving two-rotation parallel mechanism without accompanying motion

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626919A (en) * 2012-03-22 2012-08-08 燕山大学 Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes
CN105082112A (en) * 2015-09-06 2015-11-25 江南大学 Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function
WO2020125044A1 (en) * 2018-12-21 2020-06-25 清华大学 Four degrees of freedom parallel robot provided with dual moving platform structure
US20210094168A1 (en) * 2018-12-21 2021-04-01 Tsinghua University Two-degree-of-freedom parallel robot with spatial kinematic chain
CN112959302A (en) * 2021-02-05 2021-06-15 重庆工程职业技术学院 Plane-symmetric one-moving two-rotation parallel mechanism without accompanying motion

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