CN101780671A - Decoupling parallel mechanism - Google Patents

Decoupling parallel mechanism Download PDF

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Publication number
CN101780671A
CN101780671A CN200910045530A CN200910045530A CN101780671A CN 101780671 A CN101780671 A CN 101780671A CN 200910045530 A CN200910045530 A CN 200910045530A CN 200910045530 A CN200910045530 A CN 200910045530A CN 101780671 A CN101780671 A CN 101780671A
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CN
China
Prior art keywords
revolute pair
branched chain
parallel
moving
mobile
Prior art date
Application number
CN200910045530A
Other languages
Chinese (zh)
Inventor
张帆
徐正好
胡义刚
成琼
沈耀仁
刘燕
Original Assignee
上海工程技术大学
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.)
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Application filed by 上海工程技术大学 filed Critical 上海工程技术大学
Priority to CN200910045530A priority Critical patent/CN101780671A/en
Publication of CN101780671A publication Critical patent/CN101780671A/en

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Abstract

The invention relates to a decoupling parallel mechanism, which comprises a stand, a mobile platform (3), a mobile branched chain (2a) and a mobile branched chain (2b), wherein the mobile branched chain (2a) and the mobile branched chain (2b) are connected with the stand and the mobile platform (3); the mobile branched chain (2a) comprises a sliding pair (21), a revolute pair (22), a revolute pair (23) and a rod piece; the mobile branched chain (2b) comprises a sliding pair (24), a revolute pair (25), a revolute pair (26) and a rod piece; and the axial lines of the sliding pair (21) and the sliding pair (24) are parallel, the revolute pair (22) and the revolute pair (25) are coaxial, and the revolute pair (23) and the revolute pair (26) are coaxial. Compared with the prior art, the invention improves the rigidity of the mechanism through the parallel mechanism, the carrying capacity of the mechanism in unit volume is higher, and a motor is close to a base, thus the movement inertia of the mechanism is reduced, and higher response speed can be obtained.

Description

A kind of decoupling parallel mechanism
Technical field
The present invention relates to lathe and industrial robot, relate in particular to a kind of parallel-connection structure imaginary axis Digit Control Machine Tool, parallel robot provides a class novel executing agency.
Background technology
The parallel institution that is used for virtual axis machine and robot is widely used in heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation field.Yet, be used for being coupled between each driver element of parallel institution of virtual axis machine and robot, the whole output stage of parallel institution that promptly is used for virtual axis machine and robot all is that moving of all driver elements is synthetic along moving of either direction, and the motion of each driver element be used for virtual axis machine with the parallel institution mass motion of robot (promptly import and export) between be non-linear.This characteristic causes being used for the parallel institution control complexity of virtual axis machine and robot, demarcates difficulty, and has restricted the raising of precision.Therefore, how to realize being used for the parallel institution decoupling zero of virtual axis machine and robot, to simplify control and to demarcate, improve kinematic accuracy, be a difficulty and challenging subject always.
The mobile decoupling parallel robot is meant that any free degree of output movement all only relies on single driver element, and other driver element actions do not exert an influence to this free degree.Have that the full decoupled parallel institution movement relation that is used for virtual axis machine and robot is simple, demarcation is easy, control accuracy is high, rigidity is big, have a extensive future at virtual axis machine and robot application.
[Hunt K H.Structural Kinematics of In-Parallel-Actuated Robot Arms, Journal ofMechanisms, Transmissions and Automation in Design, 1983,105:705-712] reported that a kind of two rotation one-movement-freedom-degrees are used for the parallel institution of virtual axis machine and robot, mainly by frame, moving platform and be connected in frame and moving platform between the identical movement branched chain of three versions form, each movement branched chain is successively by revolute pair, moving sets, spherical hinge and the rod member between them are formed, and three movement branched chain spaces are symmetrically distributed.Document [Huang Z, Wang J.Fang Y F, Analysis of Instantaneous Motions ofDeficient-Rank 3-RPS Parallel Manipulators.Mechanism and Machine Theory, 2002,37 (2): 229-240.] reported that there is transient motion in the parallel institution that the type is used for virtual axis machine and robot, the axis of its rotational freedom only is present on the hyperboloid of one sheet.
Chinese patent literature CN101036986A reported by moving platform, fixed platform and connect that their four closed loop moving side chains form two rotate one and move the parallel institution that is used for virtual axis machine and robot, every spherical mechanism of six bars that the closed loop side chain contains a class symmetrical structure, moving platform is connected with revolute pair with every side chain with fixed platform.Document [Xian wen Kong, Clement M.Gosselin Type synthesis of input-outputdecoupled parallel manipulators, Transactions of the CSME, Vol.28, Special Edition, 2004] reported in that having two moves the parallel institution that a rotational freedom is used for virtual axis machine and robot, mixed the movement branched chain of taking by moving platform, fixed platform and connection in series-parallel and form.Document [Li Huiliang, Jin Qiong, Yang Tingli, parallel institution and the Displacement Analysis thereof that decoupling zero is used for virtual axis machine and robot rotated in one translation two of one class, machine-building and research, Feb 2002, (1): 9-12,14] propose a kind of two rotations one and move the parallel institution that is used for virtual axis machine and robot with trigonometric ratio decoupling zero characteristic, but the output free degree is not exclusively controlled by single driver, still belong to the parallel institution that partly decoupled is used for virtual axis machine and robot, the parallel institution document that is used for virtual axis machine and robot is moved in two full decoupled rotations one, invention does not retrieve at present as yet.
Summary of the invention
Purpose of the present invention is exactly that a kind of simple in structure, control is convenient, kinematic accuracy is high parallel institution that is used for virtual axis machine and robot is provided in order to overcome the defective that above-mentioned prior art exists.
Purpose of the present invention can be achieved through the following technical solutions: a kind of decoupling parallel mechanism, by frame, moving platform 3 be connected frame and two movement branched chain 2a, 2b of moving platform 3 form, it is characterized in that, described movement branched chain 2a comprises moving sets 21, revolute pair 22, revolute pair 23 and rod member, described movement branched chain 2b comprises moving sets 24, revolute pair 25, revolute pair 26 and rod member, moving sets 21 is parallel with moving sets 24 axis, and revolute pair 22 is coaxial with revolute pair 25, and revolute pair 23 is coaxial with revolute pair 26.
The moving sets 21 of described movement branched chain 2a connects frame, and moving sets 21 connects revolute pair 22 and revolute pair 23 successively by rod member, and revolute pair 23 connects platform 3.
The moving sets 24 of described movement branched chain 2b connects frame, and moving sets 24 connects revolute pair 25 and revolute pair 26 successively by rod member, and revolute pair 26 connects platform 3.
The operation principle of a kind of decoupling parallel mechanism of the present invention is as follows: when the moving sets 21 of movement branched chain 2a along axis elongation or when shortening, driving platform 3 rises or descends along axis direction, and movement branched chain 2b has the moving sets 24 coaxial with moving sets 21, can follow moving platform along the moving of moving sets 21 axis, so the moving sets 21 driven Parallel Kinematic Manipulator moving platforms of movement branched chain 2a move along its axial direction.
When the revolute pair 22 of movement branched chain 2a when axis rotates, movement branched chain 2b has the revolute pair 25 coaxial with revolute pair 22, therefore moving platform 3 can rotate under revolute pair 22 drives, so the revolute pair 22 driven Parallel Kinematic Manipulator moving platforms of movement branched chain 2a rotate around its axis.In like manner, the revolute pair 26 driven Parallel Kinematic Manipulator moving platforms of movement branched chain 2b rotate around its axis.
Therefore, this mechanism has two of decoupling zero and rotates and an one-movement-freedom-degree, and rotational freedom and one-movement-freedom-degree rely on single revolute pair and moving sets to drive respectively, and input/output relation is simple, mechanism's rigidity is better.
Compared with prior art, the present invention has following beneficial effect:
1. a kind of decoupling parallel mechanism of the present invention only contains the small motion pair, and is simple in structure, easy for installation, rotary inertia is little, and the motion response is fast.
2. a kind of decoupling parallel mechanism mobile decoupling of the present invention, the single substantially output free degree only needs to control single driver element, demarcates easily, and control is simple, thereby has reduced development cost.
Description of drawings
Fig. 1 is used for the structural representation of the parallel institution of virtual axis machine and robot for the present invention.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiment 1
Two of the virtual axis machine of decoupling zero of the present invention and robot rotates one and moves the parallel institution that is used for virtual axis machine and robot, as shown in Figure 1, by frame, moving platform 3 and two movement branched chain 2a that are connected frame and moving platform 3,2b forms, described movement branched chain 2a comprises moving sets 21, revolute pair 22, revolute pair 23 and rod member, moving sets 21 1 ends connect frame, the other end connects revolute pair 22 and revolute pair 23 successively by rod member, revolute pair 23 connects platform 3, moving sets 21 radially is provided with, described revolute pair 22 and revolute pair 23 axially are provided with, and revolute pair 22 is 90 degree with the horizontal sextant angle of revolute pair 23; Described movement branched chain 2b comprises moving sets 24, revolute pair 25, revolute pair 26 and rod member, moving sets 24 1 ends connect frame, the other end connects revolute pair 25 and revolute pair 26 successively by rod member, revolute pair 26 connects platform 3, moving sets 24 radially is provided with, revolute pair 25 and revolute pair 26 axially are provided with, and revolute pair 25 is 90 degree with the horizontal sextant angle of revolute pair 26; Moving sets 21 is parallel with moving sets 24 axis, and revolute pair 22 is coaxial with revolute pair 25, and revolute pair 23 is coaxial with revolute pair 26.

Claims (3)

1. decoupling parallel mechanism, form by frame, moving platform (3) and two movement branched chain (2a), (2b) that are connected frame and moving platform (3), it is characterized in that, described movement branched chain (2a) comprises moving sets (21), revolute pair (22), revolute pair (23) and rod member, described movement branched chain (2b) comprises moving sets (24), revolute pair (25), revolute pair (26) and rod member, moving sets (21) is parallel with moving sets (24) axis, and revolute pair (22) is coaxial with revolute pair (25), and revolute pair (23) is coaxial with revolute pair (26).
2. a kind of decoupling parallel mechanism according to claim 1, it is characterized in that, moving sets (21) one ends of described movement branched chain (2a) connect frame, and the other end connects revolute pair (22) and revolute pair (23) successively by rod member, and revolute pair (23) connects platform (3).
3. a kind of decoupling parallel mechanism according to claim 1, it is characterized in that, moving sets (24) one ends of described movement branched chain (2b) connect frame, and the other end connects revolute pair (25) and revolute pair (26) successively by rod member, and revolute pair (26) connects platform (3).
CN200910045530A 2009-01-19 2009-01-19 Decoupling parallel mechanism CN101780671A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102085660A (en) * 2011-02-23 2011-06-08 常州大学 Three-degree-of-freedom decoupling hybrid robot
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN104308833A (en) * 2014-10-24 2015-01-28 天津大学 Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation
CN106863263A (en) * 2015-12-11 2017-06-20 上海工程技术大学 Decoupling four-degree-of-freedom telecentricity mechanism
CN106859768A (en) * 2015-12-11 2017-06-20 上海工程技术大学 For the decoupling four-degree-of-freedom telecentricity mechanism of abdominal-cavity minimal-invasion surgery

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102085660A (en) * 2011-02-23 2011-06-08 常州大学 Three-degree-of-freedom decoupling hybrid robot
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN102294691B (en) * 2011-06-30 2013-10-02 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN104308833A (en) * 2014-10-24 2015-01-28 天津大学 Decoupling type two-freedom-degree rotation parallel mechanism capable of achieving hemisphere rotation
CN104308833B (en) * 2014-10-24 2016-01-20 天津大学 Decoupling type two one-rotation parallel mechanism that hemisphere rotates can be realized
CN106863263A (en) * 2015-12-11 2017-06-20 上海工程技术大学 Decoupling four-degree-of-freedom telecentricity mechanism
CN106859768A (en) * 2015-12-11 2017-06-20 上海工程技术大学 For the decoupling four-degree-of-freedom telecentricity mechanism of abdominal-cavity minimal-invasion surgery

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