CN1537704A - Paralel robot mechanism with bidimension rotating mono-dimension moving - Google Patents
Paralel robot mechanism with bidimension rotating mono-dimension moving Download PDFInfo
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- CN1537704A CN1537704A CNA2003101016776A CN200310101677A CN1537704A CN 1537704 A CN1537704 A CN 1537704A CN A2003101016776 A CNA2003101016776 A CN A2003101016776A CN 200310101677 A CN200310101677 A CN 200310101677A CN 1537704 A CN1537704 A CN 1537704A
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Abstract
A parallel robot mechanism with 2D rotating and 1D moving is composed of a fixed platform, a moving platform and three branches. Two of three branches have same structure with a single-freedom moving set as drive set and are pivoted respectively to said both platforms. The third branch is a linearly driven telescopic connecting rod with one end fixed to the fixed platform and another end pivoted to the moving platform. Its advantages are high precision and dynamic performance, low moving quality and simple structure.
Description
Technical field
The invention belongs to industrial robot and machinery manufacturing technology field.
Background technology
Existing industrial machine robot mechanism mainly contains three major types: serial machine robot mechanism, parallel robot mechanism and series-parallel robot mechanism.Wherein, the serial machine robot mechanism is the open kinematic chain that each rod member links to each other successively by kinematic pair, its advantage is the big and flexibility height of working space, its shortcoming has because the accumulation of each rod member error causes the end piece precision very low, rigidity is low, inertia is big, and dynamic performance difference etc. have limited the application in the operation occasion that needs high position precision and power control accuracy;
Parallel robot mechanism is an a kind of closed loop mechanism, its moving platform or claim end effector by at least two independently kinematic chain be connected with frame.Compare with the serial machine robot mechanism, parallel institution has advantages such as rigidity height, precision height, dynamic performance are good, compact conformation.At present, parallel robot mechanism more and more obtains paying attention in industries such as lathe, robot, medicine equipment, Aeronautics and Astronautics, navigation, amusement, emulation;
Series-parallel robot mechanism is that parallel robot mechanism serial connection or parallel robot mechanism and serial machine robot mechanism serial connection form, and has both brought into play the advantage of parallel robot mechanism, combines serial machine robot mechanism flexibility ratio height, advantage that slewing area is big again.
At present, parallel robot mechanism obtains paying attention to just day by day, no matter is parallel robot mechanism, still forms series-parallel robot mechanism with other mechanisms.
The research of parallel robot mechanism can be traced back to nineteen forty-seven, and Gough has set up the mechanism design basic principle with closed-loop structure; Gough had finished the model machine that is used for tire checking in 1962; Nineteen sixty-five Stewart has designed the mechanism that is used for flight simulator, becomes the most typical parallel robot mechanism afterwards; Hunt in 1978 have systematically analyzed the kinematic chain structure of parallel robot, have proposed the multiple class of establishment that can be used for parallel robot; To calendar year 2001, disclosed parallel robot mechanism has 87 kinds, wherein 3,6DOF respectively account for 40%, 4DOF account for 6%, 5DOF account for 3.5%, 2DOF account for 10.5%.
Up to the present, the patent of parallel robot configuration and application thereof has 50 more than in China's patent, but the parallel robot mechanism that special realization two dimension rotation one dimension moves seldom, as 3-RPS mechanism.The parallel robot mechanism shortcoming that existing two dimension rotation one dimension moves has: the forward kinematics solution complexity makes that trajectory planning and control are complicated; Pass between input and output is the close coupling relation, and system's control is complicated; Working space is little etc.
In sum, the development of robot mechanism, machine-building etc. and practicability need create the new configuration that is better than existing mechanism.
Summary of the invention
The present invention seeks to overcome the shortcoming of prior art, provide a kind of two dimension that realizes to rotate that one dimension moves, practical parallel robot mechanism, solve the coupled problem between input, output, solve the normal solution challenge, and then simplify problems such as trajectory planning and control.
The invention provides a kind of two dimension and rotate the one dimension moving parallel connected robot mechanism, comprise fixed platform, moving platform and three branches that connect fixed platform and moving platform, it is characterized in that: two branched structures are identical in described three branches, respectively comprise one as driving secondary single dof mobility pair, be connected with moving platform with described fixed platform by two Hooke's hinges respectively, another branch is the extensible link of linear drives, one end and fixed platform are connected, and the other end links to each other with described moving platform by Hooke's hinge; Described fixed platform and three branches intersect at not point-blank A, B, C 3 points, described moving platform and three branches intersect at not point-blank with the corresponding A ' of fixed platform, B ', C ' 3 points, the Hooke's hinge axis is parallel to each other on the fixed platform, and the Hooke's hinge axis is parallel to each other on the moving platform.
Two same branches in described three branches are extensible link, and the single dof mobility that described extensible link comprises is secondary to be moving sets.
Two same branches in described three branches are formed by side link that links to each other by revolute pair and connecting rod.
The present invention compared with prior art has following advantage:
1, two dimension of the present invention rotate the one dimension moving parallel connected robot mechanism by a mechanism realized the space around two vertical axises rotate and along with the moving of the perpendicular direction of two turning cylinders, forms of motion is clear and definite.
2, parallel robot mechanism of the present invention is compared with traditional serially connected robot mechanism, has characteristics such as high rigidity, high accuracy, harmonic motion quality, high dynamic performance.
3, parallel robot mechanism kinematics of the present invention is positive and negative separates simply.
4, two dimension of the present invention is rotated the one dimension moving parallel connected robot mechanism and is rotated the prospect that is commonly employed in the operation that one dimension moves in the needs two dimension.
Description of drawings
Fig. 1 is that the present invention two dimension is rotated one of the embodiment general structure schematic diagram that one dimension moves three-freedom parallel robot mechanism.
Fig. 2 is that the present invention's two dimension is rotated the two general structure schematic diagrames that one dimension moves the embodiment of three-freedom parallel robot mechanism.
Fig. 3 is that the present invention's two dimension is rotated the moving platform structural representation that one dimension moves three-freedom parallel robot mechanism.
Fig. 4 is that the present invention's two dimension is rotated the fixed platform structural representation that one dimension moves three-freedom parallel robot mechanism.
The specific embodiment
Below in conjunction with accompanying drawing specific embodiments of the invention are described.
The general structure of present embodiment as shown in Figure 1, the moving platform 9 of this mechanism is connected with fixed platform 1 by three branches, these three branches are extensible link.First branch is made up of the connecting rod 3 and the connecting rod 5 that link to each other by moving sets 4, and the connecting rod 3 of this branch links to each other with fixed platform 1 by Hooke's hinge 2, and connecting rod 5 links to each other with moving platform 9 by Hooke's hinge 11; Second branch is made up of the connecting rod 12 and the connecting rod 14 that link to each other by moving sets 13, and the connecting rod 14 of this branch links to each other with fixed platform 1 by Hooke's hinge 15, and connecting rod 12 links to each other with moving platform 9 by Hooke's hinge 10; The 3rd branch is made up of the moving sets 6 and the connecting rod 7 that link to each other, and moving sets 6 is fixing with fixed platform 1, and connecting rod 7 links to each other with moving platform 9 by Hooke's hinge 8.Moving platform 9 realizes that by stretching of three extensible link moving platform 9 moves along the three-dimensional space that moves and rotate around two axial directions of Hooke's hinge 8 of moving sets 6 directions.
As Fig. 3, shown in Figure 4, fixed platform and three branches intersect at not point-blank A, B, C 3 points, moving platform and three branches intersect at not point-blank with the corresponding A ' of fixed platform, B ', C ' 3 points, dotted line represents to meet at moving platform the axis of the Hooke's hinge of 3 of A ', B ', C ' among Fig. 3, and the axis of these Hooke's hinges is parallel to each other on the moving platform.Dotted line represents to meet at fixed platform the axis of the Hooke's hinge of 2 of B, C among Fig. 4, and the axis of these Hooke's hinges of fixed platform is parallel to each other.
The general structure of present embodiment as shown in Figure 2, the moving platform 24 of this mechanism is connected with fixed platform 16 by three branches, first branches into extensible link, this branch comprises by the moving sets 21 and the connecting rod 22 that link to each other and forming, moving sets 21 is fixing with fixed platform 16, and connecting rod 22 links to each other with moving platform 24 by Hooke's hinge 23.Second branch is made up of the connecting rod 18 and the connecting rod 20 that link to each other by revolute pair 19, the side link 18 of this branch links to each other with fixed platform 16 by Hooke's hinge 17, connecting rod 20 links to each other with moving platform 24 by Hooke's hinge 26, the turning cylinder of side link 18 and 20 revolute pairs 19 of connecting rod, respectively with Hooke's hinge 17, Hooke's hinge 26 on corresponding turning cylinder be parallel to each other; The 3rd branch is made up of the side link 29 and the connecting rod 27 that link to each other by revolute pair 28, the connecting rod 29 of this branch links to each other with fixed platform 16 by Hooke's hinge 30, connecting rod 27 links to each other with moving platform 24 by Hooke's hinge 25, the turning cylinder of side link 29 and 27 revolute pairs 28 of connecting rod, respectively with Hooke's hinge 25, Hooke's hinge 30 on corresponding turning cylinder be parallel to each other; Moving platform 24 realizes that by the rotations mobile and revolute pair 19 and 28 of moving sets 21 moving platform 24 moves along the three-dimensional space that moves and rotate around two axial directions of Hooke's hinge 23 of moving sets 21 directions.
The position of Hooke's hinge and embodiment 1 identical on fixed platform and the moving platform among the embodiment 2.
Claims (3)
1. a two dimension is rotated the one dimension moving parallel connected robot mechanism, comprise fixed platform, moving platform and three branches that connect fixed platform and moving platform, it is characterized in that: two branched structures are identical in described three branches, respectively comprise one as driving secondary single dof mobility pair, be connected with moving platform with described fixed platform by two Hooke's hinges respectively, another branch is the extensible link of linear drives, and an end and fixed platform are connected, and the other end links to each other with described moving platform by Hooke's hinge; Described fixed platform and three branches intersect at not point-blank A, B, C 3 points, described moving platform and three branches intersect at not point-blank with the corresponding A ' of fixed platform, B ', C ' 3 points, the Hooke's hinge axis is parallel to each other on the fixed platform, and the Hooke's hinge axis is parallel to each other on the moving platform.
2. two dimension according to claim 1 is rotated the one dimension moving parallel connected robot mechanism, and it is characterized in that: two same branches in described three branches are extensible link, and the single dof mobility that described extensible link comprises is secondary to be moving sets.
3. two dimension according to claim 1 is rotated the one dimension moving parallel connected robot mechanism, it is characterized in that: two same branches in described three branches are formed by side link that links to each other by revolute pair and connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2003101016776A CN1537704A (en) | 2003-10-24 | 2003-10-24 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
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| CNA2003101016776A CN1537704A (en) | 2003-10-24 | 2003-10-24 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382932C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Series-parallel connection active equivalent ball-joint mechanism |
| CN100413656C (en) * | 2006-10-13 | 2008-08-27 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
| CN100427276C (en) * | 2005-11-11 | 2008-10-22 | 华南理工大学 | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions |
| CN101830272A (en) * | 2010-05-13 | 2010-09-15 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| WO2010114488A1 (en) * | 2009-03-31 | 2010-10-07 | Agency For Science, Technology And Research | Active manipulator |
| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN102528817A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Three-degree-of-freedom parallel-connection mechanical wrist |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN103206339A (en) * | 2013-03-28 | 2013-07-17 | 上海交通大学 | Three-dimensional wave power generation device |
| CN103306880A (en) * | 2013-05-07 | 2013-09-18 | 上海交通大学 | Novel three-dimensional sea wave power generation device |
| CN103831828A (en) * | 2014-03-21 | 2014-06-04 | 智慧城市***服务（中国）有限公司 | Robot and neck mechanism thereof |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN104227698A (en) * | 2013-06-19 | 2014-12-24 | 上海瀚创机器人技术有限公司 | Parallel displacement mechanism with two degrees of freedom |
| CN104440832A (en) * | 2014-09-30 | 2015-03-25 | 中国运载火箭技术研究院 | Double-layer support for flight vehicle assembling, transporting and docking |
| CN107178689A (en) * | 2016-03-10 | 2017-09-19 | 杭州海康威视数字技术股份有限公司 | Adjusting bracket and the video camera with it |
| CN107240328A (en) * | 2017-06-27 | 2017-10-10 | 珠海磐磊智能科技有限公司 | Three-degree-of-freedom motion platform, control moment gyroscope and aircraft landing platform |
| CN111332718A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Four-way unloading express sorting trolley with overturning direction controlled by air cylinder |
| CN111332717A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Express sorting trolley for realizing four-way unloading through universal overturning driving device |
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2003
- 2003-10-24 CN CNA2003101016776A patent/CN1537704A/en active Pending
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100427276C (en) * | 2005-11-11 | 2008-10-22 | 华南理工大学 | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions |
| CN100382932C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Series-parallel connection active equivalent ball-joint mechanism |
| CN100413656C (en) * | 2006-10-13 | 2008-08-27 | 燕山大学 | Spacial non-symmetric two freedom rotary parallel mechanism |
| WO2010114488A1 (en) * | 2009-03-31 | 2010-10-07 | Agency For Science, Technology And Research | Active manipulator |
| CN101830272B (en) * | 2010-05-13 | 2012-07-04 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| CN101830272A (en) * | 2010-05-13 | 2010-09-15 | 天津大学 | Spatial redundant drive swinging experiment table with two degrees of freedom |
| CN101890714A (en) * | 2010-06-23 | 2010-11-24 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN101890714B (en) * | 2010-06-23 | 2012-04-25 | 北京交通大学 | Connecting rod moving robot with one degree of freedom and control method thereof |
| CN102528817B (en) * | 2012-01-13 | 2014-01-22 | 燕山大学 | Three-degree-of-freedom parallel-connection mechanical wrist |
| CN102528817A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Three-degree-of-freedom parallel-connection mechanical wrist |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN103144106B (en) * | 2013-03-13 | 2015-11-18 | 燕山大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN103206339A (en) * | 2013-03-28 | 2013-07-17 | 上海交通大学 | Three-dimensional wave power generation device |
| CN103306880A (en) * | 2013-05-07 | 2013-09-18 | 上海交通大学 | Novel three-dimensional sea wave power generation device |
| CN104227698A (en) * | 2013-06-19 | 2014-12-24 | 上海瀚创机器人技术有限公司 | Parallel displacement mechanism with two degrees of freedom |
| CN103831828A (en) * | 2014-03-21 | 2014-06-04 | 智慧城市***服务（中国）有限公司 | Robot and neck mechanism thereof |
| CN103831828B (en) * | 2014-03-21 | 2015-11-25 | 智慧城市***服务（中国）有限公司 | Robot and neck mechanism thereof |
| CN104002302A (en) * | 2014-05-07 | 2014-08-27 | 燕山大学 | Two and three freedom-degree swing table with virtual rotating axis |
| CN104440832A (en) * | 2014-09-30 | 2015-03-25 | 中国运载火箭技术研究院 | Double-layer support for flight vehicle assembling, transporting and docking |
| CN104440832B (en) * | 2014-09-30 | 2016-06-29 | 中国运载火箭技术研究院 | A kind of aircraft assembling, transport, docking double-layer scaffold |
| CN107178689A (en) * | 2016-03-10 | 2017-09-19 | 杭州海康威视数字技术股份有限公司 | Adjusting bracket and the video camera with it |
| CN107240328A (en) * | 2017-06-27 | 2017-10-10 | 珠海磐磊智能科技有限公司 | Three-degree-of-freedom motion platform, control moment gyroscope and aircraft landing platform |
| CN107240328B (en) * | 2017-06-27 | 2019-11-12 | 珠海磐磊智能科技有限公司 | Three-degree-of-freedom motion platform, control moment gyroscope and aircraft landing platform |
| CN111332718A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Four-way unloading express sorting trolley with overturning direction controlled by air cylinder |
| CN111332717A (en) * | 2020-03-20 | 2020-06-26 | 翁观华 | Express sorting trolley for realizing four-way unloading through universal overturning driving device |
| CN111332717B (en) * | 2020-03-20 | 2021-08-20 | 郭思源 | Express sorting trolley for realizing four-way unloading through universal overturning driving device |
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