WO2006087399A1 - Robot paralelo con cuatro grados de libertad de alta velocidad - Google Patents
Robot paralelo con cuatro grados de libertad de alta velocidad Download PDFInfo
- Publication number
- WO2006087399A1 WO2006087399A1 PCT/ES2006/000053 ES2006000053W WO2006087399A1 WO 2006087399 A1 WO2006087399 A1 WO 2006087399A1 ES 2006000053 W ES2006000053 W ES 2006000053W WO 2006087399 A1 WO2006087399 A1 WO 2006087399A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- mobile platform
- freedom
- degrees
- high speed
- elements
- Prior art date
Links
- 230000007246 mechanism Effects 0.000 claims description 18
- 230000003321 amplification Effects 0.000 claims description 16
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000014616 translation Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- 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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
Definitions
- the purpose of the robot of the invention is to move a platform that carries the corresponding tool, with four degrees of freedom (three translations and a rotation in the vertical axis), with very high accelerations and speeds in any direction.
- the robot actuators are arranged symmetrically, allowing a homogeneous behavior and high rigidity throughout the workload.
- This robot is especially suitable for pick & place tasks.
- the parallel robots are generally constituted by a fixed support or base plate on which actuators are mounted which, through articulated arms or kinematic chains, are attached to a mobile platform to which the corresponding tool is attached
- a robot of this type with three degrees of freedom is described for example in US Patent 4,976,582, while in Patent EP 1 084 802 a parallel robot with four degrees of freedom (three translations and one turn) is described.
- Parallel robots with four degrees of freedom are very suitable for performing parts handling, packaging and assembly tasks, and enjoy advantages over more complex parallel robots, for example with 6 degrees of freedom, in terms of simplicity, price and speed of movement.
- the European Patent 1 084 802 aims at a parallel robot in which all the joints of the mobile platform are of the articulation type, this being a favorable factor to achieve high speeds and accelerations.
- This robot comprises four kinematic chains driven by four actuators that are fixed at one end and with a specific orientation to the base plate and at the other end to the kinematic chain.
- the kinematic chains are attached to the mobile platform that carries the tool, the mobile platform consisting of two pieces or bars that are joined at its ends to four kinematic chains and a third bar that is mounted between the first two , through two articulated joints, this bar being the one that carries the tool.
- the mobile platform allows a rotation of ⁇ 45 ° that can be amplified by using toothed crowns.
- the configuration described in this article intends to compensate for the main limitation of the EP 1 084 802 Patent, that is, the non-homogeneous behavior and the low rigidity that the configuration exhibits throughout the workload.
- This new configuration is fundamentally based on a new mobile platform design, which must solve the aforementioned problems, replacing articulated joints with prismatic joints and crowned teeth with rack-and-pinion gears. These changes imply, in the first place, a significant reduction in the risk of collision between the different parts of the mobile platform.
- the mobile platform is formed by three pieces, two lateral and one central, the lateral parts being joined by their ends to the four kinematic chains through spherical joints, as in the Patent EP 1 084 802, while Ia center piece joins the side pieces through a prismatic joint.
- the four kinematic chains are fixed, in turn, to the fixed platform through the corresponding four actuators.
- This robot is formed by four kinematic chains, linked to the mobile platform, actuated by four rotation actuators, connected to the fixed base.
- the main differences compared to the configuration described above are the use of rotation actuators and the design of the mobile platform.
- the mobile platform is formed by two pieces joined together by means of a prismatic guide and a cable pulley system that transforms the linear movement of the guide in the desired rotation.
- This mobile platform design allows the actuators to be arranged at 90 ° to each other, which implies a symmetrical design and a homogeneous behavior in all the workload.
- the main disadvantage of the last two configurations described is the limitation to reach high accelerations and speeds, the main requirement of pick & place applications. This limitation is due to the use of prismatic guides and more specifically to the recirculation of the balls of the rolling guides.
- the robot object of the invention has the advantages of the robots with four degrees of freedom mentioned, eliminating their disadvantages.
- the main advantages of the robot of the invention are: rigidity, high precision, homogeneous behavior throughout the workload, good dynamic behavior and very high speeds and accelerations in any direction. These properties are achieved thanks to the symmetrical arrangement of its actuators, the use of articulated joints in the mobile platform and a new design of the mobile platform.
- the mobile platform of the robot of the invention is composed of four pieces joined together by means of revolution joints, at least two of the pieces being parallel to each other, constituting an articulated mobile platform called a flat parallelogram that has a degree of freedom in said plane.
- the work tool is in solidarity with any of the four pieces that make up the mobile platform.
- the kinematic chains are formed by a spatial parallelogram composed of four bars, parallel two to two, which are joined by spherical joints.
- kinematic chains are joined at one of its ends to one of the articulated joints of the mobile platform and at its other end, through a rotation or translation joint, to two actuators mounted on the base plate located in the upper part of the robot, with the particularity that the actuators are positioned on the motherboard with any orientation.
- the actuators will preferably be placed symmetrically in a fixed structure, such that this symmetric arrangement of the actuators and, above all, the use of a flat parallelogram in the mobile platform allows to achieve excellent dynamic behavior, high rigidity and homogeneous behavior throughout The volume of work.
- the mobile platform moves with four degrees of freedom, three translations and a rotation with respect to the vertical axis.
- the degree of freedom associated with the flat parallelogram is a rotation with respect to the vertical axis that allows the work tool to rotate between -45 ° and + 45 °.
- an additional mechanical mechanism can be included by means of a belt, pulleys or gears.
- the work tool will be integral to some of the additional mechanical parts that are required.
- Figure 1. Shows a perspective of the robot object of the invention.
- Figure 2. Shows a detail in plan of the mobile platform and its connections to the kinematic chains of the robot.
- Figure 3. Shows a plan view of the robot object of the invention.
- Figure 4.- Shows a plan view of the mobile platform and of a preferred embodiment regarding the positioning of the actuators.
- Figure 5. Shows a perspective of the mobile platform, including an amplification mechanism composed of two pulleys and a belt.
- Figure 6. Shows a perspective of the mobile platform, including the amplification mechanism composed of a toothed sector and a cogwheel.
- Figure 7. Shows a perspective of the mobile platform, including an intermediate element and an amplification mechanism composed of two pulleys and a belt
- Figure 8.- Shows a perspective of the mobile platform, including an intermediate element and an amplification mechanism composed of a toothed sector and a cogwheel.
- Figure 9. Shows a perspective of the mobile platform, including two intermediate elements and an amplification mechanism composed of a gearbox.
- Each of the cinematic chains is composed of four bars (6), (6 '), (7), (7 1 ), parallel two to two, and joined together by spherical joints (8).
- the kinematic chains are constituted by a single bar with two universal or universal joints at their ends.
- Each of the four actuators is composed of a support (9) for fixing to the base plate (3), a rotation motor (10) attached to the support (9), and an arm attached to the motor shaft that causes the rotation of the rotation joint (2).
- a support (9) for fixing to the base plate (3) a rotation motor (10) attached to the support (9), and an arm attached to the motor shaft that causes the rotation of the rotation joint (2).
- four linear motors arranged in the same plane and aligned ⁇ I the same direction are used.
- the mobile platform (4) is composed of four elements (11), (11 '), (12), (12 J ), linked to each other by means of revolution joints (13), with at least two of the elements constituting Ia mobile platform
- the tool (5) is integral with any of the elements (11), (11 '), (12), (12').
- two of the elements (11) and (11 ') are constituted by braids that have at their ends with transverse extensions (14) provided of an inner hole in which they are housed. and they can rotate the bars (7 ') of the kinematic chains (1), while the arms (12) and (12') are constituted by bars that are articulated jointly on the transverse extensions (14) of the bars (11) and (11 ').
- the bars (7 ') of the kinematic chains (1) have the same spatial orientation as the output shafts of the motors (10) of the actuators, the actuators being symmetrically positioned in Ia motherboard (3), which allows to obtain high rigidity, high positioning accuracy and a homogeneous behavior throughout the entire workload.
- the mobile platform can incorporate a mechanism for amplifying the rotation of the tool to increase its range of rotation.
- the assembly of these mechanisms in the mobile platform requires, in many cases, additional parts.
- the mobile platform (4) is composed of four elements (11), (11 '), (12), (12'), joined by revolution joints (13). At least two of the four elements are parallel to each other.
- the amplification mechanism is composed of two pulleys (15), one mounted on the element (11 '), and another (16) mounted on the element (11) and a belt (17) arranged between pulleys (15) (16).
- the locking tool 'or is attached to the shaft of the pulley (16).
- the element (11) has a gear ring sector (18) and the element (11 ') a gear wheel (19) that meshes with the gear crown sector (18).
- the work tool (5) is attached to the crown gear and also has four degrees of freedom.
- the mobile platform (4) is formed by five elements (11), (11 '), (12), (12') and (20), joined together by means of revolution joints.
- (12 ') are parallel to each other two to two and join through their ends.
- the fifth element (20) is placed parallel to one of the pairs of elements (12), (12 ') and their ends join the other two elements (11) and (11'.)
- the amplification of the rotation of the work element is obtained by means of two pulleys (21) (22), one of them mounted on one of the elements (11), (11 ') and the other on the additional element (20) and the corresponding belt (23).
- the work tool (5) is mounted on the pulley (22).
- the mobile platform (4) is composed of the same five elements (11), (11 '), (12), (12') and (20) of the embodiment represented in Figure 7, achieving Ia amplification of the rotation of the work element by means of a gear ring sector (24) provided in one of the elements (11), (11 ') and by a gear wheel (25) mounted on the additional element (20), the Ia work tool (5) mounted on the crown toothed (25).
- the mobile platform (4) is formed by six pieces
- the mobile platform (4) is composed of the same elements as those represented in figures (7) and (8) but comprises a sixth element (26) that is placed for the pair of elements (11),
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (13)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/816,572 US7735390B2 (en) | 2005-02-17 | 2006-02-08 | High-speed parallel robot with four degrees of freedom |
AT06708871T ATE484365T1 (de) | 2005-02-17 | 2006-02-08 | Hochgeschwindigkeitsparallelroboter mit vier freiheitsgraden |
DE602006017528T DE602006017528D1 (de) | 2005-02-17 | 2006-02-08 | Hochgeschwindigkeitsparallelroboter mit vier freiheitsgraden |
JP2007555647A JP5160902B2 (ja) | 2005-02-17 | 2006-02-08 | 4自由度高速パラレルロボット |
AU2006215525A AU2006215525B2 (en) | 2005-02-17 | 2006-02-08 | High-speed parallel robot with four degrees of freedom |
PL06708871T PL1870214T3 (pl) | 2005-02-17 | 2006-02-08 | Robot równoległy o dużej szybkości i o czterech stopniach swobody |
BRPI0607143A BRPI0607143B1 (pt) | 2005-02-17 | 2006-02-08 | robô paralelo de alta velocidade com quatro graus de liberdade |
NZ565070A NZ565070A (en) | 2005-02-17 | 2006-02-08 | High-speed parallel robot with four degrees of freedom |
SI200630890T SI1870214T1 (sl) | 2005-02-17 | 2006-02-08 | Visoko hitrostni vzporedni robot s ĺ tirimi prostimi stopnjami |
EP06708871A EP1870214B1 (en) | 2005-02-17 | 2006-02-08 | High-speed parallel robot with four degrees of freedom |
CA2598420A CA2598420C (en) | 2005-02-17 | 2006-02-08 | High-speed parallel robot with four degrees of freedom |
DK06708871.6T DK1870214T3 (da) | 2005-02-17 | 2006-02-08 | Højhastighedsparallelrobot med fire frihedsgrader |
TNP2007000315A TNSN07315A1 (en) | 2005-02-17 | 2007-08-17 | High-speed parallel robot with four degrees of freedom |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES200500357A ES2258917B1 (es) | 2005-02-17 | 2005-02-17 | Robot paralelo con cuatro grados de libertad de alta velocidad. |
ESP200500357 | 2005-02-17 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006087399A1 true WO2006087399A1 (es) | 2006-08-24 |
Family
ID=36916163
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/ES2006/000053 WO2006087399A1 (es) | 2005-02-17 | 2006-02-08 | Robot paralelo con cuatro grados de libertad de alta velocidad |
Country Status (21)
Country | Link |
---|---|
US (1) | US7735390B2 (es) |
EP (2) | EP2283983A1 (es) |
JP (1) | JP5160902B2 (es) |
KR (2) | KR20090097196A (es) |
AT (1) | ATE484365T1 (es) |
AU (1) | AU2006215525B2 (es) |
BR (1) | BRPI0607143B1 (es) |
CA (1) | CA2598420C (es) |
CY (1) | CY1111239T1 (es) |
DE (1) | DE602006017528D1 (es) |
DK (1) | DK1870214T3 (es) |
ES (2) | ES2258917B1 (es) |
MA (1) | MA29252B1 (es) |
NZ (1) | NZ565070A (es) |
PL (1) | PL1870214T3 (es) |
PT (1) | PT1870214E (es) |
RU (1) | RU2400351C2 (es) |
SI (1) | SI1870214T1 (es) |
TN (1) | TNSN07315A1 (es) |
WO (1) | WO2006087399A1 (es) |
ZA (1) | ZA200706914B (es) |
Cited By (5)
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---|---|---|---|---|
WO2009053506A1 (es) | 2007-10-24 | 2009-04-30 | Universidad Del Pais Vasco - Euskal Herriko Unibertsitatea | Robot paralelo con cuatro grados de libertad |
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WO2009053506A1 (es) | 2007-10-24 | 2009-04-30 | Universidad Del Pais Vasco - Euskal Herriko Unibertsitatea | Robot paralelo con cuatro grados de libertad |
ES2333930A1 (es) * | 2007-10-24 | 2010-03-02 | Universidad Del Pais Vasco Euskal Herriko Unibertsitatea | Robot paralelo con cuatro grados de libertad. |
CN102848381A (zh) * | 2012-04-12 | 2013-01-02 | 天津大学 | 四支链两维平动和一维转动高速并联机构 |
CN103072133A (zh) * | 2013-01-14 | 2013-05-01 | 燕山大学 | 一种三自由度移动解耦并联机器人机构 |
CN103448059A (zh) * | 2013-08-19 | 2013-12-18 | 燕山大学 | 含平面六杆闭环支链6自由度并联机构 |
CN111267078A (zh) * | 2020-04-02 | 2020-06-12 | 燕山大学 | 一种可独立控制的两转一移冗余驱动并联机构 |
CN111267078B (zh) * | 2020-04-02 | 2021-09-07 | 燕山大学 | 一种可独立控制的两转一移冗余驱动并联机构 |
Also Published As
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RU2400351C2 (ru) | 2010-09-27 |
ES2258917B1 (es) | 2007-12-01 |
ATE484365T1 (de) | 2010-10-15 |
TNSN07315A1 (en) | 2008-12-31 |
ES2258917A1 (es) | 2006-09-01 |
DE602006017528D1 (de) | 2010-11-25 |
KR20070108522A (ko) | 2007-11-12 |
AU2006215525B2 (en) | 2011-02-10 |
EP1870214A1 (en) | 2007-12-26 |
ZA200706914B (en) | 2008-11-26 |
KR20090097196A (ko) | 2009-09-15 |
CA2598420C (en) | 2010-11-30 |
KR101023671B1 (ko) | 2011-03-25 |
PT1870214E (pt) | 2011-01-18 |
JP2008529816A (ja) | 2008-08-07 |
US20090019960A1 (en) | 2009-01-22 |
AU2006215525A1 (en) | 2006-08-24 |
NZ565070A (en) | 2010-03-26 |
JP5160902B2 (ja) | 2013-03-13 |
BRPI0607143B1 (pt) | 2018-09-25 |
SI1870214T1 (sl) | 2011-03-31 |
PL1870214T3 (pl) | 2011-10-31 |
MA29252B1 (fr) | 2008-02-01 |
CY1111239T1 (el) | 2015-06-11 |
RU2007134395A (ru) | 2009-03-27 |
EP1870214B1 (en) | 2010-10-13 |
CA2598420A1 (en) | 2006-08-24 |
DK1870214T3 (da) | 2011-02-07 |
EP2283983A1 (en) | 2011-02-16 |
BRPI0607143A2 (pt) | 2009-08-11 |
ES2354566T3 (es) | 2011-03-16 |
US7735390B2 (en) | 2010-06-15 |
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