CN100462208C - Four-freedom redundantly driven parallel robot mechanism - Google Patents

Four-freedom redundantly driven parallel robot mechanism Download PDF

Info

Publication number
CN100462208C
CN100462208C CNB2007100689616A CN200710068961A CN100462208C CN 100462208 C CN100462208 C CN 100462208C CN B2007100689616 A CNB2007100689616 A CN B2007100689616A CN 200710068961 A CN200710068961 A CN 200710068961A CN 100462208 C CN100462208 C CN 100462208C
Authority
CN
China
Prior art keywords
revolute pair
axis
moving platform
revolute
motor
Prior art date
Application number
CNB2007100689616A
Other languages
Chinese (zh)
Other versions
CN101066593A (en
Inventor
李秦川
陈巧红
武传宇
胡旭东
胡挺
Original Assignee
浙江理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江理工大学 filed Critical 浙江理工大学
Priority to CNB2007100689616A priority Critical patent/CN100462208C/en
Publication of CN101066593A publication Critical patent/CN101066593A/en
Application granted granted Critical
Publication of CN100462208C publication Critical patent/CN100462208C/en

Links

Abstract

The four-freedom redundantly driven parallel robot mechanism includes one moving platform, one fixed platform, and two branches connected between the moving platform and the fixed platform. Each of the branches includes four rotating pairs, including three near the fixed platform with parallel axes and one connected to the moving platform with axis perpendicular to that of the other three. Two rotating pairs connected to the moving platform have coincident axes, and the moving platform has four freedoms and is driven redundantly with five motors. The four-freedom redundantly driven parallel robot mechanism of the present invention has simple reliable structure, high rigidity, low manufacture cost, easy control and other advantages, and may be applied in parallel robot, parallel machine tool and other fields.

Description

The four-freedom redundantly driven parallel robot structure
Technical field
The present invention relates to the Robotics field, particularly relate to a kind of four-freedom redundantly driven parallel robot structure.
Background technology:
Lower-mobility parallel robot mechanism number of degrees of freedom, is less than six.For requiring the free degree to be less than six operation task in the practical application in a large number, compare with traditional six-degree-of-freedom parallel robot, use the lower-mobility parallel institution to be expected effectively to reduce cost at aspects such as system's design, manufacturing and controls.For example, the six-degree-of-freedom parallel bed is mostly based on the Stewart platform, and unnecessary one degree of freedom has all increased complexity, the corresponding cost that also increased for system aspects.Therefore the lower-mobility parallel robot receives suitable concern in international parallel robot academia and industrial quarters.
Four-freedom parallel connection robot mechanism has important use and is worth, and can be used for operation tasks such as processing, assembling, carrying.Researchers have invented some novel four-freedom parallel mechanisms at present, as ZL02158043.X, and ZL 03129992.X etc.Present existing four-freedom parallel mechanism generally has four branches (as ZL 02158043.X, ZL 00101494.3, ZL 00105935.1), or five branches (as Chinese invention patent application 200510052260.4), also have and have three branches (as ZL 03129992.X) individually.Increasing of branch can increase design, makes, the cost of assembling and control, and the influence that makes the overall performance of parallel robot mechanism be made rigging error simultaneously increases.At present, the four-freedom parallel mechanism that only has two same branches still belongs to blank.
Summary of the invention:
The object of the invention is to provide a kind of four-freedom redundantly driven parallel robot structure, only has two branches, uses five motor-driven four-freedom parallel connection robot mechanisms.
The technical scheme that the present invention solves its technical problem employing is:
Comprise moving platform, fixed platform and be connected the moving platform branch identical with the two-strip structure of fixed platform; Four revolute pairs and three connecting rods are arranged in the branch, have four revolute pairs and other that three connecting rods are arranged in another branch in addition; Wherein:
1) the 4th revolute pair in branch is connected with fixed platform respectively with the 5th revolute pair in another branch;
2) two ends of the first connecting rod in the described branch connect the 4th revolute pair and the 3rd revolute pair respectively, the two ends of second connecting rod connect the 3rd revolute pair and second revolute pair respectively, the two ends of third connecting rod connect second revolute pair and first revolute pair respectively, second revolute pair, the 3rd revolute pair and the 4th revolute pair, axis be parallel to each other, the axis normal of first revolute pair that links to each other with moving platform one end is in the axis of second revolute pair, the 3rd revolute pair and the 4th revolute pair;
3) two ends of the 4th connecting rod in described another branch connect the 5th revolute pair and the 6th revolute pair respectively, the two ends of the 5th connecting rod connect the 6th revolute pair and the 7th revolute pair respectively, the two ends of the 6th connecting rod connect the 7th revolute pair and the 8th revolute pair respectively, the axis of the 5th revolute pair, the 6th revolute pair and the 7th revolute pair is parallel to each other, and the axis normal of the 8th revolute pair that links to each other with the moving platform other end is in the axis of the 5th revolute pair, the 6th revolute pair and the 7th revolute pair;
4) first revolute pair that links to each other with moving platform in described two branches and the dead in line of the 8th revolute pair;
5) first motor is connected with the 3rd revolute pair, second motor is connected with the 4th revolute pair, and the 3rd motor is connected with the 5th revolute pair, and the 4th motor is connected with the 6th revolute pair, the 5th motor is fixed on the moving platform, and the output shaft at the 5th motor two ends is connected with the 8th revolute pair with first revolute pair respectively.
The axis of the axis of described first revolute pair and second revolute pair is that the axis of different surface beeline, the 8th revolute pair and the axis of the 7th revolute pair are different surface beeline.The axes intersect of the axis of the axes intersect of the axis of perhaps described first revolute pair and second revolute pair, the 8th revolute pair and the 7th revolute pair.
The beneficial effect that the present invention has is:
Because mechanism of the present invention has only two branches, wherein kinematic pair is a revolute pair all, have simple and reliable for structure, rigidity is high, low cost of manufacture and two rotational freedoms are full decoupled, be easy to advantages such as control, can be applicable to occasions such as parallel robot, parallel machine.
Description of drawings
Fig. 1 is the robot mechanism structural representation of the embodiment of the invention 1.
Fig. 2 is the robot mechanism structural representation of the embodiment of the invention 2.
Among the figure: 1, moving platform, 2, revolute pair, 3, connecting rod, 4, revolute pair, 5, connecting rod, 6, revolute pair, 7, motor, 8, connecting rod, 9, revolute pair, 10, motor, 11, fixed platform, 12, revolute pair, 13, motor, 14, connecting rod, 15, revolute pair, 16, motor, 17, connecting rod, 18, revolute pair, 19, connecting rod, 20, revolute pair, 21, motor.
The specific embodiment
As shown in Figure 1 and Figure 2, the present invention includes moving platform 1, fixed platform 11 and be connected moving platform 1 branch identical with the two-strip structure of fixed platform 11; 2,4,6,9 and three connecting rods 3,5,8 of four revolute pairs are arranged in the branch, four revolute pairs 12,15,18,20 are arranged in another branch in addition and three connecting rods 14,17,19 are arranged in addition; Wherein:
1) the 4th revolute pair 9 in branch is connected with fixed platform 11 respectively with the 5th revolute pair 12 in another branch;
2) two ends of the first connecting rod 8 in the described branch connect the 4th revolute pair 9 and the 3rd revolute pair 6 respectively, the two ends of second connecting rod 5 connect the 3rd revolute pair 6 and second revolute pair 4 respectively, the two ends of third connecting rod 3 connect second revolute pair 4 and first revolute pair 2 respectively, the axis of second revolute pair 4, the 3rd revolute pair 6 and the 4th revolute pair 9 is parallel to each other, and the axis normal of first revolute pair 2 that links to each other with moving platform 1 one ends is in the axis of second revolute pair 4, the 3rd revolute pair 6 and the 4th revolute pair 9;
3) two ends of the 4th connecting rod 14 in described another branch connect the 5th revolute pair 12 and the 6th revolute pair 15 respectively, the two ends of the 5th connecting rod 17 connect the 6th revolute pair 15 and the 7th revolute pair 18 respectively, the two ends of the 6th connecting rod 19 connect the 7th revolute pair 18 and the 8th revolute pair 20 respectively, the axis of the 5th revolute pair 12, the 6th revolute pair 15 and the 7th revolute pair 18 is parallel to each other, and the axis normal of the 8th revolute pair 20 that links to each other with moving platform 1 other end is in the axis of the 5th revolute pair 12, the 6th revolute pair 15 and the 7th revolute pair 18;
4) first revolute pair 2 that links to each other with moving platform in described two branches and the dead in line of the 8th revolute pair 20;
5) first motor 7 is connected with the 3rd revolute pair 6, second motor 10 is connected with the 4th revolute pair 9, the 3rd motor 13 is connected with the 5th revolute pair 12, the 4th motor 16 is connected with the 6th revolute pair 15, the 5th motor 21 is fixed on the moving platform, and the output shaft at the 5th motor 21 two ends is connected with the 8th revolute pair 20 with first revolute pair 2 respectively.
The axis of the axis of described first revolute pair 2 and second revolute pair 4 is that the axis of different surface beeline, the 8th revolute pair 20 and the axis of the 7th revolute pair 18 are different surface beeline.
The axes intersect of the axis of the axes intersect of the axis of described first revolute pair 2 and second revolute pair 4, the 8th revolute pair 20 and the 7th revolute pair 18.
As shown in Figure 1, be the robot mechanism structure motion procedure declaration of the embodiment of the invention 1:
By the rotation of the first control motor 7, the second control motor 10, the 3rd control motor 13 and the 4th control motor 16, can realize that moving platform 1 is along X-axis with along two one-movement-freedom-degrees of Y-axis with around a rotational freedom of Z axle; By the rotation of the 5th control motor 21, can realize another rotational freedom of moving platform 1 around the 8th revolute pair 20 axis.
As shown in Figure 2, be the robot mechanism structure motion procedure declaration of the embodiment of the invention 2:
By the rotation of the first control motor 7, the second control motor 10, the 3rd control motor 13 and the 4th control motor 16, can realize that moving platform 1 is along X-axis with along two one-movement-freedom-degrees of Y-axis with around a rotational freedom of Z axle; By the rotation of the 5th control motor 21, can realize another rotational freedom of moving platform 1 around the 8th revolute pair 20 axis.

Claims (3)

1. four-freedom redundantly driven parallel robot structure is characterized in that: comprise moving platform (1), fixed platform (11) and be connected the identical branch of two-strip structure of moving platform (1) and fixed platform (11); Four revolute pairs (2,4,6,9) and three connecting rods (3,5,8) are arranged in the branch, have four revolute pairs (12,15,18,20) and other that three connecting rods (14,17,19) are arranged in another branch in addition; Wherein:
1) the 4th revolute pair (9) is connected with fixed platform (11) respectively with the 5th revolute pair (12) in another branch in branch;
2) two ends of the first connecting rod (8) in the described branch connect the 4th revolute pair (9) and the 3rd revolute pair (6) respectively, the two ends of second connecting rod (5) connect the 3rd revolute pair (6) and second revolute pair (4) respectively, the two ends of third connecting rod (3) connect second revolute pair (4) and first revolute pair (2) respectively, second revolute pair (4), the axis of the 3rd revolute pair (6) and the 4th revolute pair (9) is parallel to each other, and the axis normal of first revolute pair (2) that links to each other with moving platform (1) one end is in second revolute pair (4), the axis of the 3rd revolute pair (6) and the 4th revolute pair (9);
3) two ends of the 4th connecting rod (14) in described another branch connect the 5th revolute pair (12) and the 6th revolute pair (15) respectively, the two ends of the 5th connecting rod (17) connect the 6th revolute pair (15) and the 7th revolute pair (18) respectively, the two ends of the 6th connecting rod (19) connect the 7th revolute pair (18) and the 8th revolute pair (20) respectively, the 5th revolute pair (12), the axis of the 6th revolute pair (15) and the 7th revolute pair (18) is parallel to each other, and the axis normal of the 8th revolute pair (20) that links to each other with moving platform (1) other end is in the 5th revolute pair (12), the axis of the 6th revolute pair (15) and the 7th revolute pair (18);
4) first revolute pair (2) that links to each other with moving platform in described two branches and the dead in line of the 8th revolute pair (20);
5) first motor (7) is connected with the 3rd revolute pair (6), second motor (10) is connected with the 4th revolute pair (9), the 3rd motor (13) is connected with the 5th revolute pair (12), the 4th motor (16) is connected with the 6th revolute pair (15), the 5th motor (21) is fixed on the moving platform, and the output shaft at the 5th motor (21) two ends is connected with the 8th revolute pair (20) with first revolute pair (2) respectively.
2. a kind of four-freedom redundantly driven parallel robot structure according to claim 1 is characterized in that: the axis of the axis of described first revolute pair (2) and second revolute pair (4) is that the axis of different surface beeline, the 8th revolute pair (20) and the axis of the 7th revolute pair (18) are different surface beeline.
3. a kind of four-freedom redundantly driven parallel robot structure according to claim 1 is characterized in that: the axes intersect of the axes intersect of the axis of described first revolute pair (2) and second revolute pair (4), the axis of the 8th revolute pair (20) and the 7th revolute pair (18).
CNB2007100689616A 2007-06-01 2007-06-01 Four-freedom redundantly driven parallel robot mechanism CN100462208C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2007100689616A CN100462208C (en) 2007-06-01 2007-06-01 Four-freedom redundantly driven parallel robot mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007100689616A CN100462208C (en) 2007-06-01 2007-06-01 Four-freedom redundantly driven parallel robot mechanism

Publications (2)

Publication Number Publication Date
CN101066593A CN101066593A (en) 2007-11-07
CN100462208C true CN100462208C (en) 2009-02-18

Family

ID=38879355

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2007100689616A CN100462208C (en) 2007-06-01 2007-06-01 Four-freedom redundantly driven parallel robot mechanism

Country Status (1)

Country Link
CN (1) CN100462208C (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101966502B (en) * 2010-10-15 2012-12-12 江苏长虹汽车装备集团有限公司 Vehicle painting hybrid rotor based on spatial and planar parallel mechanism with three degrees of freedom
CN101966500B (en) * 2010-10-15 2012-11-28 江苏长虹汽车装备集团有限公司 Hybrid connected combined vehicle spraying robot based on 3-DOF (Degrees Of Freedom) and 4-DOF parallel mechanism
CN102441891B (en) * 2011-10-12 2013-12-18 燕山大学 Three-freedom degree industrial robot capable of realizing two-dimensional movement and one-dimensional rotation
CN103251458A (en) * 2013-05-09 2013-08-21 天津工业大学 Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot
CN104084949A (en) * 2014-06-30 2014-10-08 梧州学院 Novel mechanical arm
CN105563460A (en) * 2014-11-07 2016-05-11 江南大学 1T & (1T1R) & 2R five-degree-of-freedom decoupling hybrid mechanism
CN105619378A (en) * 2014-11-07 2016-06-01 江南大学 (2T)&3R five-degree-of-freedom decoupling hybrid mechanism
CN105881498A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (2T)&(1T1R)&1R
CN105643594A (en) * 2014-11-07 2016-06-08 江南大学 1T&(1T1R)&1T1R five-degree-of-freedom decoupling parallel-series connection mechanism
CN104678885B (en) * 2014-12-30 2017-07-14 中国矿业大学 A kind of Six Degree-of-Freedom Parallel Platform of driving quadrature arrangement
CN105364910B (en) * 2015-10-26 2017-06-13 浙江理工大学 It is a kind of to rotate the secondary parallel sorting machine people of four-degree-of-freedom for driving
CN105364922B (en) * 2015-10-26 2017-04-19 浙江理工大学 Four-freedom-degree parallel type transfer robot driven by movable pairs
JP6156854B1 (en) * 2016-02-23 2017-07-05 アイダエンジニアリング株式会社 Work transfer device for press machine
CN105805252A (en) * 2016-05-06 2016-07-27 广州市兴世机械制造有限公司 Dual-drive five-linkage mechanism
CN105997251B (en) * 2016-06-12 2018-11-20 浙江理工大学 A kind of four-freedom hybrid declines invasive procedures manipulator
CN106182089A (en) * 2016-07-30 2016-12-07 杨超坤 A kind of orthopedic robot navigation device
CN106767599A (en) * 2016-12-26 2017-05-31 沈阳航空航天大学 A kind of Three-coordinate measurer and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1095730C (en) * 2000-01-17 2002-12-11 河北工业大学 Vernier robot with decoupled parallel four freedoms and four-axle structure
US6516681B1 (en) * 1999-09-17 2003-02-11 Francois Pierrot Four-degree-of-freedom parallel robot
CN1462671A (en) * 2003-06-06 2003-12-24 河北工业大学 parallel decoupling mechanism with 4 degree of freedom
CN1463821A (en) * 2002-06-28 2003-12-31 杨廷力 Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot
US7127962B2 (en) * 2002-11-06 2006-10-31 Mcgill University Four-degree-of-freedom parallel manipulator for producing Schönflies motions

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6516681B1 (en) * 1999-09-17 2003-02-11 Francois Pierrot Four-degree-of-freedom parallel robot
CN1095730C (en) * 2000-01-17 2002-12-11 河北工业大学 Vernier robot with decoupled parallel four freedoms and four-axle structure
CN1463821A (en) * 2002-06-28 2003-12-31 杨廷力 Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot
US7127962B2 (en) * 2002-11-06 2006-10-31 Mcgill University Four-degree-of-freedom parallel manipulator for producing Schönflies motions
CN1462671A (en) * 2003-06-06 2003-12-24 河北工业大学 parallel decoupling mechanism with 4 degree of freedom

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
少自由度并联机构的位移流形综合理论. 李秦川,黄真.中国科学 E辑 工程科学 材料科学,第34卷第9期. 2004
少自由度并联机构的位移流形综合理论. 李秦川,黄真.中国科学 E辑 工程科学 材料科学,第34卷第9期. 2004 *

Also Published As

Publication number Publication date
CN101066593A (en) 2007-11-07

Similar Documents

Publication Publication Date Title
Gogu Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations
CN103568002B (en) Six axle free degree manipulators
US5355743A (en) Robot and robot actuator module therefor
CN100451434C (en) Moving-decoupling space three-freedom connection-in-parallel mechanism
CN104985590B (en) Six degree of freedom partly decoupled parallel institution
CN100488735C (en) Two-degree-of-freedom plane parallel robot mechanism
TWI508831B (en) A joint device for a parallel robot
CN201357413Y (en) Clamping manipulator
CN203317423U (en) Six-axis DOF (degree of freedom) mechanical arm
CN104096998A (en) Multi-degree of freedom parallel mechanism type spot welding robot
CN103722552B (en) A kind of controllable multi-degree-of-freedom manipulator
CN1189288C (en) Parallel robot mechanism with three-freedom rotating platform
CN101518898B (en) Parallel mechanism with three freedom degrees of twice rotation and once motion
CN203542604U (en) Choose compliance assembly machine arm
CN202580477U (en) Spiral pipe robot
CN100486782C (en) Spatially symmetrical and parallel robot mechanism with dual parallel lines and 3,4 and 5 freedoms
CN101623866B (en) Five-freedom dual-driving parallel mechanism
CN105729498B (en) Modularization cotton rope drives non-individual body mechanical arm
CN101249651B (en) Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN101407059B (en) Four-freedom degree industrial robot
CN101804636B (en) Five degree-of-freedom reconfigurable modular service robot arm
CN103707289A (en) Controllable multi-degree of freedom welding robot
CN1255245C (en) Parallel mechanisms for imaginary axis machine tool, measurer, etc.
CN105500338A (en) Double-arm SCARA (selective compliance assembly robot arm) industrial robot
CN101700621B (en) Full decoupled three-dimensional moving parallel robot mechanism

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090218

Termination date: 20100601

C17 Cessation of patent right