CN101844307B - Redundancy-driven three-degree-of-freedom parallel mechanism - Google Patents
Redundancy-driven three-degree-of-freedom parallel mechanism Download PDFInfo
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- CN101844307B CN101844307B CN2010101655676A CN201010165567A CN101844307B CN 101844307 B CN101844307 B CN 101844307B CN 2010101655676 A CN2010101655676 A CN 2010101655676A CN 201010165567 A CN201010165567 A CN 201010165567A CN 101844307 B CN101844307 B CN 101844307B
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Abstract
The invention relates to a redundancy-driven three-degree-of-freedom parallel mechanism, and belongs to the technical field of manufacturing of numerical control devices. The parallel mechanism comprises a moving platform and a fixed platform for arranging an actuator, a first branch chain, a second branch chain and a third branch chain with a redundancy driver, wherein the first branch chain and the second branch chain have the same structure, are connected between the moving platform and the fixed platform and are both provided with an actively driven motion pair; the third branch chain is used for realizing rotational degree of freedom and the redundancy driver is applied to the motion pair of the third branch chain; the third branch chain is provided with two driven motion pairs and connected between the moving platform and the fixed platform; the first, second and third branch chains are respectively connected with the moving platform and the fixed platform to form a space parallel closed-loop mechanism; and the space parallel closed-loop mechanism drives the moving platform to move though four input motion pairs so as to realize two moving degree of freedom and one rotational degree of freedom. The parallel mechanism has the advantages of high flexibility, accuracy and rigidity and easy realization of modularization.
Description
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of a kind of modular redundancy-driven three-degree that can be applied to numerical control device manufacturing field.
Background technology
Parallel institution is the closed loop mechanism that is made up of a plurality of side chains, has the following advantages with respect to traditional serial mechanism:
Simple and compact for structure, rigidity is high, big, the error free accumulation of bearing capacity on the Unit Weight, heavy moving parts are little, be easy to realize advantages such as high-speed motion.These advantages have remedied the deficiency of traditional numerical control device to a certain extent.Yet parallel institution also has its born defective, 6DOF parallel institution especially, and its motion coupling is strong, working space is little, forward kinematics solution is complicated, working space is irregular, numerical control programming is complicated, or the like.These shortcomings have increased the complexity of control and follow-up staking-out work, limit thereby make the applying of parallel institution receive largely.
In recent years, lower-mobility parallel institution (number of degrees of freedom, is less than the parallel institution of six degree of freedom) more and more receives researcher's attention and favor.Some lower-mobility shunting means have obtained successful Application, in numerical control machining center, have obtained great success like the Sprint Z3 freedom degree parallel connection main tapping of German DS Technologie company development.This main tapping realizes that as a module of numerical control machining center one is moved and two rotational freedoms.The characteristics of such mechanism are: realize that easily processing moduleization, kinematics are simple, have the characteristic of decoupling zero or partly decoupled.The mechanism of mobile decoupling controls easily, and can reach higher kinematic accuracy, and the decoupling zero campaign all has the certain significance to motion of mechanism control and trajectory planning.
Mechanism proposed by the invention also belongs to the 3-freedom parallel mechanism in the lower-mobility parallel institution.
In order further to overcome some shortcomings of parallel institution; Little and working space is irregular etc. such as working space; The normal mode of adding redundant drive that adopts is utilized redundancy properties to avoid the unusual of mechanism, thereby is increased the working space of original mechanism; Reach the purpose that improves its rigidity and precision simultaneously, the mechanism that constitutes like this is and drives redundant parallel institution.Mechanism proposed by the invention is and drives redundant 3-freedom parallel mechanism.
Summary of the invention
The objective of the invention is for overcoming the weak point of prior art; A kind of redundancy-driven three-degree is proposed; The present invention is through the interpolation of redundant drive, and this mechanism is in the advantage that has possessed general 3-freedom parallel mechanism, and its rigidity and precision have all obtained further raising.
A kind of redundancy-driven three-degree that the present invention proposes comprises a moving platform and a fixed platform that actuator is installed, and connects first, second side chain with same structure between said moving platform and the fixed platform; This first, second side chain all contains the kinematic pair of an active drive; It is characterized in that: this device also comprises the 3rd side chain that contains redundant drive, is used to realize rotational freedom, and redundant drive is applied on the moving sets of this side chain; It is driven that two kinematic pairs are arranged in this side chain, and the 3rd side chain is connected between moving platform and the fixed platform; Said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through four input motions, realizes two one-movement-freedom-degrees and a rotational freedom.
Characteristics of the present invention and technique effect
Mechanism of the present invention drives the moving platform motion through realizing that the moving sets on the kinematics side chain that rotates adds a redundant drive by four inputs, realizes two one-movement-freedom-degrees and a rotational freedom.Moving platform can realize that bigger rotation output is an outstanding advantage of this mechanism, has overcome the limited shortcoming of parallel institution turning power in the past.Through the interpolation of redundant drive, this mechanism is in the advantage that has possessed general 3-freedom parallel mechanism, and its rigidity and precision have all obtained further raising, realize modularization more easily.
This redundant unit has the following advantages: (1) mechanism is simple, compact; (2) rigidity is high; (3) working space is big, rotation work space especially, and turning power can reach 115 °.These advantages make that this mechanism's flexibility is better, machining accuracy is higher, realize modularization more easily, cooperate other device can realize the multi-axis linkage numerical control processing to complex free curved surface class part.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1.
Fig. 2 is the structural representation of the embodiment of the invention 2.
Fig. 3 is the structural representation of the embodiment of the invention 3.
Fig. 4 is the structural representation of the embodiment of the invention 4.
Fig. 5 drives the structural representation of side chain for the flexible rod-type that adopts among the present invention.
The specific embodiment
Redundancy-driven three-degree of the present invention combines accompanying drawing and embodiment to specify as follows:
A kind of redundancy-driven three-degree that the present invention proposes comprises a moving platform and a fixed platform that actuator is installed, and connects first, second side chain with same structure between said moving platform and the fixed platform; This first, second side chain all contains the kinematic pair of an active drive; It is characterized in that: this device also comprises the 3rd side chain that contains redundant drive, is used to realize rotational freedom, and redundant drive is applied on the moving sets of this side chain; It is driven that two kinematic pairs are arranged in this side chain, and the 3rd side chain is connected between moving platform and the fixed platform; Said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through four input motions, realizes two one-movement-freedom-degrees and a rotational freedom.
Mechanism of the present invention, first, second side chain can be that PRRR type or PRU type or PRS type movement branched chain also can be RPRR type or RPU type or RPS type movement branched chain, the 3rd side chain can be PPRR type or PRPR type movement branched chain.Wherein, P represents moving sets, and R represents revolute pair, and U represents Hooke's hinge, and S represents ball pivot, and moving sets P is that drive movement is secondary.Specify as follows:
First, second side chain can comprise: slide block, connecting rod, U type frame and kinematic pair.Said kinematic pair has four; One is the moving sets (P) that is connected between fixed platform and the slide block; One is the revolute pair (R) that is connected between slide block and the connecting rod, and one is the revolute pair (R) that is connected between connecting rod and the U type frame, and another is the revolute pair (R) that is connected between U type frame and the moving platform.Wherein, The moving sets (P) that is connected between fixed platform and the slide block is driven; The revolute pair (R) that is connected in the revolute pair (R) between connecting rod and the U type frame and is connected between U type frame and the moving platform is orthogonal; And these two revolute pairs can be replaced by a Hooke's hinge (U) or a ball pivot (S), and this side chain is PRRR type movement branched chain or PRU type movement branched chain or PRS type movement branched chain.
First, second side chain also can comprise: outer expansion link, interior expansion link, U type frame and kinematic pair.Said kinematic pair has four; One is the revolute pair (R) that is connected between fixed platform and the outer expansion link; One is the revolute pair (P) that is connected between outer expansion link and the interior expansion link; One is the revolute pair (R) that is connected between interior expansion link and the U type frame, and another is the revolute pair (R) that is connected between U type frame and the moving platform.Wherein, The revolute pair (P) that is connected between outer expansion link and the interior expansion link is driven; The revolute pair (R) that is connected in the revolute pair (R) between connecting rod and the U type frame and is connected between U type frame and the moving platform is orthogonal; And these two revolute pairs can be replaced by a Hooke's hinge (U) or a ball pivot (S), and this side chain is RPRR type movement branched chain or RPU type movement branched chain or RPS type movement branched chain.
The 3rd side chain can comprise: slide unit, slide block, connecting rod and kinematic pair.Said kinematic pair has four; One is the moving sets (P) that is connected between fixed platform and the slide unit; One is the moving sets (P) that is connected between slide unit and the slide block, and one is the revolute pair (R) that is connected between slide block and the connecting rod, and another is the revolute pair (R) that is connected between connecting rod and the moving platform.Wherein, be connected in the moving sets (P) between fixed platform and the slide unit and be connected in slide unit and slide block between moving sets (P) be driven, this side chain is a PPRR type movement branched chain.
The 3rd side chain also can comprise: slide unit, outer expansion link, interior expansion link and kinematic pair.Said kinematic pair has four; One is the moving sets (P) that is connected between fixed platform and the slide unit; One is the revolute pair (R) that is connected between slide unit and the outer expansion link; One is the moving sets (P) that is connected between outer expansion link and the interior expansion link, and another is the revolute pair (R) that is connected between interior expansion link and the moving platform.Wherein, be connected in the moving sets (P) between fixed platform and the slide unit and be connected in outer expansion link and interior expansion link between moving sets (P) be driven, this side chain is a PRPR type movement branched chain.
Embodiment 1:
The structure of the redundancy-driven three-degree of present embodiment is as shown in Figure 1; Comprise fixed platform 11, fixed platform 17, fixed platform 112, moving platform 18 and first, second, third side chain; Said three side chains are connected between fixed platform 11, fixed platform 17, fixed platform 112 and the moving platform 18, and with this platform 11, fixed platform 17, fixed platform 112 and moving platform 18 formation space closed loop mechanisms.
Said first, second side chain is a PRRR type movement branched chain, comprises slide block 12, slide block 16, connecting rod 13, connecting rod 15, U type frame 14 and kinematic pair.Described kinematic pair has four; One is the moving sets (P) that is connected between fixed platform 11, fixed platform 17 and slide block 12, the slide block 16; One is the revolute pair (R) that is connected between slide block 12, slide block 16 and connecting rod 13, the connecting rod 15; One is the revolute pair (R) that is connected between connecting rod 13, connecting rod 15 and the U type frame 14, and another is the revolute pair (R) that is connected between U type frame 14 and the moving platform 18.The moving sets (P) that is connected between fixed platform 11, fixed platform 17 and slide block 12, the slide block 16 is driven, and is symmetric arrangement, and the direction of motion is parallel to each other.The revolute pair (R) that is connected in the revolute pair (R) between connecting rod 13, connecting rod 15 and the U type frame 14 and is connected between U type frame 14 and the moving platform 18 is vertical each other.
Said the 3rd side chain is a PPRR type movement branched chain, is used for realizing rotational freedom, and redundant drive is applied on the moving sets of this side chain.Comprise: slide unit 110, slide block 111, connecting rod 19 and kinematic pair.Said kinematic pair has four; One is the moving sets (P) that is connected between fixed platform 112 and the slide unit 110; One is the moving sets (P) that is connected between slide unit 110 and the slide block 111; One is the revolute pair (R) that is connected between slide block 111 and the connecting rod 19, and another is the revolute pair (R) that is connected between connecting rod 19 and the moving platform 18.Wherein, the moving sets (P) that is connected between fixed platform 112 and the slide unit 110 is driven, and moving direction is perpendicular to the direction of motion that is connected in the moving sets between fixed platform 11, fixed platform 17 and slide block 12, the slide block 16 and be parallel to the plane that they belong to; The moving sets (P) that is connected between slide unit 110 and the slide block 111 is driven, and moving direction is parallel to the direction of motion that is connected in the moving sets between fixed platform 11, fixed platform 17 and slide block 12, the slide block 16.
Embodiment 2:
The structure of the redundancy-driven three-degree of present embodiment is as shown in Figure 2; The placement direction of the slide unit 110 among the placement direction that this mechanism and the difference of embodiment 1 are slide unit 21 and the embodiment 1 is vertical each other; At this moment, the direction of the moving sets on the slide unit 21 is vertical with the plane that is connected in the moving sets direction of motion place between fixed platform 11, fixed platform 17 and slide block 12, the slide block 16 among the embodiment 1.
Embodiment 3:
The structure of the redundancy-driven three-degree of present embodiment is as shown in Figure 3; This mechanism and the difference of embodiment 1 are that the placement direction of fixed platform 31 and fixed platform 32 is vertical with the placement direction of fixed platform 17 with fixed platform 11 among the embodiment 1; And the direction of motion of the moving sets on fixed platform 31 and the fixed platform 32 point-blank, and this rectilinear direction is parallel to the direction of motion that is connected in the moving sets between fixed platform 112 and the slide unit 110 among the embodiment 1.
Embodiment 4:
The structure of the redundancy-driven three-degree of present embodiment is as shown in Figure 4; This mechanism is that with the difference of embodiment 2 placement direction of fixed platform 41 and fixed platform 42 is vertical with the placement direction of corresponding fixed platform among the embodiment 2; And the direction of motion of the moving sets on fixed platform 41 and the fixed platform 42 point-blank, and this rectilinear direction is parallel to the direction of motion of the slide unit 21 among the embodiment 2.
More than described first, second side chain of each embodiment; Its type of drive can be realized by the driving mechanism of flexible rod-type shown in Figure 5; Comprise: fixed platform 51, outer expansion link 52 and interior expansion link 53 and kinematic pair; Said kinematic pair has three, and one is the revolute pair that is connected between fixed platform 51 and the outer expansion link 52; One is the moving sets that is connected between outer expansion link 52 and the interior expansion link 53, and this moving sets is driven; Another is the revolute pair that is connected in U type frame 14 among interior expansion link 53 and the embodiment 1.
More than described the 3rd side chain of each embodiment; The type of drive of its slide block 111, connecting rod 19 and kinematic pair can be realized by the driving mechanism of flexible rod-type shown in Figure 5; Comprise: base 51, outer expansion link 52 and interior expansion link 53 and kinematic pair; Said kinematic pair has three, and one is the revolute pair that is connected between base 51 and the outer expansion link 52; One is the moving sets that is connected between outer expansion link 52 and the interior expansion link 53, and this moving sets is driven; Another is the revolute pair that is connected in interior expansion link 53 and moving platform 18.Wherein, base 51 is fixedly connected with slide unit 110.
More than described in each embodiment be connected in the revolute pair between moving platform 18 and the U type frame 18 and be connected in U type frame 18 and connecting rod 13 or connecting rod 15 or interior expansion link 53 between revolute pair can realize by a Hooke's hinge or ball pivot.
Claims (2)
1. a redundancy-driven three-degree comprises a moving platform and a fixed platform that actuator is installed, and connects first, second side chain with same structure between said moving platform and the fixed platform; This first, second side chain all contains the kinematic pair of an active drive; It is characterized in that: this device also comprises the 3rd side chain that contains redundant drive, is used to realize rotational freedom, and redundant drive is applied on the moving sets of this side chain; It is driven that two kinematic pairs are arranged in this side chain, and the 3rd side chain is connected between moving platform and the fixed platform; Said first, second is connected to form a space parallel closed loop mechanism with fixed platform and moving platform respectively with the 3rd side chain; This space parallel closed loop mechanism drives the moving platform motion through four input motions, realizes two one-movement-freedom-degrees and a rotational freedom;
Said first, second side chain includes: slide block, connecting rod, U type frame and kinematic pair; Said kinematic pair has four; One is the moving sets that is connected between fixed platform and the slide block; One is the revolute pair that is connected between slide block and the connecting rod, and one is the revolute pair that is connected between connecting rod and the U type frame, and another is the revolute pair that is connected between U type frame and the moving platform; Wherein, the moving sets that is connected between fixed platform and the slide block is driven, is connected in the revolute pair between connecting rod and the U type frame and the revolute pair that is connected between U type frame and the moving platform is mutually perpendicular; Or
Said first, second side chain includes: outer expansion link, interior expansion link, U type frame and kinematic pair; Said kinematic pair has four; One is the revolute pair that is connected between fixed platform and the outer expansion link; One is the revolute pair that is connected between outer expansion link and the interior expansion link; One is the revolute pair that is connected between interior expansion link and the U type frame, and another is the revolute pair that is connected between U type frame and the moving platform; Wherein, the revolute pair that is connected between outer expansion link and the interior expansion link is driven, and revolute pair in being connected between expansion link and the U type frame and the revolute pair that is connected between U type frame and the moving platform are mutually perpendicular;
Said the 3rd side chain comprises: slide unit, slide block, connecting rod and kinematic pair; Said kinematic pair has four; One is the moving sets that is connected between fixed platform and the slide unit; One is the moving sets that is connected between slide unit and the slide block, and one is the revolute pair that is connected between slide block and the connecting rod, and another is the revolute pair that is connected between connecting rod and the moving platform; Wherein, be connected in the moving sets between fixed platform and the slide unit and be connected in slide unit and slide block between moving sets be driven; Or
Said the 3rd side chain comprises: slide unit, outer expansion link, interior expansion link and kinematic pair; Said kinematic pair has four; One is the moving sets that is connected between fixed platform and the slide unit; One is the revolute pair that is connected between slide unit and the outer expansion link; One is the moving sets that is connected between outer expansion link and the interior expansion link, and another is the revolute pair that is connected between interior expansion link and the moving platform; Wherein, be connected in the moving sets between fixed platform and the slide unit and be connected in outer expansion link and interior expansion link between moving sets be driven.
2. a kind of redundancy-driven three-degree as claimed in claim 1 is characterized in that, said two revolute pairs that are connected between connecting rod and the U type frame and are connected between U type frame and the moving platform adopt a Hooke's hinge or a ball pivot; Or in being connected between expansion link and the U type frame and two revolute pairs that are connected between U type frame and the moving platform adopt Hooke's hinges or a ball pivot.
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| CN2010101655676A CN101844307B (en) | 2010-04-30 | 2010-04-30 | Redundancy-driven three-degree-of-freedom parallel mechanism |
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| CN2010101655676A CN101844307B (en) | 2010-04-30 | 2010-04-30 | Redundancy-driven three-degree-of-freedom parallel mechanism |
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| CN101844307B true CN101844307B (en) | 2012-02-22 |
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| CN101966505B (en) * | 2010-10-15 | 2013-01-30 | 江苏长虹汽车装备集团有限公司 | Three-degree-of-freedom plane parallel mechanism and spraying robot |
| CN102152300A (en) * | 2011-02-25 | 2011-08-17 | 天津大学 | Linear-driven high-speed planar parallel mechanical arm |
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| CN102560603B (en) * | 2012-01-18 | 2014-09-24 | 清华大学 | Automobile coating conveyor with multi-rod mechanisms |
| CN103273356B (en) * | 2013-04-28 | 2015-09-30 | 清华大学 | A kind of multi-axes synchronous hybrid device based on four-freedom parallel mechanism |
| CN103240614B (en) * | 2013-05-06 | 2015-11-25 | 江苏国威工程机械有限公司 | A kind of redundant drive five-axle linkage series-parallel machine tool |
| CN105690165B (en) * | 2016-02-03 | 2017-05-10 | 中北大学 | Large-altitude-angle 2R1T three-degree-of-freedom spatial parallel mechanism |
| CN107263451A (en) * | 2017-07-31 | 2017-10-20 | 福州大学 | 2R1T Three Degree Of Freedom Planar Mechanisms parallel institutions and its method of work |
| CN108000495B (en) * | 2017-12-13 | 2023-12-01 | 浙江理工大学 | Two-rotation one-movement redundant driving parallel mechanism with large swing angle |
| CN108656087A (en) * | 2018-06-12 | 2018-10-16 | 浙江理工大学 | A kind of two rotations, one movement 3-freedom parallel mechanism of driving parallel arrangement |
| CN108789380B (en) * | 2018-08-16 | 2020-11-17 | 西安工程大学 | Parallel mechanism with two 1R1T motion modes |
| CN109129158B (en) * | 2018-10-30 | 2023-06-02 | 吉林大学 | Precise milling and grinding machine tool based on parallel tool system and control method thereof |
| CN110116400A (en) * | 2019-05-23 | 2019-08-13 | 浙江理工大学 | A kind of PRS-PRU-PUR parallel institution |
| CN110303476A (en) * | 2019-06-28 | 2019-10-08 | 中国航天空气动力技术研究院 | A kind of three branch's three freedom redundancy drive-type parallel connection processing heads |
| CN111113244B (en) * | 2020-01-08 | 2021-07-13 | 中山市澳凯汽车用品制造有限公司 | Polishing equipment for automobile bumper |
| CN112192546A (en) * | 2020-09-11 | 2021-01-08 | 香港理工大学深圳研究院 | Parallel mechanism driven by inner pair and outer pair in combined mode |
| CN113941998A (en) * | 2021-11-25 | 2022-01-18 | 中航空管系统装备有限公司 | Redundant two-degree-of-freedom parallel robot and working method thereof |
| CN114888779A (en) * | 2022-04-29 | 2022-08-12 | 浙江理工大学 | Motion redundancy parallel mechanism with closed-loop subchain in branched chain |
| CN114888780B (en) * | 2022-04-29 | 2024-05-14 | 浙江理工大学 | Three-branch 6+3-degree-of-freedom motion redundancy parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE10325999A1 (en) * | 2003-06-10 | 2005-01-05 | Volkswagen Ag | Mounting system for mounting large surface components on a coordinate measurement stand comprises multiple support elements each with a support column, adapter piece and component support means |
| CN1238157C (en) * | 2004-07-22 | 2006-01-25 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN1238156C (en) * | 2004-07-22 | 2006-01-25 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
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