CN1769003A - Three-dimensional moving parallel robot mechanism - Google Patents
Three-dimensional moving parallel robot mechanism Download PDFInfo
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- CN1769003A CN1769003A CN 200510016338 CN200510016338A CN1769003A CN 1769003 A CN1769003 A CN 1769003A CN 200510016338 CN200510016338 CN 200510016338 CN 200510016338 A CN200510016338 A CN 200510016338A CN 1769003 A CN1769003 A CN 1769003A
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Abstract
The invention discloses a three-dimensional displacement parallel robot, which is characterized in that said invention is formed by a motion platform, a fixed platform, and three branched chains connecting said two platforms. Wherein, the first branched chain is formed by a spherical pair A1, a motion pair B1 for adjusting the length of rod L1, and a spherical pair C1 from up to down; the second branched chain is formed by a rotating pair A2, a rod L1, a rotating pair B2, a rod L2, and a cylinder pair C2 from up to down; and the third branched pair is formed by a rotating pair A3, a rod L4, a rotating pair B3, a rod L5, and a cylinder pair C3 from up to down. The invention can realize three-dimensional translatory motion output, with large working space and better transmission property; and part of said invention is decoupling, while both of positive and passive explains are the analytic solution, which can simplify the track plan, control and modification.
Description
[technical field]
The present invention relates to advanced manufacturing field, relate to a kind of three-dimensional moving parallel robot mechanism that is used for executing agencies such as Digit Control Machine Tool, measuring machine.
[background technology]
Parallel robot mechanism may be defined as: go up between the lower platform (fixed platform and motion platform) continuous with two or more movement branched chain, each movement branched chain is made up of connecting rod and kinematic pair, motion platform has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is widely used in technical fields such as large-scale analog machine, robot, Digit Control Machine Tool, sensor, micromanipulator, engraving machine and measuring machine.The Stewart platform is a kind of typical parallel robot mechanism, this mechanism has 6 frees degree, be used for the revolution that parallel robot and Digit Control Machine Tool have been considered to machine tool structure since the twentieth century first, after this, invented multiple 6DOF parallel institution.
Because it is the restriction of structure, 6DOF parallel institution have the fine solution of failing of many technical problems, strong as the motion coupling, forward kinematics solution is complicated, working space is little, drive characteristic difference etc.Three-dimensional moving parallel robot mechanism has broad application prospects in industrial production, many scholar's research the mechanism of multiple the type, as Delta mechanism, Star Like mechanism etc.The Chinese scholar is also obtaining a large amount of achievements in research (as number of patent application: 01108297.6 aspect the research of three-dimensional moving parallel robot mechanism; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7 etc.).
Chinese scholars has been studied multiple three-dimensional moving parallel robot mechanism at present, has nothing in common with each other in its performance and application scenario, and the development of parallel robot, Digit Control Machine Tool etc. and practicability need create the new architecture that is better than existing type.
[summary of the invention]
The objective of the invention is in order to overcome the deficiencies in the prior art, and provide a kind of simple in structure, control easily, kinematic accuracy is high, cost is low, the three-dimensional moving parallel robot mechanism of motion parts decoupling zero.
The present invention be address the above problem the scheme that is adopted be the design a kind of three-dimensional moving parallel robot mechanism.It is characterized in that said mechanism is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection; Wherein:
Said first side chain is connected to form by spherical pair A1, the long L3 of bar and the spherical pair C1 that regulate length by moving sets B1 from top to bottom, and moving sets B1 is for driving pair;
Said second side chain is connected to form by revolute pair A2, the long L1 of bar, revolute pair B2, the long L2 of bar and cylindrical pair C2 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with Y-axis, and the moving sets among the cylindrical pair C2 is secondary for driving;
Said the 3rd side chain is connected to form by revolute pair A3, the long L4 of bar, revolute pair B3, the long L5 of bar and cylindrical pair C3 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with X-axis, and the moving sets among the cylindrical pair C3 is secondary for driving;
The top of said three side chains is connected motion platform by spherical pair A1, revolute pair A2 with A3, and the bottom of three side chains is connected and fixed platform by spherical pair C1, cylindrical pair C2 and C3.
The invention has the beneficial effects as follows:
1, mechanism's workbench can be realized D translation motion output.
2, mechanism is simple, and make, install easily, the transmission accuracy height, cost is low.
3, working space is bigger, and drive characteristic is good.
4, mechanism kinematic partly decoupled, positive and negative the separating of kinematics is analytic solutions, simplified series of technical such as trajectory planning, control, correction.
[description of drawings]
Fig. 1 three-dimensional moving parallel robot mechanism schematic diagram.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
[specific embodiment]
Three-dimensional moving parallel robot mechanism of the present invention is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection.The platform at A1, A2 and A3 place is a motion platform, and in first side chain, A1 is a spherical pair, and B1 is a moving sets, and C1 is a spherical pair; In second side chain, A2 and B2 are revolute pair, and C2 is a cylindrical pair; In the 3rd side chain, A3 and B3 are revolute pair, and C3 is a cylindrical pair.Article three, side chain links with fixed platform respectively by kinematic pair C1, C2 and C3.The length of the long L3 of bar changes and changes along with moving sets B1.In the mechanism, each side chain has one to drive pair, and driving pair in first side chain is moving sets B1, and the driving pair is the moving sets among the cylindrical pair C2 in second side chain, and the driving pair is the moving sets among the cylindrical pair C3 in the 3rd side chain.In the second and the 3rd side chain, each pivot center in each side chain is parallel to each other, and the pivot center of two interchains is orthogonal.The axis of cylindrical pair C2 and C3 is vertical mutually.Connecting rod in each side chain can be bar, plate or the special-shaped shape that does not influence each bar motion.
As shown in the figure, driving can be adopted motor or hydraulic-driven, and motion platform is done the D translation motion all the time in working space.Operator or actuator are installed on the motion platform, realize three-dimensional move operation.Second side chain drives secondary input quantity and determines the Y coordinate figure of motion platform in fixed coordinate system, the 3rd side chain drives secondary input quantity and determines the X coordinate figure of motion platform in fixed coordinate system, and the Z coordinate figure of motion platform in fixed coordinate system depends on the input quantity of three drivings.
Claims (2)
1, a kind of three-dimensional moving parallel robot mechanism is characterized in that said mechanism is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection; Wherein:
Said first side chain is connected to form by spherical pair A1, the long L3 of bar and the spherical pair C1 that regulate length by moving sets B1 from top to bottom, and moving sets B1 is for driving pair;
Said second side chain is connected to form by revolute pair A2, the long L1 of bar, revolute pair B2, the long L2 of bar and cylindrical pair C2 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with Y-axis, and the moving sets among the cylindrical pair C2 is secondary for driving;
Said the 3rd side chain is connected to form by revolute pair A3, the long L4 of bar, revolute pair B3, the long L5 of bar and cylindrical pair C3 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with X-axis, and the moving sets among the cylindrical pair C3 is secondary for driving;
The top of said three side chains is connected motion platform by spherical pair A1, revolute pair A2 with A3, and the bottom of three side chains is connected and fixed platform by spherical pair C1, cylindrical pair C2 and C3.
2,, it is characterized in that the connecting rod in said each side chain is bar, plate or the special-shaped shape that does not influence each bar motion according to the described robot mechanism of claim 1.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510016338 CN1769003A (en) | 2005-11-23 | 2005-11-23 | Three-dimensional moving parallel robot mechanism |
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| CN 200510016338 CN1769003A (en) | 2005-11-23 | 2005-11-23 | Three-dimensional moving parallel robot mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100453279C (en) * | 2007-05-31 | 2009-01-21 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN104742115A (en) * | 2015-01-19 | 2015-07-01 | 北京航空航天大学 | Two-freedom-degree flexibility parallel alignment device provided with remote rotation center |
| CN110576426A (en) * | 2019-09-02 | 2019-12-17 | 燕山大学 | Three-translation parallel mechanism |
-
2005
- 2005-11-23 CN CN 200510016338 patent/CN1769003A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100453279C (en) * | 2007-05-31 | 2009-01-21 | 西安理工大学 | Non-singular completely isotropic space mobile parallel mechanism |
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN102092429B (en) * | 2011-03-24 | 2013-03-20 | 天津理工大学 | Two-leg walking mechanism |
| CN104742115A (en) * | 2015-01-19 | 2015-07-01 | 北京航空航天大学 | Two-freedom-degree flexibility parallel alignment device provided with remote rotation center |
| CN104742115B (en) * | 2015-01-19 | 2016-05-11 | 北京航空航天大学 | A kind of flexible parallel alignment device of two degrees of freedom with long-range center of rotation |
| CN110576426A (en) * | 2019-09-02 | 2019-12-17 | 燕山大学 | Three-translation parallel mechanism |
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