CN101704244B - 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) - Google Patents
2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) Download PDFInfo
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- CN101704244B CN101704244B CN2009102283273A CN200910228327A CN101704244B CN 101704244 B CN101704244 B CN 101704244B CN 2009102283273 A CN2009102283273 A CN 2009102283273A CN 200910228327 A CN200910228327 A CN 200910228327A CN 101704244 B CN101704244 B CN 101704244B
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Abstract
The invention discloses a spatial parallel robotic mechanism with three degrees of freedom (DOF). The mechanism consists of a motion platform, a fixed platform and three branched chains for linking the two platforms; two of the three branched chains have the same structure and respectively comprise a hooke joint, two rotating joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the hooke joint and the two rotating joints; and the other branched chain comprises a ball joint, two rotating joints and connecting rods from top to bottom, wherein the connecting rods are arranged among the ball joint and the two rotating joints. A working platform of the mechanism can realize motion output with one translational DOF and two rotations; and the mechanism has less joints and a motion pair only has 13 DOFs in total, thereby effectively solving the problem that a parallel mechanism is easy to bend, reverse and deform due to overabundance of DOFs of the motion pair. In addition, a rotating head with two DOFs is connected in series to the motion platform, and therefore, a hybrid robot with five DOFs, which can be used in occasions of machining at high speed, can be designed.
Description
[technical field]
The present invention relates to robot and advanced manufacturing technology field, the lower-mobility parallel robot mechanism that one translation two of particularly a kind of implementation space is rotated.
[background technology]
Parallel robot mechanism may be defined as: go up between the lower platform (fixed platform and motion platform) continuous with two or more movement branched chain, each movement branched chain is made up of connecting rod and kinematic pair, motion platform has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is widely used in technical fields such as large-scale analog machine, robot, Digit Control Machine Tool, sensor, micromanipulator, engraving machine and measuring machine.The Stewart platform is a kind of typical parallel robot mechanism, this mechanism has 6 frees degree, be used for the revolution that parallel robot and Digit Control Machine Tool have been considered to machine tool structure since the twentieth century first, after this, invented multiple 6DOF parallel institution.
Because it is the restriction of structure, 6DOF parallel institution have the fine solution of failing of many technical problems, strong as the motion coupling, forward kinematics solution is complicated, working space is little, drive characteristic difference etc.The lower-mobility parallel robot mechanism has broad application prospects in industrial production, many scholar's research the mechanism of multiple the type, as Delta mechanism, Star Like mechanism etc.The Chinese scholar is also obtaining a large amount of achievements in research (as number of patent application: 01108297.6 aspect the research of lower-mobility parallel robot mechanism; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7 etc.).
At present based on 3DOF parallel institution robot mechanism as positioning element, construct the series-parallel robot of 5DOF at the swivel head of a 2DOF of its motion platform serial connection, in the High-speed machining field, have a wide range of applications, cause insufficient rigidity this problem for the positioning element that overcomes the parallel-connection structure form exists that rod member is many, kinematic pair more, need create and satisfy the forms of motion requirement and kinematic pair is few, rigidity is high new architecture.
[summary of the invention]
The objective of the invention is in order to overcome the deficiencies in the prior art, and provide a kind of simple in structure, the kinematic pair number is few, cost is lower, realize the spatial parallel robot mechanism that a translation two is rotated.
The present invention is that to address the above problem the scheme that is adopted be a kind of secondary spatial parallel robot mechanism of realizing that a translation two is rotated of less physical activities that utilizes of design.This mechanism is by motion platform 1, fixed platform 2 and connect three side chains of above-mentioned two platforms: side chain M1, and side chain M2, side chain M3 forms; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two rotating hinge R1, and R2, R4, R5 and the connecting rod L1 between them, L2, L4, L5 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1, two rotating hinge R3, R6 and the connecting rod L3 between them, and L6 forms; Wherein:
Said motion platform (1) is similar isosceles right triangle with fixed platform (2);
Said rod member L4, L5, L6 pass through rotating hinge R4 respectively, R5, and R6 and fixed platform link, and rotating hinge R4, R5, R6 are that mechanism drives pair, and rotating hinge R4, and the pivot center of R5 is parallel, the pivot center of rotating hinge R6 and rotating hinge R4, the pivot center of R5 is vertical;
Said rod member L1, L2, L3 pass through rotating hinge R1, R2 respectively, R3 and rod member L4, L5, L6 links, and the axis of rotating hinge R1 is parallel with the axis of rotating hinge R4, and the axis of rotating hinge R2 is parallel with the axis of rotating hinge R5, and the axis of rotating hinge R3 is parallel with the axis of rotating hinge R6;
Said rod member L1, L2, L3 is respectively by Hooke's hinge T1, T2 and spherical hinge S1 and motion platform 1 link, Hooke's hinge T1, the axis of two axles on the T2 and motion platform 1 coplane, and one of them axis respectively with rotating hinge R1, the axis of R2 is parallel, and the axis of spherical hinge S1 is parallel with the axis of rotating hinge R3;
Said motion platform 1 is similar triangles with fixed platform 2, and is isosceles right triangle, and satisfies: Hooke's hinge T1 central point is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 central point with the line of spherical hinge S1 central point; Rotating hinge R4 central point is vertical with the line of rotating hinge R6 central point with rotating hinge R5 central point with the line of rotating hinge R6 central point.
The invention has the beneficial effects as follows: 1, mechanism's workbench can be realized the motion output that a translation two is rotated.
2, mechanism is simple, the mechanism joint is few, and kinematic pair is lower pair degree of freedom of kinematic pair sum and has only 13.
3, can effectively improve the easy generation deflection that parallel institution too much causes because of degree of freedom of kinematic pair and the problem of torsional deflection.
4, by binary swivel head of serial connection on motion platform, can design the series-parallel robot of five degree of freedom thus, can be used for occasions such as complex-curved.
[description of drawings]
Figure 12-RRT﹠amp; RRS three-freedom degree spatial parallel robot mechanism schematic diagram.
Be described in detail with reference to accompanying drawing below in conjunction with embodiments of the invention.
[specific embodiment]
Utilize the less physical activities pair and be the spatial parallel robot mechanism that lower pair realizes that a translation two is rotated.This mechanism is by motion platform 1, fixed platform 2 and connect three side chains of above-mentioned two platforms: side chain M1, and side chain M2, side chain M3 forms; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two rotating hinge R1, and R2, R4, R5 and the connecting rod L1 between them, L2, L4, L5 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1,1 two rotating hinge R3, R6 and the connecting rod L3 between them, and L6 forms.Connecting rod L4, L5, the rotating hinge R4 of L6 and fixed platform 2, R5, R6 are the driving pair of mechanism, with the rotating hinge R1 that drives the parafacies neighbour, R2, R3 axis are parallel with the driving secondary axis respectively, by Hooke's hinge T1, T2 and spherical hinge S1 be rod member L1, L2, and L3 and motion platform 1 link, and Hooke's hinge T1, two axis of T2 and motion platform 1 coplane, and one of them axis and rotating hinge R1, the R2 axis is parallel, and the axis of spherical hinge S1 is parallel with rotating hinge R3 axis.Motion platform 1 is similar triangles with fixed platform 2, and is isosceles right triangle, and Hooke's hinge T1 is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 with the line of spherical hinge S1 central point; Rotating hinge R4 is vertical with the line of rotating hinge R6 central point with rotating hinge R5 with the line of rotating hinge R6 central point.
As shown in Figure 1, the rotating hinge that links to each other with fixed platform is R4, R5, and R6 is secondary for driving, and drives by motor.When each drove the corner that moves different under secondary the control, all the other each revolute pairs, Hooke's hinge, spherical hinge then under the pulling of connecting rod and motion platform, were done corresponding motion, thereby the realization motion platform is done a translation two rotational motions in working space.
Claims (1)
1. a three-freedom degree spatial parallel robot mechanism is characterized in that three side chains of this mechanism by motion platform (1), fixed platform (2) and above-mentioned two platforms of connection: side chain M1, side chain M2, side chain M3 composition; Side chain M1 wherein, side chain M2 be from top to bottom respectively by a Hooke's hinge T1, T2, two rotating hinge R1, and R2, R4, R5 and the connecting rod L1 between them, L2, L4, L5 forms; Side chain M3 is from top to bottom respectively by a spherical hinge S1, two rotating hinge R3, R6 and the connecting rod L3 between them, and L6 forms; Wherein:
Said motion platform (1) is similar isosceles right triangle with fixed platform (2);
Said rod member L4, L5, L6 pass through rotating hinge R4 respectively, R5, and R6 and fixed platform link, and rotating hinge R4, R5, R6 are that mechanism drives pair, and rotating hinge R4, and the pivot center of R5 is parallel, the pivot center of rotating hinge R6 and rotating hinge R4, the pivot center of R5 is vertical;
Said rod member L1, L2, L3 pass through rotating hinge R1, R2 respectively, R3 and rod member L4, L5, L6 links, and the axis of rotating hinge R1 is parallel with the axis of rotating hinge R4, and the axis of rotating hinge R2 is parallel with the axis of rotating hinge R5, and the axis of rotating hinge R3 is parallel with the axis of rotating hinge R6;
Said rod member L1, L2, L3 is respectively by Hooke's hinge T1, T2 and spherical hinge S1 and motion platform (1) link, Hooke's hinge T1, the axis of two axles on the T2 and motion platform (1) coplane, and one of them axis respectively with rotating hinge R1, the axis of R2 is parallel, and the axis of spherical hinge S1 is parallel with the axis of rotating hinge R3;
Hooke's hinge T1 central point is vertical with the line of spherical hinge S1 central point with Hooke's hinge T2 central point with the line of spherical hinge S1 central point; Rotating hinge R4 central point is vertical with the line of rotating hinge R6 central point with rotating hinge R5 central point with the line of rotating hinge R6 central point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102283273A CN101704244B (en) | 2009-11-19 | 2009-11-19 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009102283273A CN101704244B (en) | 2009-11-19 | 2009-11-19 | 2-RRT and RRS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
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| CN101704244A CN101704244A (en) | 2010-05-12 |
| CN101704244B true CN101704244B (en) | 2011-06-01 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166754B (en) * | 2011-03-16 | 2013-08-14 | 安徽理工大学 | Two-degree-of-freedom shoulder joint mechanism for robot |
| CN102975201A (en) * | 2012-11-12 | 2013-03-20 | 天津理工大学 | Three degree-of-freedom parallel mechanism with symmetrical space surfaces |
| CN102990648A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Parallel mechanism comprising prr open-loop sub-chain and rrrrr kinematic pair closed-loop sub-chain |
| CN103144106B (en) * | 2013-03-13 | 2015-11-18 | 燕山大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN103552089B (en) * | 2013-10-22 | 2015-08-12 | 北京航空航天大学 | A kind of Series-parallel connection ball joint device |
| CN103600347B (en) * | 2013-11-26 | 2015-09-16 | 燕山大学 | There is asymmetric two turn of one motion three-freedom-degree parallel mechanism of two continuous rotating shafts |
| CN104608117B (en) * | 2014-12-31 | 2016-05-25 | 上海交通大学 | There is the Variable Freedom Mechanism of three kinds of free degree patterns |
| CN104999458A (en) * | 2015-06-29 | 2015-10-28 | 张荣华 | Robot |
| CN105500347B (en) * | 2016-01-27 | 2017-08-04 | 燕山大学 | A kind of 3-freedom parallel mechanism of achievable stable pure translational |
| CN109623794A (en) * | 2019-02-12 | 2019-04-16 | 中国民航大学 | A kind of two one-rotation parallel mechanisms of translation with redundancy branched chain |
| CN111759677B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Leg joint rehabilitation series-parallel robot |
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