CN101708609A - Space three degree-of-freedom pure-translation parallel robot - Google Patents
Space three degree-of-freedom pure-translation parallel robot Download PDFInfo
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- CN101708609A CN101708609A CN200910109792A CN200910109792A CN101708609A CN 101708609 A CN101708609 A CN 101708609A CN 200910109792 A CN200910109792 A CN 200910109792A CN 200910109792 A CN200910109792 A CN 200910109792A CN 101708609 A CN101708609 A CN 101708609A
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Abstract
The invention provides a space three degree-of-freedom pure-translation parallel robot comprising a fixed platform, a movable platform and three moving chains which are respectively connected to the fixed platform and the movable platform, wherein each moving chain comprises a sliding block and a plurality of connecting rods; the sliding block translates relative to the fixed platform; the connecting rods have the same length, are mutually parallel and form a parallelogram compound hinge; and two ends of the connecting rods are respectively connected with the sliding block and the movable platform. The space three degree-of-freedom pure-translation parallel robot provides an isotropy mechanism, has the advantages of favorable properties of kinematics and kinetics as well as simple structure, few moving pairs of moving subchains, more repeated components and reduced manufacturing and controlling cost; in addition, the three space degree-of-freedom pure-translation parallel robot has regular working space which is approximate to a cuboid and improves the defect of the irregular working space of a common parallel mechanism.
Description
Technical field
The present invention relates to the robot mechanism field, particularly about a kind of space three degree-of-freedom pure-translation parallel robot.
Background technology
Parallel institution is a class frame for movement relative with serial mechanism, different with the serial mechanism of similar people's arm, parallel institution is the closed chain frame for movement that is made of a plurality of parallel kinematic chains, comprises a fixed platform, moving platform and many motion subchains that are connected them.Parallel institution has that rigidity is big, compact conformation, dynamic property are good, be easy to realize advantage such as high-speed motion.What application was maximum at present is the parallel institution of six degree of freedom (or complete free degree), and representative is the Gough-Stewart platform, is widely used in motion simulator, sextuple power and torque sensor, micromotion mechanism and micro mechanism, virtual-shaft machine tool etc.
Remarkable shortcomings such as but the full parallel institution of six degree of freedom exists, and working space is little, rotatory power difference, commercial Application is limited; And in a lot of applications, do not need six degree of freedom.In order to avoid above-mentioned shortcoming and reducing cost, people have begun to explore low degree-of-freedom (less than sixs') parallel institution, especially the three degree-of-freedom pure-translation parallel structure.
The three degree-of-freedom pure-translation parallel structure is simple in structure than six-degree-of-freedom parallel connection mechanism, cost is low, control is relatively easy, uses quite extensive, as the shockproof shooting platform of aviation three-dimensional, four feet walking robot walking leg mechanism, three-dimensional assembly robot, three dimensional coordinate measuring machine, three-dimension sensor etc.First in the world, also be that most widely used up to now three degree-of-freedom pure-translation parallel structure is that Switzerland Clavel teaches in the Delta robot of the eighties invention in last century, its compact conformation, dynamic property is very good, can reach very high acceleration.There was novel three degree-of-freedom pure-translation parallel structure to occur afterwards successively.In general, the working space of existing three degree-of-freedom pure-translation parallel structure is rule mostly not too, seldom possesses as cuboid (or cube) working space common in machine industry.
As shown in Figure 1, Clavel teach in last century Delta robot that the eighties proposes be present most widely used three degree-of-freedom pure-translation parallel structure (USPO's patent, US4976582).Structurally, it is by moving platform, and fixed platform and three identical motion subchains that connect them are formed.From fixed platform, the kinematic pair annexation on every motion subchain is RRPaR (P-moving sets, R-revolute pair, a Pa-parallelogram compound hinges).The basic reason of Delta robot energy implementation space translation is to have introduced the parallelogram compound hinges, and it is a parallelogram of being made up of four connecting rods, the opposite side equal in length, and adjacent two bars can adopt ball pivot, Hooke's hinge or revolute pair twisting.Three parallelogram compound hingeses have limited the space and have rotatablely moved, and are achieved pure flat moving.
Described Delta robot architecture compactness, but its working space is longer and narrower, regular inadequately.Based on this, French Wenger etc. have proposed the Orthoglide parallel institution, as shown in Figure 2, three drive pair no longer as the Delta robot, install in one plane, but have adopted three moving sets to drive, three moving sets are installed according to three axles of Cartesian coordinates, and are vertical mutually.The kinematic pair annexation of its every motion subchain is PRPaR, and adjacent two bars of parallelogram compound hinges Pa here only adopt the revolute twisting.
Similarly, Liu Xin army of Tsing-Hua University etc. has proposed parallel cube-manipulator mechanism, as Fig. 3 (a) and (b), three reference axis according to cartesian coordinate system are arranged three motion subchains, make the axis of three kinematic pairs (moving sets or revolute) that are fixed in fixed platform vertical mutually.The kinematic pair annexation of every motion subchain is PRPa or RRPa, and among the parallelogram compound hinges Pa here, adjacent two bars adopt ball pivot or Hooke's hinge twisting.
Above-mentioned two class mechanisms can both the implementation space three degree-of-freedom pure-translation, and its working space approaches cuboid, but its motion subchain is all complicated.If Pa is regarded as a compound hinges, then in Orthoglide mechanism, every subchain is made of four kinematic pairs; In parallel cube-manipulator mechanism, every subchain is made of three kinematic pairs, and kinematic pair is more, and structure is complicated.In fact, second kinematic pair R in the latter's the motion subchain is redundant, and its existence not only makes complex structure, increases manufacturing cost, and can introduce error, influences precision.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of space three degree-of-freedom pure-translation parallel robot simple in structure.
The technical solution adopted for the present invention to solve the technical problems is: a kind of space three degree-of-freedom pure-translation parallel robot is provided, three motion subchains that it comprises a fixed platform, a moving platform and is connected to affiliated fixed platform and moving platform, each motion subchain comprises slide block and a plurality of connecting rod, described slide block is with respect to the fixed platform translation, described length of connecting rod equates, and be parallel to each other, constituted a parallelogram compound hinges, the two ends of described connecting rod are connected with slide block and moving platform respectively.
The scheme that the present invention solves further technical problem is: described motion subchain further comprises motor and ball screw and line slideway, and described slide block can move along the axis direction of line slideway under the driving of motor.
The scheme that the present invention solves further technical problem is: described slide block moves under the driving of linear actuator.
The scheme that the present invention solves further technical problem is: the two ends of described connecting rod are connected with slide block and moving platform respectively by ball pivot.
The scheme that the present invention solves further technical problem is: the two ends of described connecting rod are connected with slide block and moving platform respectively by Hooke's hinge.
The scheme that the present invention solves further technical problem is: the slide block of three motion subchains is orthogonal with respect to the moving direction of fixed platform.
The scheme that the present invention solves further technical problem is: the quantity of described connecting rod is 2.
The scheme that the present invention solves further technical problem is: the quantity of described connecting rod is more than 3 or 3.
Compared to prior art, space three degree-of-freedom pure-translation parallel device of the present invention provides an isotropic mechanism, have kinematics, advantage that dynamic performance is good, it is simple in structure, and the kinematic pair number of motion subchain is few, and duplicate components is many, reduced and made and control cost, and the working space rule, be similar to a cuboid, improved the irregular defective of general parallel institution working space.
Description of drawings
Fig. 1 is a prior art Delta robot construction schematic diagram.
Fig. 2 is the structural representation of the Orthoglide parallel institution of prior art.
Fig. 3 (a) and Fig. 3 (b) are the structural representations of the parallel cube-manipulator mechanism of prior art.
Fig. 4 is the structural representation of first embodiment of space three degree-of-freedom pure-translation parallel robot of the present invention.
Fig. 5 is the structural representation of second embodiment of space three degree-of-freedom pure-translation parallel robot of the present invention.
The specific embodiment
Following content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
As shown in Figure 4, the invention provides a kind of space three degree-of-freedom pure-translation parallel robot, three motion subchains that it comprises a fixed platform 1, a moving platform 11 and is connected to affiliated fixed platform 1 and moving platform 11.Each motion subchain comprises motor 2, line slideway 3, slide block 4, ball pivot 5,6,9,10, long side rod 7,8, and broadside connecting rod 71,81.
Described slide block 4 can move along the axis direction of line slideway 3 under the driving of motor 2.Long side rod 7 and long side rod 8 equal in length, and be parallel to each other, in like manner, described broadside connecting rod 71,81 length also equate, and are parallel to each other, thereby make described long side rod 7,8 and broadside connecting rod 71,81 constitute a parallelogram compound hinges.One end of long side rod 7 and long side rod 8 is connected with slide block 4 with ball pivot 6 with ball pivot 5 respectively, and an other end of long side rod 7 and long side rod 8 is connected with moving platform 11 with ball pivot 10 with ball pivot 9.The installation direction of the line slideway 3 of each motion subchain is orthogonal, and promptly slide block 2 is orthogonal with respect to the moving direction of fixed platform 1, but its stroke can adjust as required, needn't be identical.
Certainly, realize that slide block 4 also has a variety of measures with respect to fixed platform 1 mobile, as using linear electric motors driving, hydraulic linear driving etc.
As shown in Figure 5.The invention provides a kind of space three degree-of-freedom pure-translation parallel robot, it comprises a fixed platform 12, a moving platform 22, is connected to three motion subchains of affiliated fixed platform 12 and moving platform 22.Every the motion subchain comprises motor 13, line slideway 14, slide block 15, ball pivot 16,17,18 and connecting rod 19,20,21.Described slide block 15 can move along the axis direction of line slideway 14 under the driving of motor 13.Described connecting rod 19, connecting rod 20 and connecting rod 21 equal in length, and be parallel to each other, constituted the parallelogram compound hinges of one three connecting rod.One end of described connecting rod 19, connecting rod 20 and connecting rod 21 is connected with slide block 15 with ball pivot 16, ball pivot 17, ball pivot 18, and an other end of connecting rod 19, connecting rod 20 and connecting rod 21 also is connected with moving platform 11 with ball pivot respectively.The installation direction of the line slideway 14 of every motion subchain is orthogonal, and promptly slide block 15 is orthogonal with respect to the moving direction of fixed platform 12.
Certainly, realize that slide block 15 also has a variety of measures with respect to fixed platform 12 mobile, as using linear electric motors driving, hydraulic linear driving etc.
Described ball pivot can replace with Hooke's hinge, and does not influence its type of sports and number of degrees of freedom.
In the above-mentioned embodiment, the number of the connecting rod in the parallelogram compound hinges can be more than 2,3 or 3, as 4, and 6.When the connecting rod number was 2, described space three degree-of-freedom pure-translation parallel robot was a non-constraint mechanism of crossing, and assembling is implemented more easily to realize.And when the connecting rod number greater than 2 the time, described space three degree-of-freedom pure-translation parallel device is one and crosses constraint mechanism, to having relatively high expectations of processing, assembling.
Space three degree-of-freedom pure-translation parallel robot of the present invention provides an isotropic mechanism, have kinematics, advantage that dynamic performance is good, it is simple in structure, the kinematic pair number of motion subchain is few, duplicate components is many, reduced to make and control cost, and the working space rule, be similar to a cuboid, improved the irregular defective of general parallel institution working space.
Claims (9)
1. space three degree-of-freedom pure-translation parallel robot, it is characterized in that: three motion subchains that it comprises a fixed platform, a moving platform and is connected to affiliated fixed platform and moving platform, each motion subchain comprises slide block and a plurality of connecting rod, described slide block is with respect to the fixed platform translation, described length of connecting rod equates, and be parallel to each other, constituted a parallelogram compound hinges, the two ends of described connecting rod are connected with slide block and moving platform respectively.
2. space three degree-of-freedom pure-translation parallel robot according to claim 1, it is characterized in that: described motion subchain further comprises motor and ball screw and line slideway, and described slide block can move along the axis direction of line slideway under the driving of motor.
3. space three degree-of-freedom pure-translation parallel robot according to claim 1 is characterized in that: described slide block is by the linear actuator actuation movement.
4. space three degree-of-freedom pure-translation parallel robot according to claim 1 is characterized in that: the two ends of described connecting rod are connected with slide block and moving platform respectively by ball pivot.
5. space three degree-of-freedom pure-translation parallel robot according to claim 1 is characterized in that: the two ends of described connecting rod are connected with slide block and moving platform respectively by Hooke's hinge.
6. space three degree-of-freedom pure-translation parallel robot according to claim 2 is characterized in that: the installation direction of the line slideway of each motion subchain is orthogonal, and promptly slide block is orthogonal with respect to the moving direction of fixed platform.
7. space three degree-of-freedom pure-translation parallel robot according to claim 3 is characterized in that: the slide block of three motion subchains is orthogonal with respect to the moving direction of fixed platform.
8. space three degree-of-freedom pure-translation parallel robot according to claim 1 is characterized in that: the quantity of described connecting rod is 2.
9. space three degree-of-freedom pure-translation parallel robot according to claim 1 is characterized in that: the quantity of described connecting rod is more than 3 or 3.
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| CN200910109792A CN101708609A (en) | 2009-11-20 | 2009-11-20 | Space three degree-of-freedom pure-translation parallel robot |
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| CN200910109792A CN101708609A (en) | 2009-11-20 | 2009-11-20 | Space three degree-of-freedom pure-translation parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947784A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Dismountable modularized in-parallel robot |
| CN103659793A (en) * | 2012-09-04 | 2014-03-26 | 哈尔滨工业大学深圳研究生院 | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings |
| CN111506197A (en) * | 2020-04-22 | 2020-08-07 | 腾讯科技（深圳）有限公司 | Motion platform, tactile feedback equipment and man-machine interaction system |
| CN116476034A (en) * | 2023-05-08 | 2023-07-25 | 浙江大学 | Four-degree-of-freedom miniature parallel robot and manufacturing and control method thereof |
-
2009
- 2009-11-20 CN CN200910109792A patent/CN101708609A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947784A (en) * | 2010-08-30 | 2011-01-19 | 苏州博实机器人技术有限公司 | Dismountable modularized in-parallel robot |
| CN103659793A (en) * | 2012-09-04 | 2014-03-26 | 哈尔滨工业大学深圳研究生院 | Three-horizontal-moving parallel mechanism with single branch chains containing closed rings |
| CN103659793B (en) * | 2012-09-04 | 2016-11-09 | 哈尔滨工业大学深圳研究生院 | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain |
| CN111506197A (en) * | 2020-04-22 | 2020-08-07 | 腾讯科技（深圳）有限公司 | Motion platform, tactile feedback equipment and man-machine interaction system |
| CN111506197B (en) * | 2020-04-22 | 2021-12-03 | 腾讯科技（深圳）有限公司 | Motion platform, tactile feedback equipment and man-machine interaction system |
| CN116476034A (en) * | 2023-05-08 | 2023-07-25 | 浙江大学 | Four-degree-of-freedom miniature parallel robot and manufacturing and control method thereof |
| CN116476034B (en) * | 2023-05-08 | 2023-11-28 | 浙江大学 | Four-degree-of-freedom miniature parallel robot and manufacturing and control method thereof |
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Application publication date: 20100519 |