CN1772444A - Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions - Google Patents
Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions Download PDFInfo
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- CN1772444A CN1772444A CN 200510101135 CN200510101135A CN1772444A CN 1772444 A CN1772444 A CN 1772444A CN 200510101135 CN200510101135 CN 200510101135 CN 200510101135 A CN200510101135 A CN 200510101135A CN 1772444 A CN1772444 A CN 1772444A
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Abstract
The present invention discloses one kind of four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions and including static platform, dynamic platform and branches connecting the static platform and the dynamic platform. The dynamic platform is connected to the static platform through four branches, the static platform has two vertically crossed tracks, two crossed branches, branch I and branch II, are connected to the identical track while other two, branch III and branch IV, are connected to the other track. Each of the branches includes one shift pair, two Hookes and one branch rod, which has one end connected to the dynamic platform via a Hooke and the other end to the static platform via the composite motion pair comprising a shift pair and a Hooke. The present invention can realize four-freedom platform motion, has enhanced integral rigidity and may be used in operation needing four special motions.
Description
Technical field
The invention belongs to the robot mechanism field, relate in particular to the four-freedom parallel connection robot mechanism that a kind of two-dimensional translation and two-dimensional rotates.
Background technology
In the existing robot of robotize operation, two class mechanisms are arranged: serial mechanism and parallel institution.Serial mechanism has the advantage that working space is big, flexibility is high, and simultaneously, part also comes with some shortcomings: exist the error accumulation of each rod member, terminal precision low; Inertia is big, rigidity is low, dynamic property is relatively poor.
Parallel institution is a kind ofly to have a plurality of freedoms of motion, and driver is distributed in the enclosed multi-loop mechanism on the different loops.The relative serial machine people of parallel robot has series of advantages such as rigidity is big, bearing capacity strong, site error is not accumulated, precision height, the deadweight duty ratio is little, power performance is good.Various equipments based on parallel institution become the important supplement that the tradition series connection is equipped, and play a significant role in a lot of fields.At present, parallel robot is mainly used in fields such as medical surgical equipment, mobile robot, motion simulation, machine-building, automation assembling, Precision Machining and measurement, microelectronics manufacturing and show business, exerts oneself and torque sensor, walker and climbing robot leg and large-scale mine machinery etc. as flight simulator, virtual-shaft machine tool, coordinate measuring machine, jiggle robot, robot.
At present, the about kind more than 100 of the parallel institution that has proposed, but the parallel institution of four-degree-of-freedom is still few.That space lower-mobility parallel robot has relatively is simple in structure, control easily, characteristics such as cost is low.The demarcation of parallel institution and position normal solution have confidential relation, and its solution and result have very big influence to the stated accuracy of mechanism.Lower-mobility as two, three, the normal solution majority of four-freedom parallel mechanism can access its sealing and separate, so lower-mobility mechanism is popular in commercial Application.
Recent years, secondary driving mechanism is the parallel robot mechanism of driving mechanism beyond having occurred.The interior secondary parallel institution that drives is easy to realize the multi-coordinate interlock, and the pose ability of moving platform is stronger, and symmetrical configuration.Outer pair drives with silent flatform and moves (rotation) hinge outward as initiatively cutting with scissors.Compare with the interior secondary parallel institution that drives, the advantage of outer secondary driven Parallel Kinematic Manipulator is: working space and mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good, have the advantage direction of motion.And adopt the sizing bar, and reduced influence of thermal effect to a great extent, reduced the difficulty that is subjected to thermal compensation.
Summary of the invention
The four-freedom parallel connection robot mechanism that the object of the present invention is to provide a kind of two-dimensional translation and two-dimensional to rotate, it the space move and rotation combines, have that precision and rigidity height, inertia are little, high dynamic performance, working space are big, have the advantage direction of motion, forward kinematics solution and instead separate advantages such as simple.
The four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional of the present invention rotates, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by four branches, two crossing guide rails are arranged on the described silent flatform, branch one, branch's two mutual arranged crosswise link to each other with same guide rail; Branch three, branch four link to each other with another guide rail respectively; Each branch comprises a moving sets, two Hooke's hinges and a branch pole, divides an end of pole to link to each other with moving platform by Hooke's hinge, and the other end links to each other with silent flatform by connected firmly the compound motion pair of forming by moving sets and Hooke's hinge.
Described two crossing guide rails are mutually perpendicular.
The branch pole of described branch two is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction.
The branch pole of described branch one and the branch pole of branch two form a planar contact pair in crossover sites.
The moving sets of described each branch is the active input of this mechanism; The branch strut lengths of each branch is fixed.
Each branch moves on guide rail separately by moving sets, and the moving platform of this sample mechanism just has two translations and two rotational freedoms, can realize the motion of moving platform four-degree-of-freedom.
Because branch one and branch two are guide rails arranged crosswise and shared, the branch pole of the branch pole of branch one and branch two can form a planar contact pair in crossover sites like this, can strengthen the rigidity of mechanism's integral body.
The present invention has following advantage and beneficial effect:
1. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional of the present invention rotates is compared with traditional serial mechanism, has the advantage of high accuracy, high rigidity, low inertia, high dynamic performance;
2. the four-freedom parallel connection robot mechanism forward kinematics solution that two-dimensional translation and two-dimensional of the present invention rotates, counter separating simply, normal solution has analytic solutions;
3. the present invention has clear and definite forms of motion to the rotation in space and mobile the combination, and promptly two are moved two rotations;
4. the present invention adopts outer secondary drives structure, working space and mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good;
5. the present invention adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that is subjected to thermal compensation.
Description of drawings
Fig. 1 is the structural representation of the four-freedom parallel connection robot mechanism of two-dimensional translation and two-dimensional rotation of the present invention.
Among the figure: 1-silent flatform 2-moving platform 3,4-guide rail 5,6,7, the 9-of 8-branch moving sets 10-Hooke's hinge 11-divide pole
The specific embodiment
In order to understand the present invention better, the present invention is done to describe further below in conjunction with accompanying drawing.
As shown in Figure 1, the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional of the present invention rotates, the branch that comprises silent flatform 1, moving platform 2, connection silent flatform 1 and moving platform 2, moving platform 2 links to each other with silent flatform 1 by four branches 5,6,7,8, two crossing guide rails 3,4 are arranged on the silent flatform 1, branch 5, branch's 6 mutual arranged crosswise link to each other with guide rail 3; Branch 7, branch 8 link to each other with guide rail 4 respectively; Each branch comprises a moving sets 9, two Hooke's hinges 10 and branch poles 11, divides an end of pole 11 to link to each other with moving platform 2 by Hooke's hinge 10, and the other end links to each other with silent flatform 1 by connected firmly the compound motion pair of forming by moving sets 9 and Hooke's hinge 10.
Above-mentioned two crossing guide rails the 3, the 4th, mutually perpendicular; The branch pole of branch 6 is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction; Since branch 5 and branch 6 be arranged crosswise and common guide rails 3, the branch pole of branch 5 and the branch pole of branch 6 can form a planar contact pair in crossover sites, have strengthened the rigidity of mechanism's integral body.
The moving sets 9 of each branch is the active input of this mechanism; Branch pole 11 length of each branch are fixed; Each branch moves on guide rail separately by moving sets 9, because Hooke's hinge 10 has two frees degree, the moving platform 2 of this sample mechanism just has two translations and two rotational freedoms, can realize the motion of moving platform four-degree-of-freedom.
The present invention is the rotation in space and move combination, has clear and definite forms of motion, and adopts the sizing bar, has reduced influence of thermal effect to a great extent, has reduced the difficulty that is subjected to thermal compensation; The present invention is owing to adopt outer secondary drives structure in addition, and working space is with mechanism's volume is bigger, frame for movement is simple, standardization is strong, manufacturability is relatively good, the advantage of have high accuracy, high rigidity, hanging down inertia, high dynamic performance.
Claims (6)
1. the four-freedom parallel connection robot mechanism that rotates of a two-dimensional translation and two-dimensional, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by four branches, it is characterized in that two crossing guide rails are arranged on the described silent flatform, branch one, branch's two mutual arranged crosswise link to each other with same guide rail; Branch three, branch four link to each other with another guide rail respectively; Each branch comprises a moving sets, two Hooke's hinges and a branch pole, divides an end of pole to link to each other with moving platform by Hooke's hinge, and the other end links to each other with silent flatform by connected firmly the compound motion pair of forming by moving sets and Hooke's hinge.
2. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional according to claim 1 rotates is characterized in that described two crossing guide rails are mutually perpendicular.
3. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional according to claim 1 and 2 rotates is characterized in that the branch pole of described branch two is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction.
4. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional according to claim 3 rotates is characterized in that the branch pole of described branch one and the branch pole of branch two form a planar contact pair in crossover sites.
5. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional according to claim 1 rotates, the moving sets that it is characterized in that described each branch is the active input of this mechanism.
6. the four-freedom parallel connection robot mechanism that two-dimensional translation and two-dimensional according to claim 1 rotates is characterized in that the branch strut lengths of described each branch is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101011358A CN100411826C (en) | 2005-11-11 | 2005-11-11 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101011358A CN100411826C (en) | 2005-11-11 | 2005-11-11 | Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions |
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| CN1772444A true CN1772444A (en) | 2006-05-17 |
| CN100411826C CN100411826C (en) | 2008-08-20 |
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Cited By (14)
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| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN101966507A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
| CN101659059B (en) * | 2009-09-25 | 2011-05-18 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
| CN102069487A (en) * | 2010-12-22 | 2011-05-25 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102240911A (en) * | 2011-06-15 | 2011-11-16 | 天津职业技术师范大学 | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement |
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN103592095A (en) * | 2013-11-05 | 2014-02-19 | 燕山大学 | Two-rotation two-motion four-freedom-degree parallel excitation platform |
| CN104589322A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder spatial four-degree-of-mobility manipulator |
| TWI487593B (en) * | 2013-12-30 | 2015-06-11 | 中原大學 | Three axis on one surface designed oblique-driven platform |
| CN105108742A (en) * | 2015-10-20 | 2015-12-02 | 山东理工大学 | Decoupled two-translation one-rotation parallel robot |
| CN110315508A (en) * | 2019-07-09 | 2019-10-11 | 吉林工程技术师范学院 | A kind of Hooke's hinge six degree of freedom electrical parallel connection mechanism up and down |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
| CN114290318A (en) * | 2021-12-31 | 2022-04-08 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and motion control inverse solution method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6099217A (en) * | 1995-12-20 | 2000-08-08 | Wiegand; Alexander Konrad | Device for spatially moving a body with three to six degrees of freedom in a controlled manner |
| CN1075418C (en) * | 1999-04-29 | 2001-11-28 | 清华大学 | Structure of machine tool with plane double-slider three-freedom virtual axle |
| CN1114516C (en) * | 2000-11-29 | 2003-07-16 | 中国科学院沈阳自动化研究所 | Five-coordinate numerally controlled machine tool based on 3-freedom parallel mechanism |
| EP1234632A1 (en) * | 2001-02-23 | 2002-08-28 | Willemin Machines S.A. | Kinematic device for programmably supporting and positioning an end element in a machine or an instrument |
| CN1387977A (en) * | 2001-05-30 | 2003-01-01 | 中国科学院沈阳自动化研究所 | Four-freedom parallel mechanism realizing 2D rotation and 2D translation |
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2005
- 2005-11-11 CN CNB2005101011358A patent/CN100411826C/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100384599C (en) * | 2006-06-09 | 2008-04-30 | 燕山大学 | Four-freedom parallel mechanical arm |
| CN101659059B (en) * | 2009-09-25 | 2011-05-18 | 深圳职业技术学院 | Three-translating and one-rotating parallel robot mechanism |
| CN101966507A (en) * | 2010-10-15 | 2011-02-09 | 江苏长虹涂装机械有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
| CN101966507B (en) * | 2010-10-15 | 2012-11-07 | 江苏长虹汽车装备集团有限公司 | Space four-DOF (Degree of Freedom) parallel connection mechanism and spraying robot |
| CN102069487A (en) * | 2010-12-22 | 2011-05-25 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102069487B (en) * | 2010-12-22 | 2012-07-04 | 浙江大学 | Electrohydraulically-controlled four-degree-of-freedom motion platform |
| CN102240911A (en) * | 2011-06-15 | 2011-11-16 | 天津职业技术师范大学 | Incompletely-symmetrical four-freedom-degree space in-parallel mechanism with two-dimensional rotation and two-dimensional movement |
| CN102398264A (en) * | 2011-11-23 | 2012-04-04 | 华南理工大学 | Two-dimensional translational and two-dimensional rotary four-freedom parallel robot mechanism |
| CN103592095A (en) * | 2013-11-05 | 2014-02-19 | 燕山大学 | Two-rotation two-motion four-freedom-degree parallel excitation platform |
| TWI487593B (en) * | 2013-12-30 | 2015-06-11 | 中原大學 | Three axis on one surface designed oblique-driven platform |
| CN104589322A (en) * | 2015-01-24 | 2015-05-06 | 江西省机械科学研究所 | Gear-driven electric cylinder spatial four-degree-of-mobility manipulator |
| CN105108742A (en) * | 2015-10-20 | 2015-12-02 | 山东理工大学 | Decoupled two-translation one-rotation parallel robot |
| CN105108742B (en) * | 2015-10-20 | 2020-05-05 | 山东理工大学 | Decoupling type two-translation one-rotation parallel robot |
| CN110315508A (en) * | 2019-07-09 | 2019-10-11 | 吉林工程技术师范学院 | A kind of Hooke's hinge six degree of freedom electrical parallel connection mechanism up and down |
| CN110480602A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The mobile processing oscillating head mechanism in parallel of two rotation two |
| CN110480601A (en) * | 2019-07-31 | 2019-11-22 | 燕山大学 | The chiasma type 3-freedom parallel mechanism of four branches |
| CN114290318A (en) * | 2021-12-31 | 2022-04-08 | 江苏普旭科技股份有限公司 | Multi-degree-of-freedom motion platform suitable for large-angle compound attitude motion and motion control inverse solution method thereof |
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| CN100411826C (en) | 2008-08-20 |
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Assignee: Huizhou City Dongyang Technology Co., Ltd. Assignor: South China University of Technology Contract fulfillment period: 2008.8.30 to 2014.8.29 Contract record no.: 2009440001586 Denomination of invention: Four-freedom parallel robot mechanism with two translational dimensions and two rotational dimensions Granted publication date: 20080820 License type: Exclusive license Record date: 20091014 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.8.30 TO 2014.8.29; CHANGE OF CONTRACT Name of requester: HUIZHOU CITY DONGYANG SCIENCE AND TECHNOLOGY CO., Effective date: 20091014 |
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Granted publication date: 20080820 Termination date: 20201111 |