CN101249653A - Spatial Three-Translation Parallel Mechanism with Remote Frame Single Rod - Google Patents
Spatial Three-Translation Parallel Mechanism with Remote Frame Single Rod Download PDFInfo
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Abstract
本发明公开了一种具有远架单杆的空间三平动并联机构,远架单杆的两端分别球铰接于所述近架杆和动平台;所述固定架和动平台之间还连接有限制动平台的三个转动自由度的一条从动支链,所述从动支链包括与所述固定架形成纵向移动副的移动杆组和两端分别与所述移动杆组、动平台铰接的等长杆组,所述等长杆组包括一根中心杆和周围至少三根等长侧杆,所述中心杆两端分别采用虎克铰与所述移动杆组端部和动平台连接,所述等长侧杆两端分别采用球铰与移动杆组端部和动平台连接。本发明简化主动支链、增加从动支链,限制了动平台的三个回转自由度,使动平台相对固定架仅具有三个平动自由度。
The invention discloses a space three-translational parallel mechanism with a single rod of a far frame. A driven branch chain with three rotational degrees of freedom of the brake platform, the driven branch chain includes a moving rod group forming a longitudinal movement pair with the fixed frame and two ends are respectively hinged to the moving rod group and the moving platform The equal-length rod group, the equal-length rod group includes a central rod and at least three equal-length side rods around it, and the two ends of the central rod are respectively connected to the end of the moving rod group and the moving platform by Hooke hinges, The two ends of the equal-length side rods are respectively connected with the ends of the moving rod group and the moving platform by ball joints. The invention simplifies the active branch chain and increases the driven branch chain, limits the three rotational degrees of freedom of the moving platform, and makes the moving platform only have three translational degrees of freedom relative to the fixed frame.
Description
技术领域 technical field
本发明涉及一种机器人,特别是涉及一种具有远架单杆的空间三平动并联机构。The invention relates to a robot, in particular to a space three-translation parallel mechanism with a remote frame single rod.
背景技术 Background technique
美国专利US4976572(或WO7703527、EP0250470、CH672079、EP0250470、JP63501760T)公开了一种空间对称三平动并联机构,包括三条主动支链,每条支链包括近架杆和远架杆两部分。此类机构远架杆的形式分为两种,一种为单杆形式,杆的两端通过虎克铰分别与近架杆和动平台连接;一种为双杆构成的平行四边形,每根杆两端通过球铰链分别与近架杆和动平台连接,其中近架杆一端相对于固定机架仅具有一个移动或转动自由度,另一端通过球铰与远架杆的一端连接,从而限制动平台相对于固定机架的三个回转自由度。此类机构末端执行器的姿态不易保证,在提高控制精度上有很大的难度。U.S. Patent No. 4,976,572 (or WO7703527, EP0250470, CH672079, EP0250470, JP63501760T) discloses a spatially symmetrical three-translation parallel mechanism, which includes three active branch chains, and each branch chain includes two parts, a near frame bar and a far frame bar. There are two types of remote frame rods of this type of mechanism, one is a single rod form, and the two ends of the rod are respectively connected with the near frame rod and the moving platform through a Hooke hinge; the other is a parallelogram formed by two rods, each The two ends of the rod are respectively connected with the near frame rod and the moving platform through ball joints, wherein one end of the near frame rod has only one degree of freedom of movement or rotation relative to the fixed frame, and the other end is connected with one end of the far frame rod through a ball joint, thus limiting Three degrees of freedom of rotation of the moving platform relative to the fixed frame. The attitude of the end effector of this kind of mechanism is not easy to guarantee, and it is very difficult to improve the control accuracy.
发明内容 Contents of the invention
本发明的目的正是为了克服上述现有技术中的不足,提供一种能够提高机构姿态精度的具有远架单杆的空间三平动并联机构。The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a spatial three-translation parallel mechanism with a remote single-rod that can improve the attitude accuracy of the mechanism.
为解决上述技术问题,本发明的基本构思是:由主动支链保证动平台的位置精度,由从动支链保证动平台的姿态精度。In order to solve the above technical problems, the basic idea of the present invention is: the position accuracy of the moving platform is guaranteed by the active branch chain, and the attitude accuracy of the moving platform is guaranteed by the driven branch chain.
作为实现本发明基本构思的第一种技术方案,一种具有远架单杆的空间三平动并联机构,包括固定架、动平台以及分别对称均匀设置在所述的固定架与动平台之间的三条结构相同的主动支链;所述主动支链包括固接于固定架的驱动装置,所述驱动装置的输出端连接有近架杆,所述近架杆连接有与所述动平台相连接的远架单杆,其特征是,所述远架单杆的两端分别球铰接于所述近架杆和动平台;所述固定架和动平台之间还连接有限制动平台的三个转动自由度的一条从动支链,所述从动支链包括与所述固定架形成移动副的移动杆组和两端分别与所述移动杆组、动平台铰接的等长杆组,所述等长杆组包括一根中心杆和周围至少三根等长侧杆,所述中心杆两端分别采用虎克铰与所述移动杆组端部和动平台连接,所述等长侧杆两端分别采用球铰与移动杆组端部和动平台连接。As the first technical solution to realize the basic idea of the present invention, a space three-translational parallel mechanism with a single rod on a remote frame includes a fixed frame, a moving platform, and symmetrically and evenly arranged between the fixed frame and the moving platform. Three active branch chains with the same structure; the active branch chain includes a driving device fixed to the fixed frame, the output end of the driving device is connected with a near-frame rod, and the near-frame rod is connected with the moving platform The far-frame single rod is characterized in that the two ends of the far-frame single rod are respectively ball-hinged to the near-frame rod and the moving platform; the fixed frame and the moving platform are also connected with three limited braking platforms. A driven branch chain with a degree of freedom of rotation, the driven branch chain includes a moving rod group that forms a moving pair with the fixed frame and an equal-length rod group that is hinged to the moving rod group and the moving platform at both ends. The equal-length pole group includes a central pole and at least three equal-length side poles around it. The ends are respectively connected with the ends of the moving rod group and the moving platform by ball joints.
所述等长侧杆有三根。There are three equal-length side bars.
作为实现本发明基本构思的第二种技术方案,一种具有远架单杆的空间三平动并联机构,包括固定架、动平台以及分别对称均匀设置在所述的固定架与动平台之间的三条结构相同的主动支链;所述主动支链包括固接于固定架的驱动装置,所述驱动装置的输出端连接有近架杆,所述近架杆连接有与所述动平台相连接的远架单杆,所述远架单杆的两端分别球铰接于所述近架杆和动平台;所述固定架和动平台之间还连接有限制动平台的三个转动自由度的一条从动支链,所述从动支链包括与所述固定架依次连接的由全回转副连接的局部支链组、可纵向平动的平台和等长杆组,其中全回转副连接的局部支链采用至少两条结构相同的支链对称布置,每条支链包括串联的第一杆件和第二杆件,第一杆件与固定架之间、第一杆件与第二杆件之间以及第二杆件与可纵向平动的平台之间均采用回转副连接;所述等长杆组包括一根中心杆和周围至少三根等长侧杆,所述中心杆两端分别采用虎克铰与所述可纵向平动的平台和动平台连接,所述等长侧杆两端分别采用球铰与可纵向平动的平台和动平台连接。As the second technical solution to realize the basic idea of the present invention, a space three-translational parallel mechanism with a single rod on a remote frame includes a fixed frame, a moving platform, and a symmetrical and uniform arrangement between the fixed frame and the moving platform. Three active branch chains with the same structure; the active branch chain includes a driving device fixed to the fixed frame, the output end of the driving device is connected with a near-frame rod, and the near-frame rod is connected with the moving platform The far frame single rod, the two ends of the far frame single rod are respectively ball-hinged to the near frame rod and the moving platform; the fixed frame and the moving platform are also connected with the three rotation degrees of freedom of the limited braking platform A driven branch chain, the driven branch chain includes a partial branch chain group connected by a full-turn pair, a platform that can move longitudinally, and an equal-length bar group connected to the fixed frame in sequence, wherein the full-turn pair connected The local branch chain adopts at least two branch chains with the same structure to be symmetrically arranged, and each branch chain includes a first bar and a second bar connected in series, between the first bar and the fixed frame, between the first bar and the second bar Between the two rods and between the second rod and the platform that can move longitudinally, a rotary pair is used to connect; the equal-length rod group includes a central rod and at least three equal-length side rods around it, and the two ends of the central rod are respectively The Hooke hinge is used to connect the longitudinally translational platform and the moving platform, and the two ends of the equal-length side bar are respectively connected to the longitudinally translational platform and the moving platform by using ball joints.
所述等长侧杆有三根。There are three equal-length side bars.
作为实现本发明基本构思的第三种技术方案,一种具有远架单杆的空间三平动并联机构,包括固定架、动平台以及分别对称均匀设置在所述的固定架与动平台之间的三条结构相同的主动支链;所述主动支链包括固接于固定架的驱动装置,所述驱动装置的输出端连接有近架杆,所述近架杆连接有与所述动平台相连接的远架单杆,所述远架单杆的两端分别球铰接于所述近架杆和动平台;所述固定架和动平台之间还连接有限制动平台的三个转动自由度的一条从动支链,所述从动支链包括三根中间为移动副且两端分别采用虎克铰与固定架和动平台连接的伸缩杆组,其中每根伸缩杆两端的虎克铰的近架旋转轴的轴线平行,每根近架杆的旋转轴线与其对应的伸缩杆两端的虎克铰的近架旋转轴的轴线平行。As the third technical solution to realize the basic idea of the present invention, a space three-translational parallel mechanism with a single rod on a remote frame includes a fixed frame, a moving platform, and symmetrically and evenly arranged between the fixed frame and the moving platform. Three active branch chains with the same structure; the active branch chain includes a driving device fixed to the fixed frame, the output end of the driving device is connected with a near-frame rod, and the near-frame rod is connected with the moving platform The far frame single rod, the two ends of the far frame single rod are respectively ball-hinged to the near frame rod and the moving platform; the fixed frame and the moving platform are also connected with the three rotation degrees of freedom of the limited braking platform A driven branch chain, the driven branch chain includes three telescopic rod groups with a moving pair in the middle and Hooke hinges at both ends connected to the fixed frame and the moving platform, wherein the Hooke hinges at both ends of each telescopic rod are near The axes of the frame rotation shafts are parallel, and the rotation axes of each near-frame rod are parallel to the axes of the near-frame rotation shafts of the Hooke hinges at the two ends of the corresponding expansion rod.
所述的驱动装置采用直线电机驱动结构。The drive device adopts a linear motor drive structure.
所述的驱动装置采用扭矩电机驱动结构。The drive device adopts a torque motor drive structure.
所述的驱动装置采用伺服电机-减速器结构。The drive device adopts a servo motor-reducer structure.
本发明的有益效果是:简化主动支链、增加从动支链,限制了动平台的三个回转自由度,使动平台相对固定架仅具有三个平动自由度。由主动支链保证动平台的位置精度,由从动支链保证动平台的姿态精度,容易识别几何误差源,并且从动支链可以提供末端执行器的旋转自由度,从而降低了机构的制造成本。The invention has the beneficial effects of simplifying the active branch chain and increasing the driven branch chain, limiting the three rotational degrees of freedom of the moving platform, so that the moving platform has only three translational degrees of freedom relative to the fixed frame. The position accuracy of the moving platform is guaranteed by the active branch chain, and the attitude accuracy of the moving platform is guaranteed by the driven branch chain. It is easy to identify the source of geometric error, and the driven branch chain can provide the rotational freedom of the end effector, thereby reducing the manufacturing cost of the mechanism. cost.
附图说明 Description of drawings
图1-1是本发明第一种技术方案的结构示意图;Fig. 1-1 is the structural representation of the first technical solution of the present invention;
图1-2是本发明第一种技术方案的从动支链的结构示意图;Fig. 1-2 is the structural representation of the driven branch chain of the first technical solution of the present invention;
图1-3是图1-2的I部放大图;Figure 1-3 is an enlarged view of part I of Figure 1-2;
图1-4是图1-2的II部放大图;Figure 1-4 is an enlarged view of Part II of Figure 1-2;
图2-1是本发明第二种技术方案的结构示意图;Fig. 2-1 is the structural representation of the second technical solution of the present invention;
图2-2是本发明第二种技术方案的从动支链的结构示意图;Fig. 2-2 is the structural representation of the driven branch chain of the second technical solution of the present invention;
图3-1是本发明第三种技术方案的结构示意图;Fig. 3-1 is the structural representation of the third technical solution of the present invention;
图3-2是本发明第三种技术方案的从动支链的结构示意图;Fig. 3-2 is the structural representation of the driven branch chain of the third technical solution of the present invention;
图3-3是图3-2的I部放大图;Figure 3-3 is an enlarged view of part I of Figure 3-2;
图3-4是图3-2的II部放大图;Figure 3-4 is an enlarged view of Part II of Figure 3-2;
图4是本发明主动支链的结构示意图。Fig. 4 is a schematic diagram of the structure of the active branched chain of the present invention.
附图标记:1、固定架,1-1、导向槽,1-2、连接块,1-3、连接座,2、驱动装置,3、近架杆,4、远架杆,5、移动杆组,5-1、第一杆件,5-2、第二杆件,5-3、可纵向平动的平台,5-4、等长杆组,5a、底端连接块,5b、6b、近架旋转轴,6、侧杆,7、中心杆,8、动平台,9、杆组,10、导杆组。Reference numerals: 1, fixed frame, 1-1, guide groove, 1-2, connecting block, 1-3, connecting seat, 2, driving device, 3, near frame rod, 4, far frame rod, 5, moving Rod group, 5-1, first rod member, 5-2, second rod member, 5-3, platform capable of longitudinal translation, 5-4, equal-length rod group, 5a, bottom connecting block, 5b, 6b, near frame rotation axis, 6, side bar, 7, central bar, 8, moving platform, 9, bar group, 10, guide bar group.
具体实施方式 Detailed ways
下面结合附图对本发明作进一步描述:The present invention will be further described below in conjunction with accompanying drawing:
如图1-1、图2-1、图3-1所示,一种具有远架单杆的空间三平动并联机构,由固定架1,动平台8,设置在所述的固定架1与动平台8之间的三条结构相同的主动支链以及连接固定架1与动平台8的一条从动支链构成,所述的固定架和动平台之间的从动支链,可以限制动平台8的三个回转自由度。As shown in Fig. 1-1, Fig. 2-1, and Fig. 3-1, a space three-translation parallel mechanism with a single rod on a remote frame consists of a
请参见图4,所述的三条主动支链分别由驱动装置2,近架杆3和远架杆4构成;所述三条主动支链之一与所述的固定架1和动平台8的连接方式是:如图4所示,所述的驱动装置2固定连接固定架1;所述近架杆3的一端连接所述驱动装置2的输出端,其另一端(末端)与所述的远架杆4一端球铰接;所述远架杆4的一端与近架杆3末端球铰接,其另一端与动平台8球铰接。Please refer to Fig. 4, the three active branch chains are respectively composed of the
所述的驱动装置2与固定架1固定连接,可使其输出端为与其连接的近架杆3提供一个移动或转动自由度;驱动装置2采用了伺服电机-减速器的结构形式,为与其连接的近架杆3提供一个转动自由度,为了达到同样目的,还可以采用扭矩电机驱动,为与其连接的近架杆3提供一个转动自由度。在某种应用状况下,也可以采用直线电机的驱动方式,为与其连接的近架杆3提供一个移动自由度。当然,在具体实施时,采用其它任意一种可实现相同运动功能的结构形式作为驱动方式都是可以的。The
所述的从动支链有三种构型:第一种构型,请参见图1-1、图1-2、图1-3、图1-4,由与固定架1形成移动副的移动杆组5和两端分别与移动杆组5的底端连接块5a及动平台8铰接的等长杆组构成,导向槽1-1固接在固定架1上,移动杆组5可以在导向槽1-1中纵向滑动,导杆的数目可视具体情况自由确定,只要形成移动副即可,图例中采用了三根导杆,移动杆组5的底端固接一底端连接块5a;等长杆组的连接方式:中心杆7的一端与底端连接块5a采用虎克铰连接,另一端与动平台8采用虎克铰连接;与中心杆7等长的不少于三根的侧杆6组设置在中心杆7的周围且侧杆6组与中心杆7互相平行,每根侧杆一端与底端连接块5a球铰接,另一端与动平台球铰接。中心杆7与侧杆6组构成了所述的等长杆组。The driven branch chain has three configurations: the first configuration, please refer to Fig. 1-1, Fig. 1-2, Fig. 1-3, Fig. 1-4. The
从动支链的第二种构型,请参见图2-1、图2-2,由两端分别采用回转副连接的第一杆件5-1、第二杆件5-2,可纵向平动的平台5-3以及等长杆组5-4构成,连接块1-2固定在固定架1上,第一杆件5-1采用回转副与连接块1-2连接,第一杆件5-1的另一端采用回转副与第二杆件5-2的一端连接,第二杆件5-2的另一端采用回转副与可纵向平动的平台5-3连接,第一杆件5-1和第二杆件5-2组成局部支链,该局部支链的数目至少是两条,且局部支链对称分布,局部支链使得平台5-3只有一个纵向平动自由度,平台5-3与其下面的等长杆组5-4的连接方式以及等长杆组5-4与动平台8的连接方式同第一种构型的从动支链中等长杆组的构型和连接方式相同。For the second configuration of the driven branch chain, please refer to Fig. 2-1 and Fig. 2-2. The first rod 5-1 and the second rod 5-2 are respectively connected by rotary pairs at both ends, and can be vertically The translational platform 5-3 and the equal-length rod group 5-4 are composed, the connecting block 1-2 is fixed on the
从动支链的第三种构型,请参见图3-1、图3-2、图3-3、图3-4,第三种构型为UPU支链(U代表虎克铰,P代表移动副),由中间为移动副且两端分别采用虎克铰与固定架1和动平台8连接的伸缩杆组构成。连接座1-3固接在固定架1上,导杆组10的一端与连接座1-3采用虎克铰连接,杆组9与导杆组10采用移动副连接,杆组9的另一端与动平台8采用虎克铰连接,导杆组10与杆组9的杆数均为3根。导杆组10与杆组9形成伸缩杆组,其中每根伸缩杆两端的虎克铰的近架旋转轴5b,6b的轴线是平行的,并且每根近架杆的旋转轴线与其对应的(空间距离最近)伸缩杆两端的虎克铰的近架旋转轴5b,6b的轴线平行。The third configuration of driven branch chain, please refer to Figure 3-1, Figure 3-2, Figure 3-3, Figure 3-4, the third configuration is UPU branch chain (U stands for Hooke hinge, P Represents the mobile pair), which is composed of a telescopic rod group with a mobile pair in the middle and a Hooke hinge connected to the
本发明与现有技术相比,其不同点在于:Compared with the prior art, the present invention differs in that:
(1)远架杆4简化为一根杆且两端采用球铰接的连接方式;(1) The
(2)利用从动支链来限制动平台8的回转自由度;(2) Utilize the driven branch chain to limit the degree of freedom of rotation of the moving
本发明与现有技术的不同之处在于:采用一根两端设有球铰链的远架杆连接近架杆和动平台,三根近架杆配合起来确定动平台的位置,同时采用从动支链限制动平台的三个转动自由度,从而构成一种全新的空间三平动并联机构。该机构的有益效果是:由主动支链保证动平台的位置精度,由从动支链保证动平台的姿态精度,容易识别几何误差源,并且从动支链同时可以很方便地提供末端执行器的旋转自由度.从而降低了机构的制造成本。The difference between the present invention and the prior art lies in that a far frame rod with ball hinges at both ends is used to connect the near frame rod and the moving platform, and the three near frame rods cooperate to determine the position of the moving platform. The three rotational degrees of freedom of the braking platform are constrained by the chain, thereby constituting a brand-new spatial three-translational parallel mechanism. The beneficial effects of the mechanism are: the position accuracy of the moving platform is guaranteed by the active branch chain, the attitude accuracy of the moving platform is guaranteed by the driven branch chain, the geometric error source is easy to identify, and the driven branch chain can conveniently provide the end effector at the same time Rotational freedom. Thus reducing the manufacturing cost of the mechanism.
本发明利用简化主动支链、增加从动支链的新式结构,限制了动平台8的三个回转自由度,使动平台8相对固定架1仅具有三个平动自由度。The present invention utilizes a novel structure that simplifies active branch chains and increases driven branch chains to limit the three rotational degrees of freedom of the
以上示意性的对本发明及其实施方式进行了描述,该描述没有限制性,附图中所示的也只是本发明的实施方式之一,实际的结构并不局限于此。所以,如果本领域的普通技术人员受其启示,在不脱离本发明创造宗旨的情况下,采用其它形式的由从动支链来限制动平台的回转自由度方法,不经创造性的设计出与该技术方案相似的结构方式及实施例,均应属于本发明的保护范围。The above schematically describes the present invention and its implementation, which is not restrictive, and what is shown in the drawings is only one of the implementations of the present invention, and the actual structure is not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by it, without departing from the inventive concept of the present invention, adopt other forms of methods of limiting the degree of freedom of rotation of the braking platform by the driven branch chain, without creative design and The similar structural modes and embodiments of the technical solution shall all belong to the protection scope of the present invention.
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