CN114378793A - Passive rod hinged space three-degree-of-freedom parallel robot with analytic positive solution - Google Patents
Passive rod hinged space three-degree-of-freedom parallel robot with analytic positive solution Download PDFInfo
- Publication number
- CN114378793A CN114378793A CN202210073208.0A CN202210073208A CN114378793A CN 114378793 A CN114378793 A CN 114378793A CN 202210073208 A CN202210073208 A CN 202210073208A CN 114378793 A CN114378793 A CN 114378793A
- Authority
- CN
- China
- Prior art keywords
- rotatably connected
- rod
- branched chain
- arm
- revolute pair
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000012636 effector Substances 0.000 claims abstract description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000003068 static effect Effects 0.000 abstract description 15
- 230000007246 mechanism Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a passive rod hinged space three-degree-of-freedom parallel robot with analytic positive solution, which comprises a static platform, an end effector and three branched chains arranged between the static platform and the end effector, wherein the three branched chains are uniformly distributed at 120 degrees around the circumference of the static platform and respectively comprise a driving arm, a hooke hinge and a driven arm, the upper end of the driving arm is rotatably connected with a mounting seat fixed on the static platform, the lower end of the driving arm is rotatably connected with the upper end of the hooke hinge, the lower end of the hooke hinge is rotatably connected with the front end of the driven arm, and the tail end of the driven arm is rotatably connected with the end effector. The mechanism is composed of revolute pairs, each branched chain contains a closed-loop subchain, and has the advantages of small number of driving elements, compact structure, high rigidity and bearing capacity, low design, manufacture and control cost, convenience in control and the like.
Description
Technical Field
The invention relates to a parallel robot, in particular to a passive rod hinged space three-degree-of-freedom parallel robot with an analytic positive solution.
Background
The three-degree-of-freedom translational parallel robot is a common robot in the current industrial scene application, is mainly formed by rotationally connecting three branched chains with the same structure, has three translational degrees of freedom, can perform actions such as grabbing, sorting, packaging and the like on materials by matching with machine vision and a grabbing mechanism, and has a wide market application scene.
The three-degree-of-freedom translation parallel mechanism has the advantages of small number of driving elements, low design and manufacturing cost and the like, and has recently gained wide attention and intensive research of numerous scholars at home and abroad. The chinese patent No. 201410158835.X discloses a spatial three-translation parallel robot mechanism only comprising a revolute pair, and a driving arm and a driven arm of three branched chains of the mechanism are both formed by a rod piece, so that the whole bearing capacity and rigidity of the mechanism are not large, the stability is poor, and the mechanism is not suitable for operating heavy objects in the field of industrial production.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a passive rod hinged space three-degree-of-freedom parallel robot with less driving elements, compact structure, high rigidity and bearing capacity, low design, manufacture and control cost and convenient control and having analytic positive solution.
The invention relates to a passive rod hinged space three-degree-of-freedom parallel robot with analytic positive solution, which comprises a static platform, an end effector arranged below the static platform and three branched chains arranged between the static platform and the end effector, wherein three mounting seats are uniformly distributed and connected at an interval of 120 degrees around the circumferential direction of the outer wall of the static platform, a driving motor and a speed reducer fixedly connected with an output shaft of the driving motor are fixed on each mounting seat, the three branched chains are uniformly distributed at an interval of 120 degrees around the circumferential direction of the static platform, each branched chain comprises a driving arm, the upper end of the driving arm is rigidly connected with the output shaft of the speed reducer, the lower end of the driving arm is rotatably connected with a Hooke hinge through a rotating pair in the horizontal direction, the lower end of the Hooke hinge is connected with the front end of a driven arm, and each driven arm is formed by an upper straight connecting rod, The closed-loop sub-chains are formed by mutually and sequentially connecting a front end T-shaped rod, a lower straight connecting rod and a tail end T-shaped rod end to end through revolute pairs in a revolute connection mode, the horizontal rod of the front end T-shaped rod arranged in the horizontal direction in each closed-loop sub-chain is rotatably connected with the lower end of a hook hinge through revolute pairs in the vertical direction, the horizontal rods of the tail end T-shaped rods arranged in the three closed-loop sub-chains in the vertical direction are respectively rotatably connected with a vertical rod of an end actuator through revolute pairs, and the revolute pairs of a second branched chain, the revolute pairs of a first branched chain and the revolute pairs of a third branched chain which are connected with the end actuator are sequentially arranged on the vertical rod from top to bottom.
The invention has the advantages that:
the parallel robot has three freedom degrees of movement, can realize actions of grabbing, sorting, packaging and the like of materials, each branched chain comprises a closed-loop subchain (parallelogram structure) formed by four coaxial revolute pairs, and the parallel robot has the advantages of small number of driving elements, compact structure, high rigidity and bearing capacity, low design and manufacture and control cost, convenience in control and the like.
Drawings
FIG. 1 is a front view of a passive rod articulated space three-degree-of-freedom parallel robot with an analytic forward solution according to the present invention;
FIG. 2 is a top view of the parallel robot of FIG. 1;
FIG. 3 is a schematic perspective view of the parallel robot of FIG. 1 at one angle;
FIG. 4 is a perspective view of the parallel robot of FIG. 1 from another angle;
fig. 5 is a perspective view of the parallel robot shown in fig. 1 from another angle.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the invention discloses a passive rod hinged space three-degree-of-freedom parallel robot with an analytic positive solution, which comprises a static platform 1, an end effector 8 arranged below the static platform 1 and three branched chains arranged between the static platform 1 and the end effector 8. Three mounting seats 4 are uniformly distributed and connected in a 120-degree-interval mode around the circumferential direction of the outer wall of the static platform 1, a driving motor 3 and a speed reducer 2 fixedly connected with an output shaft of the driving motor 3 are fixed on each mounting seat 4, and the three branched chains are uniformly distributed in a 120-degree-interval mode around the circumferential direction of the static platform 1 and sequentially comprise a first branched chain IV, a second branched chain V and a third branched chain VI.
Each branched chain comprises a driving arm 5, the upper end of the driving arm 5 is rigidly connected with an output shaft of the speed reducer 2, the lower end of the driving arm 5 is rotatably connected with a Hooke hinge 6 through a revolute pair in the horizontal direction, the lower end of the Hooke hinge 6 is connected with the front end of a driven arm 7, and each driven arm 7 is a closed-loop sub-chain formed by an upper straight connecting rod 10, a front end T-shaped rod 9, a lower straight connecting rod 11 and a tail end T-shaped rod 12 which are sequentially connected end to end through the revolute pair in a rotating mode. The horizontal rod of the front end T-shaped rod 9 arranged in each closed-loop sub-chain along the horizontal direction is rotatably connected with the lower end of the hook hinge 6 through a revolute pair along the vertical direction, the horizontal rod of the tail end T-shaped rod 12 arranged in the three closed-loop sub-chains along the vertical direction is respectively rotatably connected with the vertical rod of the tail end actuator 8 through a revolute pair (if a bearing can be adopted), and the revolute pair of the second branched chain V, the revolute pair of the first branched chain IV and the revolute pair of the third branched chain VI connected with the tail end actuator 8 are sequentially arranged on the vertical rod from top to bottom.
As shown in the figure, the lower end T-shaped rod 12 of the first branch chain IV comprises a first horizontal connecting rod 19 and a first vertical connecting rod 18, and the connecting point of the first horizontal connecting rod 19 and the first vertical connecting rod 18 is positioned in the center of the first vertical connecting rod 18; the lower end T-shaped rod 12 of the second branched chain V comprises a second horizontal connecting rod 17 and a second vertical connecting rod 16, the connecting point of the second horizontal connecting rod 17 and the second vertical connecting rod 16 moves a small distance upwards from the center of the second vertical connecting rod 16, the lower end T-shaped rod 12 of the third branched chain VI comprises a third horizontal connecting rod 15 and a third vertical connecting rod 14, the connecting point of the third horizontal connecting rod 15 and the third vertical connecting rod 14 moves a small distance downwards from the center of the third vertical connecting rod 14, and therefore the symmetry of the movement of each branched chain is guaranteed.
Three driving motors 3 respectively control three driving arms 5 to rotate around the static platform 1 through speed reducers 2, the driving arms 5 move to drive the Hooke joints 6 to move along the vertical direction, and the Hooke joints move to drive the driven arms 7 to move, so that the parallel robot end effector 8 is driven to perform spatial three-dimensional translation along the x, y and z directions.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (1)
1. The utility model provides a passive pole articulated space three degree of freedom parallel robot with analytic positive solution, includes quiet platform, establishes the end effector and the three branch chains of setting between quiet platform and end effector below quiet platform, wind the circumference of quiet platform the 120 degrees evenly distributed each other of looks of outer wall be connected with three mount pads, be fixed with a driving motor and with the fixed reduction gear that links to each other of driving motor's output shaft on each mount pad, three branch chains wind quiet platform circumference 120 degrees evenly distributed each other of looks, its characterized in that: each branched chain comprises a driving arm, the upper end of the driving arm is rigidly connected with an output shaft of a speed reducer, the lower end of the driving arm is rotatably connected with a Hooke hinge through a revolute pair in the horizontal direction, the lower end of the Hooke hinge is connected with the front end of a driven arm, each driven arm is a closed-loop sub-chain formed by sequentially connecting an upper straight connecting rod, a front end T-shaped rod, a lower straight connecting rod and a tail end T-shaped rod end to end through a revolute pair in a rotating mode, a horizontal rod of the front end T-shaped rod arranged in the horizontal direction in each closed-loop sub-chain is rotatably connected with the lower end of the Hooke hinge through a revolute pair in the vertical direction, horizontal rods of the tail end T-shaped rod arranged in the vertical direction in the three closed-loop sub-chains are respectively rotatably connected with a vertical rod of a tail end actuator through revolute pairs, a revolute pair of a second branched chain connected with the tail end actuator and a revolute pair of a first branched chain, And the revolute pairs of the third branched chain are sequentially arranged on the vertical rod from top to bottom.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210073208.0A CN114378793B (en) | 2022-01-21 | 2022-01-21 | Passive rod hinge space three-degree-of-freedom parallel robot with analytic positive solution |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210073208.0A CN114378793B (en) | 2022-01-21 | 2022-01-21 | Passive rod hinge space three-degree-of-freedom parallel robot with analytic positive solution |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114378793A true CN114378793A (en) | 2022-04-22 |
CN114378793B CN114378793B (en) | 2024-03-01 |
Family
ID=81204304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210073208.0A Active CN114378793B (en) | 2022-01-21 | 2022-01-21 | Passive rod hinge space three-degree-of-freedom parallel robot with analytic positive solution |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114378793B (en) |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
CN103552059A (en) * | 2013-10-28 | 2014-02-05 | 哈尔滨工业大学深圳研究生院 | Pick-and-place operation oriented parallel robot mechanism with four degrees of freedom and large working space |
JP2014065123A (en) * | 2012-09-26 | 2014-04-17 | Canon Electronics Inc | Parallel link robot |
US20160089776A1 (en) * | 2013-05-23 | 2016-03-31 | Abb Technology Ltd | Compact Parallel Kinematics Robot |
CN105818133A (en) * | 2016-04-20 | 2016-08-03 | 燕山大学 | One-rotation single-freedom-degree parallel mechanism |
CN107433574A (en) * | 2017-09-22 | 2017-12-05 | 中国地质大学(武汉) | A kind of six degree of freedom connection in series-parallel puts together machines people |
WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
CN109531556A (en) * | 2018-12-26 | 2019-03-29 | 清华大学 | Four-degree-of-freedom cylindrical coordinates parallel robot |
CN209831630U (en) * | 2019-01-23 | 2019-12-24 | 曜石机器人(上海)有限公司 | Four-freedom-degree high-speed parallel robot |
CN111975748A (en) * | 2020-07-29 | 2020-11-24 | 烟台清科嘉机器人联合研究院有限公司 | Vertical rubbing type high-speed parallel robot with decoupled freedom of movement and rotation |
US20200391374A1 (en) * | 2018-01-15 | 2020-12-17 | Cognibotics Ab | An industrial robot arm |
-
2022
- 2022-01-21 CN CN202210073208.0A patent/CN114378793B/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101698300A (en) * | 2009-11-13 | 2010-04-28 | 哈尔滨工业大学深圳研究生院 | Large-working space parallel robot mechanism |
JP2014065123A (en) * | 2012-09-26 | 2014-04-17 | Canon Electronics Inc | Parallel link robot |
US20160089776A1 (en) * | 2013-05-23 | 2016-03-31 | Abb Technology Ltd | Compact Parallel Kinematics Robot |
CN103552059A (en) * | 2013-10-28 | 2014-02-05 | 哈尔滨工业大学深圳研究生院 | Pick-and-place operation oriented parallel robot mechanism with four degrees of freedom and large working space |
CN105818133A (en) * | 2016-04-20 | 2016-08-03 | 燕山大学 | One-rotation single-freedom-degree parallel mechanism |
WO2018233468A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Six-degree-of-freedom mechanical arm based on translational parallel mechanism |
CN107433574A (en) * | 2017-09-22 | 2017-12-05 | 中国地质大学(武汉) | A kind of six degree of freedom connection in series-parallel puts together machines people |
US20200391374A1 (en) * | 2018-01-15 | 2020-12-17 | Cognibotics Ab | An industrial robot arm |
CN109531556A (en) * | 2018-12-26 | 2019-03-29 | 清华大学 | Four-degree-of-freedom cylindrical coordinates parallel robot |
CN209831630U (en) * | 2019-01-23 | 2019-12-24 | 曜石机器人(上海)有限公司 | Four-freedom-degree high-speed parallel robot |
CN111975748A (en) * | 2020-07-29 | 2020-11-24 | 烟台清科嘉机器人联合研究院有限公司 | Vertical rubbing type high-speed parallel robot with decoupled freedom of movement and rotation |
Non-Patent Citations (1)
Title |
---|
马庆国,杨世明,郭翠敏: "基于GF 集理论的三转动四支链并联机构构型综合", 机械设计与研究, vol. 35, no. 1 * |
Also Published As
Publication number | Publication date |
---|---|
CN114378793B (en) | 2024-03-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109531543B (en) | Four-freedom parallel robot with double-acting platform structure | |
CN109531556B (en) | Four-freedom-degree cylindrical coordinate parallel robot | |
CN110815185B (en) | Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain | |
CN110666774B (en) | Three-degree-of-freedom rope driving joint module based on parallel mechanism | |
CN102773856A (en) | Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion | |
CN102615641A (en) | Five-degree-of-freedom parallel power head | |
CN208759606U (en) | A kind of four-degree-of-freedom underloading industrial robot | |
CN102848375A (en) | Spatial six-degree-of-freedom mechanism capable of separately controlling rotation motion and translation motion | |
CN212601930U (en) | Connecting rod transmission mechanical arm with vertical lifting function | |
CN109760017B (en) | Series-parallel connection six-freedom-degree industrial mechanical arm with two turning waists | |
CN112917509B (en) | Three-degree-of-freedom mechanical arm driven based on spherical parallel mechanism | |
CN208246811U (en) | A kind of five articulated robots | |
CN114378793A (en) | Passive rod hinged space three-degree-of-freedom parallel robot with analytic positive solution | |
CN209319370U (en) | A kind of Twin-shaft machinery positioner device | |
CN202825823U (en) | Space six-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
CN114378794B (en) | Three-translation high-speed parallel robot with branched chain end hinging structure | |
CN113997276B (en) | Variable-rod-length-containing parallelogram closed-loop subchain three-translation pickup robot | |
CN202825822U (en) | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
CN210081731U (en) | Three-dimensional translation and one-dimensional rotation grabbing robot mechanism with synchronous belt transmission structure | |
CN208392042U (en) | Six articulated robots | |
CN109732565B (en) | 3-RPaRR-3-RRPaR mechanism capable of three-dimensional translation | |
CN219054380U (en) | Six-degree-of-freedom parallel-serial-parallel robot | |
CN213616701U (en) | Parallel robot | |
CN220408786U (en) | Carrying manipulator | |
CN110977948B (en) | Five-branched-chain parallel manipulator |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |