CN100427276C - Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions - Google Patents
Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions Download PDFInfo
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- CN100427276C CN100427276C CNB2005101011343A CN200510101134A CN100427276C CN 100427276 C CN100427276 C CN 100427276C CN B2005101011343 A CNB2005101011343 A CN B2005101011343A CN 200510101134 A CN200510101134 A CN 200510101134A CN 100427276 C CN100427276 C CN 100427276C
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Abstract
The present invention discloses a five-degree-of-freedom parallel robot mechanism with three-dimensional translation two-dimension rotation, which comprises a static platform, a moveable platform and branches used for connecting with the static platform and the moveable platform, wherein the moveable platform is connected with the static platform by the five branches, and static platform is provided with three mutual parallel guide ways. The branch I, the branch II are mutually arranged in a crossing mode and connected with the same guide way; the branch III, the branch III are not arranged in a crossing mode and connected with the other guide way, and the branch IV is connected with the third guide way. The present invention can realize the five-degree-of-freedom motion of the moveable platform by that a moving pair of the branches moves on respective guide way. Because a branch rod of the branch I and a branch rod of the branch II form a planar pair to enhance the integral rigidity of the mechanism. The present invention can be suitable for work which requires five moving spaces.
Description
Technical field
The invention belongs to the robot mechanism field, relate in particular to the 5-DOF (degree of freedom) parallel robot mechanism that a kind of three-dimensional translating two dimension is rotated.
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 five 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, four, the normal solution majority of five-freedom parallel structure 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 5-DOF (degree of freedom) parallel robot mechanism that the object of the present invention is to provide a kind of three-dimensional translating two dimension 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 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension of the present invention is rotated, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by five branches, three guide rails that are parallel to each other 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 there are not arranged crosswise, link to each other with another guide rail; Branch five links to each other with the 3rd guide rail; Branch one, branch two respectively comprise a moving sets, two Hooke's hinges and a branch pole, one end of branch one, branch two links to each other with moving platform by Hooke's hinge respectively, 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 respectively; Branch three, branch four, branch five respectively comprise a moving sets, two secondary and point poles of ball, the upper end of branch three, branch four, branch five links to each other with moving platform by the ball pair respectively, and the lower end links to each other with silent flatform by connecting firmly the compound motion pair of forming by moving sets and ball pair respectively.
The branch pole of described branch one is a hollow structure, and hollow structure is square, and the branch pole of other four 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 three-dimensional translating and two-dimentional rotational freedom, can realize the motion of moving platform five 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 forms a planar contact pair in crossover sites like this, can strengthen the rigidity of entire mechanism.
The present invention has following advantage and beneficial effect:
1. the 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension of the present invention is rotated is compared with traditional serial mechanism, has the advantage of high accuracy, high rigidity, low inertia, high dynamic performance;
2. the 5-DOF (degree of freedom) parallel robot mechanism forward kinematics solution that three-dimensional translating two dimension of the present invention is rotated, 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 three 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, three advantage directions of motion that the closed slide direction is this mechanism;
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 5-DOF (degree of freedom) parallel robot mechanism of three-dimensional translating two dimension of the present invention rotation.
Among the figure: 1-silent flatform 2-moving platform 3,4,5-guide rail 6,7,8,9, the 11-of 10-branch moving sets 12-Hooke's hinge 13-ball pair
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 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension of the present invention is rotated, 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 five branches 6,7,8,9,10, three guide rails that are parallel to each other 3,4,5 are arranged on the described silent flatform 1, branch 6, branch's 7 mutual arranged crosswise link to each other with guide rail 3; Branch 8, branch 9 there are not arranged crosswise, link to each other with guide rail 4; Branch 10 links to each other with guide rail 5; Branch 6, branch 7 respectively comprise a moving sets 11, two Hooke's hinges 12 and branch poles, one end of branch 6, branch 7 links to each other with moving platform 2 by Hooke's hinge 12 respectively, and the other end links to each other with silent flatform 1 by connected firmly the compound motion pair of forming by moving sets 11 and Hooke's hinge 12 respectively; Branch 8, branch 9, branch 10 respectively comprise a moving sets 11, two balls secondary 13 and a point pole, the upper end of branch 8, branch 9, branch 10 links to each other with moving platform 2 by ball pair 13 respectively, and the lower end links to each other with silent flatform 1 by connected firmly the compound motion pair of forming by moving sets 11 and ball pair 13 respectively.
The branch pole of above-mentioned branch 6 is hollow structures, and hollow structure is square, and the branch pole of other three branches is a solid construction; Since branch 6 and branch 7 be arranged crosswise and common guide rails 3, the branch pole of branch 6 and the branch pole of branch 7 can form a planar contact pair in crossover sites, have strengthened the rigidity of entire mechanism.
The moving sets 11 of 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 11, because Hooke's hinge 12 has two frees degree, the moving platform of this sample mechanism just has three-dimensional translating and two-dimentional rotational freedom, can realize the motion of moving platform five degree of freedom.
The present invention has the rotation in space and mobile the combination clear and definite forms of motion, and adopts and decide The size bar has reduced the impact of fuel factor to a great extent, has reduced the difficulty that is subjected to thermal compensation; In addition The present invention is owing to adopt outer secondary drives structure, working space and mechanism's volume are bigger, frame for movement simply, Standardization is strong, manufacturability is relatively good, has the advantage of high accuracy, high rigidity, low inertia, high dynamic performance.
Claims (5)
1. the 5-DOF (degree of freedom) parallel robot mechanism that rotates of three-dimensional translating two dimension, the branch that comprises silent flatform, moving platform, connection silent flatform and moving platform, moving platform links to each other with silent flatform by five branches, it is characterized in that three guide rails that are parallel to each other 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 there are not arranged crosswise, link to each other with another guide rail; Branch five links to each other with the 3rd guide rail; Branch one, branch two respectively comprise a moving sets, two Hooke's hinges and a branch pole, one end of branch one, branch two links to each other with moving platform by Hooke's hinge respectively, 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 respectively; Branch three, branch four, branch five respectively comprise a moving sets, two secondary and point poles of ball, the upper end of branch three, branch four, branch five links to each other with moving platform by the ball pair respectively, and the lower end links to each other with silent flatform by connecting firmly the compound motion pair of forming by moving sets and ball pair respectively.
2. the 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension according to claim 1 is rotated is characterized in that the branch pole of described branch one is a hollow structure, and hollow structure is square, and the branch pole of other four branches is a solid construction.
3. the 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension according to claim 2 is rotated 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.
4. the 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension according to claim 1 is rotated, the moving sets that it is characterized in that described each branch is the active input of this mechanism.
5. the 5-DOF (degree of freedom) parallel robot mechanism that three-dimensional translating two dimension according to claim 1 is rotated is characterized in that the branch strut lengths of described each branch is fixed.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101011343A CN100427276C (en) | 2005-11-11 | 2005-11-11 | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101011343A CN100427276C (en) | 2005-11-11 | 2005-11-11 | Five-freedom parallel robot mechanism with three translational dimensions and two rotational dimensions |
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| CN1772443A CN1772443A (en) | 2006-05-17 |
| CN100427276C true CN100427276C (en) | 2008-10-22 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105127987B (en) * | 2015-10-20 | 2020-08-07 | 山东理工大学 | Planar motion type decoupling parallel robot |
| CN105666468B (en) * | 2016-03-23 | 2018-05-18 | 中北大学 | A kind of big swing angle planer-type five-axle linkage series-parallel machine tool |
| CN105818135B (en) * | 2016-05-18 | 2018-08-21 | 哈尔滨工业大学 | A kind of structural parameters and the variable five-freedom parallel structure of working space |
| CN109506561B (en) * | 2018-10-22 | 2020-01-14 | 华南理工大学 | Axle hole track measuring method of plane multi-joint mechanism containing axle hole clearance joint |
| CN113701013B (en) * | 2021-07-27 | 2023-01-31 | 北京空间飞行器总体设计部 | Kinematics supporting mechanism suitable for long and thin structure |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN1498149A (en) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | Kinematic device for support and programmable displacement of trerminal elementin machine or instrument |
| CN1537704A (en) * | 2003-10-24 | 2004-10-20 | 清华大学 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
-
2005
- 2005-11-11 CN CNB2005101011343A patent/CN100427276C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1498149A (en) * | 2001-02-23 | 2004-05-19 | ά������е�ɷ�����˾ | Kinematic device for support and programmable displacement of trerminal elementin machine or 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 |
| CN1537704A (en) * | 2003-10-24 | 2004-10-20 | 清华大学 | Paralel robot mechanism with bidimension rotating mono-dimension moving |
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