CN100366400C - Flexible rope driven three and four degree of freedom decoupling parallel mechanism - Google Patents
Flexible rope driven three and four degree of freedom decoupling parallel mechanism Download PDFInfo
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- CN100366400C CN100366400C CNB2005100406482A CN200510040648A CN100366400C CN 100366400 C CN100366400 C CN 100366400C CN B2005100406482 A CNB2005100406482 A CN B2005100406482A CN 200510040648 A CN200510040648 A CN 200510040648A CN 100366400 C CN100366400 C CN 100366400C
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- 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
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
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Abstract
The present invention relates to a flexible rope driven decoupling parallel mechanism with three and four degrees of freedom, which belongs to a flexible rope driven parallel mechanism in the industrial robot and machinery manufacture field. The parallel mechanism is composed of five groups of drive units, a machine frame and a motion platform, wherein each drive unit comprises a linear motor fixedly connected to the machine frame, a fixed pulley and a flexible rope. One end of each of the flexible ropes in three front groups of flexible rope drive units and three back groups of flexible rope drive units is connected with the linear motor, and the other end passes by the fixed pulley to be connected with the motion platform; connection points form a triangle. A hinge is fixedly connected to the motion platform; one end of each of two middle flexible ropes is connected to a movable end of the hinge, and the other end is respectively connected with the machine frame in a tension mode. The mechanism makes a flexible rope drive rotary mechanism with three and four degrees of freedom have the advantages of simple structure, position and posture decoupling, low motion inertia, high frequency response, large working space, easy control, etc. and realize three-dimensional rotation around a fixed point, and three-dimensional rotation around a fixed point and one-dimensional translational motion.
Description
Technical field
The present invention relates to industrial robot and mechanical manufacturing field, exactly relate to a kind of gentle rope and drive three four degree of freedom decoupling parallel mechanism.
Background technology
In existing Three Degree Of Freedom rotating mechanism, two class mechanisms are arranged: series connection and in parallel.Tandem is the open kinematic chain that links to each other successively by revolute pair, and this class Three Degree Of Freedom rotating mechanism has big working space and high flexibility, and its shortcoming is: the error accumulation of series connection kinematic pair causes precision low; Rigidity is low; Complex structure; Inertia is big, bad dynamic performance.Existing parallel 3-DOF rotating mechanism shortcoming is: complex structure; Inertia is bigger, and dynamic property is relatively poor.
In recent years, along with deepening continuously to parallel institution research, the Chinese scholars parallel institution that a kind of novel gentle rope drives that begins one's study, that this mechanism has is simple in structure, inertia be reduced to minimum, dynamic response is fast, working space is big, high load capability etc., therefore more and more paid attention to and studied.The research and the application of this respect have been carried out widely as U.S., method, moral, day state etc., China has also carried out the research of this respect, as at application number being a kind of three-freedom parallel mechanism driven by flexible rope that 01127939 Chinese patent is announced, but because the unresolved gentle rope shortcoming that can only bear pulling force, so still have structure relative complex, the coupling of motion platform pose, control is complicated and can not realizes deficiency such as Three Degree Of Freedom fixed point rotation.
Summary of the invention
The invention provides that a kind of simple in structure, pose decoupling zero, movement inertia are low, high-frequency response, working space gentle rope big, that be easy to control drive three and four degree of freedom decoupling parallel mechanism, overcome the deficiency of existing rigid member three and four-degree-of-freedom serial parallel mechanism and three-freedom parallel mechanism driven by flexible rope, solve the problem of three-dimensional fix a point rotation and three-dimensional fixed point rotation and one-dimensional translation.
Gentle rope driving three of the present invention and four-freedom parallel mechanism, it is made up of five groups of driver elements, frame and motion platforms.Specifically be that each driver element comprises linear electric motors, fixed pulley and the gentle rope that is fixed in frame.Three gentle Suo Yiduan of three groups of gentle rope driver elements walk around fixed pulley and link to each other with linear electric motors wherein, and three points triangular in shape on the other end and the motion platform plane link to each other, promptly with the tie point formation triangle of motion platform.An affixed hinge in the motion platform, two gentle ropes of middle two groups of gentle rope driver elements are positioned at straight line and pass through the hinge center, the one end is connected in the hinge movable end, the other end is connected with the linear electric motors tensioning that is fixed in the frame upper and lower respectively by fixed pulley respectively, rotates purpose with the four-degree-of-freedom motion (Three dimensional rotation and one-dimensional translation) or the Three Degree Of Freedom fixed point that realize mechanism.
The present invention has following advantage:
1, the error accumulation of no kinematic pair and precision height; Load is big, and inertia is reduced to minimum, the dynamic response height.
2, be easy to realize and control three attitude angle and a translation, and pose is full decoupled.
3, two groups of driver elements directly adopt gentle rope to substitute up and down, and the rope tensioning that will soften, and can realize that mechanism rotates around the Three Degree Of Freedom fixed point at hinge center.
4, simple in structure, be easy to make and assembling.
5, regulate three groups of gentle rope driver elements and frame link position according to actual demand, or add redundant gentle rope driving to realize big working space and high bearing capacity.
Description of drawings
Fig. 1 is the structural representation of gentle rope driving three and four-freedom parallel mechanism;
Number in the figure title: 1, motion platform, 2,10,14,15,19 5 labels are gentle rope, and 3,8,13,17,22 5 labels are linear electric motors, and 4,7,12,16,21 5 labels are frame, 5,9,11,18,20 5 labels are fixed pulley, 6, hinge.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail
Fig. 1 is a general structure schematic diagram of the present invention, motion platform 1 is by the gentle rope 2 of the three groups of gentle rope driver elements in front and back, 14,19 by fixed pulley 5,11,20 respectively and be fixed in frame 4,12,21 linear electric motors 3,13,22 connect, the tie point of gentle rope and motion platform 1 forms triangle, motion platform 1 can be arbitrary shape, before and after three groups of gentle rope driver elements be positioned at simultaneously motion platform 1 above or below, the affixed hinge 6 in motion platform 1 center (or be positioned at triangle certain a bit), two gentle ropes 10 of middle two groups of gentle rope driver elements, 15 are positioned at straight line and pass through the hinge center, the one end is connected in the movable end of hinge 6, the other end is respectively by fixed pulley 9,18 respectively be fixed in frame 7,16 linear electric motors 8,17 tensionings connect, the version of frame can need determine that motion platform 1 is by the gentle rope 2 of five groups of gentle rope driver elements according to real work, 10,14,15,19 traction can realize around the Three Degree Of Freedom fixed point rotation at hinge 6 centers and along middle two groups of gentle ropes 10, the translation of 15 leads.Hinge 6 can adopt ball pivot, also can adopt Hooke's hinge.
In the general structure schematic diagram of Fig. 1, if the motor of middle two groups of gentle rope driver elements is not worked or motor and fixed pulley is not installed, the rope 10,15 that directly will soften is connected with frame 7,16 tensionings respectively, translational degree of freedom that can constrained motion platform 1, the traction of the gentle rope 2,14,19 by the three groups of gentle rope driver elements in front and back realizes that motion platform 1 rotates around the Three Degree Of Freedom fixed point at hinge 6 centers.
Parallel institution of the present invention can be widely used in posture adjustment attitude fields such as lathe or robot, its motion platform replaces with the wind tunnel test dummy vehicle, can directly change three attitude angle of aircraft, if on three groups of gentle ropes and two gentle ropes, the simple component force cell is installed, can realize that the sextuple external force of test model is measured.
Claims (1)
1. a gentle rope drives three and four degree of freedom decoupling parallel mechanism, comprise motion platform (1), three gentle ropes (2 of three groups of gentle rope driver elements, 14,19), three pulleys (5,11,20), three frames (4,12,21) and three linear electric motors (3,13,22), in described motion platform (1) surface leg-of-mutton three points respectively the three groups of gentle rope driver elements in front and back by being positioned at motion platform (1) top simultaneously first, second, the 3rd gentle rope (2,14,19) pass through corresponding first respectively, second, the 3rd pulley (5,11,20) be connected in corresponding first, second, the 3rd direct current generator (3,13,22), described first, second, the 3rd direct current generator (3,13,22) be separately fixed at corresponding first, second, the 3rd frame (4,12,21) on, described first, second, the 3rd pulley (5,11,20) be separately fixed on three points that are positioned at motion platform (1) top simultaneously, constitute triangle projective planum, it is characterized in that: also comprise hinge (6) is housed in the motion platform (1), the 4th of middle two groups of gentle rope driver elements, the 5th gentle rope (15,10) and the corresponding the 4th, the 5th pulley (18,9) and the corresponding the 4th, the 5th direct current generator (17,8) and the corresponding the 4th, the 5th frame (16,7), the 4th of the two groups of gentle rope driver elements in described centre, the 5th gentle rope (15,10) a end is connected in the movable end of hinge (6) respectively, the other end that wherein is positioned at the 4th gentle rope (15) of motion platform (1) top is connected in the 4th direct current generator (17) that is fixed on the 4th frame (16) by the 4th pulley (18), the other end that is positioned at the 5th gentle rope (10) of motion platform (1) below is connected in the 5th direct current generator (8) that is fixed on the 5th frame (7) by the 5th pulley (9), described the 4th pulley (18) and the 5th pulley (9) lay respectively on the straight line of motion platform (1) above and below, make the 4th gentle rope (15) and the 5th gentle rope (10) constitute straight line, the 4th, the 5th gentle rope (15,10) simultaneously with aforementioned first, second, the 3rd gentle rope (2,14,19) constitute driving three and four degree of freedom decoupling parallel mechanism, the three-dimensional fixed point of realization motion platform is rotated and one-dimensional translation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100406482A CN100366400C (en) | 2005-06-21 | 2005-06-21 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100406482A CN100366400C (en) | 2005-06-21 | 2005-06-21 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
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| Publication Number | Publication Date |
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| CN1701927A CN1701927A (en) | 2005-11-30 |
| CN100366400C true CN100366400C (en) | 2008-02-06 |
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| CNB2005100406482A Expired - Fee Related CN100366400C (en) | 2005-06-21 | 2005-06-21 | Flexible rope driven three and four degree of freedom decoupling parallel mechanism |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029135B (en) * | 2012-12-13 | 2015-08-26 | 东北大学 | The joint of robot that a kind of imitative muscle drives |
| CN103711300B (en) * | 2013-12-20 | 2016-06-08 | 西安电子科技大学 | A kind of rope traction parallel translational landing stage of scaffold device |
| CN104908025B (en) * | 2015-06-02 | 2016-12-07 | 哈尔滨工程大学 | A kind of rope co-planar arrangement of cable traction parallel robot |
| CN105729443A (en) * | 2016-03-24 | 2016-07-06 | 天津理工大学 | Rigid-flexible coupling type three rotation parallel-connection locating mechanism |
| CN107803825B (en) * | 2017-12-11 | 2024-01-26 | 西安科技大学 | Variable-configuration flexible cable driven parallel robot |
| CN108621160B (en) * | 2018-05-07 | 2019-08-02 | 哈尔滨工业大学 | The de-redundancy control method of eight Suo Binglian gravity compensation systems |
| CN108942957A (en) * | 2018-07-09 | 2018-12-07 | 上海交通大学 | The robot measurement of large span cable driving |
| CN111360793B (en) * | 2020-03-31 | 2022-07-05 | 合肥工业大学 | Flexible cable driven series-parallel spraying robot mechanism and operation method thereof |
| CN113352311B (en) * | 2021-06-18 | 2022-01-07 | 哈尔滨工业大学 | Rope driving control method applied to large-space multi-connecting-rod equipment control |
| CN114905488A (en) * | 2022-05-07 | 2022-08-16 | 湖南大学 | Two rotational degrees of freedom cable drive mechanical device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1397414A (en) * | 2001-07-16 | 2003-02-19 | 中国科学院沈阳自动化研究所 | Three-freedom parallel mechanism driven by flexible rope |
| CN1115229C (en) * | 2000-05-18 | 2003-07-23 | 燕山大学 | Five-leg virtual shaft machine tool without dynamic platform |
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN1528560A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
-
2005
- 2005-06-21 CN CNB2005100406482A patent/CN100366400C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1115229C (en) * | 2000-05-18 | 2003-07-23 | 燕山大学 | Five-leg virtual shaft machine tool without dynamic platform |
| CN1397414A (en) * | 2001-07-16 | 2003-02-19 | 中国科学院沈阳自动化研究所 | Three-freedom parallel mechanism driven by flexible rope |
| WO2004004986A2 (en) * | 2002-07-09 | 2004-01-15 | Amir Khajepour | Light weight parallel manipulators using active/passive cables |
| CN1528560A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | One-translation-three-rotation parallel mechanism for imaginary axis machine tool and measuring machine |
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| CN1701927A (en) | 2005-11-30 |
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