CN101844350B - Three freedom degree parallel robot mechanism - Google Patents

Three freedom degree parallel robot mechanism Download PDF

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CN101844350B
CN101844350B CN 201010196594 CN201010196594A CN101844350B CN 101844350 B CN101844350 B CN 101844350B CN 201010196594 CN201010196594 CN 201010196594 CN 201010196594 A CN201010196594 A CN 201010196594A CN 101844350 B CN101844350 B CN 101844350B
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sub
branch
platform
branches
rotation
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CN101844350A (en
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孙晓东
张铁牛
李秦川
王茹
陈巧红
陈志�
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浙江理工大学
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Abstract

The invention relates to a three degree of freedom parallel mechanism and provides a three degree of freedom parallel robot mechanism which reduces the complexity degree of motion compensation and has a simpler kinematics. The technical scheme is that the three degree of freedom parallel robot mechanism comprises a moving platform, a fixed platform and three branches which connect the moving platform and the fixed platform, wherein structures of the three branches are completely the same; motion planes of the left branch and the right branch are superposed and are symmetrically distributed inrelation to the moving platform; a motion plane of the central branch is superposed with symmetrical planes of the left branch and the right branch; and each branch is provided with a revolute pair, a connecting rod and a spherical hinge.

Description

一种三自由度并联机器人机构 A three-DOF parallel manipulator

技术领域 FIELD

[0001] 本发明属于机械制造领域,特别是涉及一种三自由度并联机构。 [0001] The present invention belongs to the field of mechanical engineering, particularly to a three degree of freedom parallel mechanism. 背景技术 Background technique

[0002] 少自由度并联机器人的机构自由度数少于6。 [0002] The number of degrees of freedom parallel robot means less than 6 degrees of freedom. 对于实际应用中大量要求自由度少于6的操作任务,多余的自由度增加了系统硬件、软件以及后期维护的复杂性,成本也相应增加。 For practical applications, a large number of operational tasks required less than 6 degrees of freedom, the extra degree of freedom increases the complexity of the system hardware, software, and ongoing maintenance costs also increased. 典型范例是目前广泛应用的Delta 3(代尔塔)自由度移动机器人。 A typical example is Delta 3 (delta) DOF mobile robot currently widely used. 三自由度并联机器人的研究和应用近10年来一直受到国际相关学术界和工业界的高度关注,特别是少自由度并联机器人机构学中构型综合理论与设计方法更成为热点问题。 Research and Application of Parallel Robot of the past 10 years has been related to international academic and industry attention, especially the less DOF ​​parallel robot mechanism configuration integrated science theory and design methods have become a hot issue. 王立平[CN200910086957. 1]等人设计了一种并联三自由度主轴头驱动机构,可应用于机械制作领域;李研彪[CN200810162511.8]等设计了一种三自由度拟人并联机械臂,适合于拟人机器人等领域,完成一些较复杂的拟人操作。 Liping [. CN200910086957 1] et al designed a parallel spindle head three degrees of freedom drive mechanism, can be applied to mechanical production areas; Li RESEARCH ment [CN200810162511.8] designed like a three-DOF parallel anthropomorphic robot arm adapted to anthropomorphic robotics and other operations to complete some of the more sophisticated anthropomorphic.

[0003] 两转一移并联机构是少自由度并联机构中的重要一类,可以实现空间的1个移动自由度和2个转动自由度,是少自由度并联机构中具有典型工程应用背景的一类,被用作望远镜聚焦装置、运动模拟器、微操作机械手、坐标测量机、加工中心的主轴头等。 [0003] The two parallel shift of a transfer mechanism is less important class of freedom parallel mechanism, a freedom of movement may be implemented and two rotational degrees of freedom in space, is less freedom parallel mechanism having a typical engineering background a class, the telescope is used as focusing means, a motion simulator, micro-manipulator, the coordinate measuring machine, machining center shaft head. 现有出版物上所公开的两转一移三自由度并联机构(如US6431802、W00025976、ZL200610013608. 3, EP1123175、CA2349579、DE59905578D、ES2198991T、ZL200710057179. 4)都存在着运动学模型复杂的问题,导致实时控制、标定困难。 As disclosed in the prior publication two revolutions of a three-DOF parallel shift mechanism (e.g., US6431802, W00025976, ZL200610013608. 3, EP1123175, CA2349579, DE59905578D, ES2198991T, ZL200710057179. 4) there is a kinematic model of complex issues, leading to real-time control, calibration difficulties.

[0004] Carretero (卡雷特罗)等首先引入了3-PRS并联机构中伴随运动的概念,认为伴随运动是3-PRS并联机构被约束的自由度,即非独立的自由度上发生的小幅值运动。 [0004] Carretero (Carretero) along with other first introduced the concept of 3-PRS parallel movement mechanism, the movement is accompanied by think 3-PRS parallel mechanism is constrained degrees of freedom, i.e., non-small independent degrees of freedom occur on the amplitude of movement. [PP] S类包括3-PRS、3-RPS、3-PPS和3-RRS四种机构,其中3-PRS表示由三个分支组成,且每个分支的运动副依次为P (移动畐U )、R(转动副)、S (球铰),同理,有3-RPS、3-PPS和3-RRS。 [PP] S class includes 3-PRS, 3-RPS, 3-PPS, and 3-RRS four kinds of means, which represents a 3-PRS has three branches, each branch and the motion of the sub-sequence as P (U mobile Bi ), R (turning pair), S (ball joint). Similarly, there are 3-RPS, 3-PPS, and 3-RRS. [PP]S类并联机构的伴随运动为X、Y方向的两个移动和绕动平台法线的转动。 It includes motion [PP] S to two parallel mechanisms and rotational movement of orbiting platform normal X, Y directions. 伴随运动幅值虽小,却对[PP]S类并联机构的实际应用有重要影响。 Accompanied by movement amplitude is small, but then [PP] have a major impact S class practical application of parallel mechanisms. 由于伴随运动是该机构固有特性, 不能通过自身控制系统来补偿,则需要通过结构优化设计来尽量减少[PP] S类机构的伴随运动。 Since the movement is inherent to the accompanying mechanism, the control system itself can not be compensated for by the need to optimize the structure design to minimize the accompanying motion [PP] S class mechanism.

[0005] 李秦川[CN200910097535. 4]等提出了一种无伴随运动的两转一移三自由度的并联机构,其操作平台中心点处不存在伴随运动。 [0005] Li Qinchuan [CN200910097535. 4], etc. proposed a free movement along three degrees of freedom two revolutions of a parallel shift mechanism, which does not exist at the center point of the platform includes motion. 然而,值得注意的是,该点处于运动副中,因而在工作中,很难成为实际的工作点。 However, it is worth noting that the point is in motion pair, and thus on the job, working hard to become a real point.

发明内容 SUMMARY

[0006] 本发明的目的在于提出一种三自由度并联机构的改进,该机构应具有动平台上的刀具末端处仅一个伴随运动、运动学简单、易于控制及标定的特点,可应用于并联机器人和并联机床。 [0006] The object of the present invention is to provide a three degree of freedom parallel mechanism improvement, the agency should have at the end of the tool on the moving platform only along a movement, kinematics simple, easy to control and calibration could be applied in parallel parallel robots and machine tools.

[0007] 本发明提供的技术方案是:一种三自由度并联机器人机构,包括动平台、定平台和连接动平台与定平台的三条分支;其特征在于该三条分支结构完全相同,其中左右两个分支的运动平面重合并关于动平台对称分布,中间分支的运动平面与左右分支的对称平面重合;每个分支设置一转动副、一连杆以及一球铰;并且, [0007] aspect of the present invention is to provide: a three degree of freedom parallel robot mechanism, comprising a movable platform, fixed platform and the movable platform and the three branch connections given platform; characterized in that the three branches of identical structure, wherein the left and right branches on the combined weight of the plane of movement of the moving platform symmetrically, the plane of symmetry plane of movement of the left and right intermediate branch branches coincide; each branch provided with a turning pair, a connecting rod and a ball joint; and,

[0008] 每个分支还分别设置一由电机驱动的移动副;该移动副直接安装在定平台上,动平台依次通过所述球铰、连杆、转动副以及移动副与定平台连接;或者, [0008] Each branch respectively further provided a movement driven by the auxiliary motor; the mobile sub mounted directly on a given platform, the movable platform passes through said ball joints, connecting rod, and the rotation movement of the sub-sub and the fixed internet connection; or ,

[0009] 每个分支还分别设置一由电机驱动的移动副;该移动副通过所述转动副连接在定平台上,动平台依次通过所述球铰、连杆、移动副以及转动副与定平台连接;或者, [0009] Each sub-branch also are provided a moving driven by a motor; this movement by rotation of the sub-sub connector on a given platform, the movable platform passes through said ball joints, connecting rod, and the rotation movement of the sub-set of the sub internet connection; or

[0010] 每个分支还设置由电机驱动的第二转动副,该第二转动副通过转动副连接在定平台上,动平台依次通过所述球铰、连杆、第二转动副、第二连杆以及转动副与定平台连接。 [0010] Each sub-branch is further provided a second rotatable driven by a motor, the rotation of the second sub-sub connector by rotation on a given platform, the movable platform passes through said ball joints, connecting rod, a second sub-rotation, a second and a rotating link connected to the sub and the fixed internet.

[0011] 所述左右两个分支中的所有转动副的转动轴线均相互平行,中间分支的转动副的转动轴线与左右两个分支中的转动副的转动轴线垂直。 Around the [0011] rotation of all the sub-axis of rotation of the two branches are parallel to each other, perpendicular to the axis of rotation about the axis of rotation of the two branches of the sub-branch in the middle of the rotation of the sub.

[0012] 所述动平台的下方垂直设置一刀具,刀具末端与左右两个分支上的球铰中心三点共线。 [0012] The vertically movable platform disposed beneath a tool, the tool end of the left and right two ball joint centers are collinear on the branch.

[0013] 所述转动副是轴孔配合的铰接结构。 [0013] The sub is rotatable with the shaft hole of the hinge structure.

[0014] 本发明的有益的效果是,由于减少了三自由度并联机构动平台刀具末端的伴随运动(只具有一个伴随运动,而常规的三自由度并联机构具有两个或三个伴随运动),降低了运动补偿的复杂程度,机构拥有更为简单的运动学,使得该机构更加易于控制和标定,可应用于并联机器人和并联机床等场合。 [0014] Advantageous effects of the present invention is that, due to reduced three degrees of freedom parallel mechanism movable platform end of the tool is accompanied by movement (movement along only one, while the conventional three degrees of freedom parallel mechanism having two or three accompanying motion) , motion compensation reduces the complexity of the kinematic mechanism has a simpler, easier means such that the control and calibration, may be applied to machine tools and parallel parallel robot occasions.

附图说明 BRIEF DESCRIPTION

[0015] 图1是本发明实施例1的3-PRS并联机构的结构示意图。 [0015] FIG. 1 is a schematic view of 3-PRS parallel mechanism according to an embodiment of the present invention.

[0016] 图2是本发明实施例2的3-RPS并联机构的结构示意图。 [0016] FIG. 2 is a schematic view of 3-RPS parallel mechanism according to a second embodiment of the present invention.

[0017] 图3是本发明实施例3的3-RRS并联机构的结构示意图。 [0017] FIG. 3 is a schematic view of 3-RRS parallel mechanism according to the third embodiment of the present invention.

[0018] 图中:1、一分支导轨,1-1、一分支滑块,1-2、一分支转动副,1-3、一分支连杆,1_4、 一分支球铰,2、二分支导轨,2-1、二分支滑块,2-2、二分支转动副,2-3、二分支连杆,2-4、二分支球铰,3、三分支导轨,3-1、三分支滑块,3-2、三分支转动副,3-3、三分支连杆,3-4、三分支球铰,4、动平台,5、刀具,6、定平台,1-31、一分支滑管,2-31、二分支滑管,3-31、三分支滑管,1-311、一分支第二转动副,2-311、二分支第二转动副,3-311、三分支第二转动副,1-5、 一分支第二连杆,2-5、二分支第二连杆,3-5、,三分支第二连杆。 [0018] FIG: 1, a branch rail, 1-1, a branch slider 1-2, a rotation of the sub-branch, 1-3, a branch link, 1_4, a ball joint branch, 2, biantennary rails, 2-1, two branches of the slider, 2-2, two sub-branches rotation, 2-3, two branched connecting rod, 2-4, biantennary ball joints, 3, three-branch rail, 3-1, three branch slider, 3-2, rotation of the sub-three-branch, 3-3, three branch link, 3-4, three branch ball joints, 4, the movable platform 5, the tool 6, a given platform, 1-31, a branch slide tube, 2-31, two slide tube branch, 3-31, three-branch slide tube, 1-311, a second rotating sub-branch, 2-311, biantennary second turning pair, 3-311, tris bifurcation two swivel joint, 1-5, a second link branch, 2-5, two branches of the second link, the second link 3-5 ,, three-branch.

具体实施方式 Detailed ways

[0019] 以下通过附图所示的实施例进一步说明。 [0019] The following further illustrated by examples shown in the drawings.

[0020] 三个附图所示的实施例,均包括动平台4、定平台6和连接动平台与定平台的三条分支;三条分支结构完全相同,其中左右两个分支的运动平面重合并关于动平台对称分布, 中间分支的运动平面与左右分支的对称平面重合;每个分支至少设置一转动副、一连杆以及一球铰;刀具5位于动平台下方,并垂直于动平台;在此基础上各实施例的不同点是: Example [0020] three shown in the drawings, includes a moving platform 4, 6 fixed internet connection and three branch given platform movable platform; exactly three branch structure, in which the movement about two plane branches combined weight of about symmetrically moving platform, the plane of symmetry plane of movement of the left and right intermediate branch branches coincide; each branch at least a turning pair, a connecting rod and a ball joint; tool 5 is located below the movable platform, and perpendicularly to the moving platform; here based on the various points of the embodiments are:

[0021] 加上A :每个分支还分别设置一由电机驱动的移动副;该移动副直接安装在定平台上,动平台依次通过所述球铰、连杆以及转动副与移动副连接,动平台运动时有三个自由度。 [0021] Plus A: each branch are further provided a movement driven by the auxiliary motor; the mobile sub mounted directly on a given platform, the movable platform passes through the ball joint, and the rotation of the sub-rod and the sub connecting the mobile, there are three degrees of freedom motion platform during movement. 例如,第一分支设置一由电机(图中电机省略)驱动的一分支滑块1-1,该滑块直接在与定平台固定的一分支导轨1上滑动;动平台4依次通过一分支球铰1-4、一分支连杆1-3、一分支转动副1-2、一分支滑块1-1与固定在定平台上的一分支导轨1连接(第二分支、第三分支的结构也相同,不再细述);并且:三个分支的导轨全部相互平行,左右两个分支中的所有转动副的转动轴线均相互平行,中间分支的转动副的转动轴线与左右两个分支中的转动副的转动轴线垂直,刀具末端、第二分支上的球铰、第三分支上的球铰三点共线。 For example, a first branch is provided driven by a motor (motor not shown), a branch of the slider 1-1, the slider slides on a fixed platform and a fixed guide 1 is directly branch; moving platform 4 passes through a branch ball hinge 1-4, 1-3 a branch link, a sub-branch of rotation 1-2, 1-1 and a branch slide in the fixed structure secured on the platform a rail branch connection (second branch, the third branch of the same no longer dwell); and: All three branches are mutually parallel guide rails, all rotatable about the axis of rotation of the two sub-branches are parallel to each other about the rotation axis of the rotation of the intermediate branches two sub-branches rotation perpendicular to the axis of rotation of the sub, the tool tip, the ball joint on the second branch, the third branch of the ball joint are collinear. 由此构成了图1所示实施例1。 Example 1 Figure 1 thus constituted.

[0022] 或者加上B:每个分支还分别设置一由电机驱动的移动副,该移动副通过所述转动副连接在定平台上,动平台依次通过所述球铰、连杆、移动副以及转动副与定平台连接, 动平台运动时有三个自由度。 [0022] or together with B: each branch are further provided a sliding pair driven by a motor, which moves by rotation of the sub-sub connector on a given platform, the movable platform passes through said ball joints, connecting rod, moving pair and a swivel joint connection with a given platform, there are three degrees of freedom when moving the movable platform. 例如,第二分支设置一由电机(图中电机省略)驱动的移动副,该移动副通过所述二分支转动副2-2安装在定平台6上,动平台4依次通过所述二分支球铰2-4、二分支连杆2-3、二分支滑管2-31 ( 二分支连杆2-3作为导轨与二分支滑管2_31 组成移动副)、二分支转动副2-2与定平台连接(第二分支、第三分支的结构也相同,不再细述)。 For example, the second sub-branch is provided a movement driven by a motor (motor not shown), of which the two branches moved by rotation of the sub-sub-2-2 6 mounted on a given platform, the moving platform 4 passes through the ball biantennary hinge 2-4, 2-3 biantennary link, two branch pipes slide 2-31 (2-3 link as biantennary and biantennary guide slide tube into mobile sub 2_31), two sub-branches 2-2 and rotatably fixed internet connection (second branch, the third branch of the same structure no longer dwell). 并且,左右两个分支中的所有转动副的转动轴线均相互平行,中间分支的转动副的转动轴线与左右两个分支中的转动副的转动轴线垂直,刀具末端、第二分支上的球铰、第三分支上的球铰三点共线。 Further, the rotation of all the sub-axis of rotation of the left and right in the two branches are parallel to each other, the spherical hinge rotation axis perpendicular to the rotation axis of revolute around two sub-branches in the middle branch of rotation of the tool end, a second branch , ball joints on the third branch collinear. 由此构成了图2所示实施例2。 Embodiment 2 shown in FIG. 2 embodiment thus constituted. 显然,实施例2与实施例1的不同点是移动副与转动副的连接次序相反,并且每一分支中的移动副的运动方向与其两端的转动副转动轴线、球铰的转动中心相交,各分支中的移动副的运动方向之间没有要求。 Obviously, Example 2 differs from Example 1 opposite to the connection order and the rotation movement of the sub-sub of the sub-axis of rotation and direction of movement of the mobile sub-branch in each of its ends, ball joints intersects the center of rotation, each not required between the moving direction of the sub-branch.

[0023] 或者加上C:每个分支还设置由电机驱动的第二转动副,该第二转动副通过转动副连接定平台,动平台依次通过所述球铰、连杆、第二转动副、第二连杆、转动副与定平台连接,动平台运动时有三个自由度。 [0023] or together with C: Each branch is also provided a second sub rotatable driven by a motor, the rotation of the second sub-sub connector by rotating a given platform, the movable platform passes through said ball joints, connecting rod, a second sub-rotation , a second link rotatably connected to the sub and the fixed platform, there are three degrees of freedom when moving the movable platform. 例如:第一分支设置第二转动副1-311,第二转动副1-311 通过一分支转动副1-2连接在定平台6上,动平台4依次通过一分支球铰1-4、一分支连杆1-3、一分支第二转动副1-311、一分支第二连杆1-5、以及一分支转动副1-2与定平台连接(第二分支、第三分支的结构也相同,不再细述)。 For example: a first branch disposed a second turning pair 1-311, 1-311 rotates the second rotating pair 1-2 by a sub-branch connected to the fixed platform 6, the moving platform 4 passes through a ball joint branch 1-4, a link structure branches 1-3, a second turning pair 1-311 branch, a second branch links 1-5, 1-2 and a sub-branch and rotatably fixed internet connection (second branch, the third branch also the same is no longer dwell on). 并且,左右两个分支中的所有转动副的转动轴线均相互平行,中间分支的转动副的转动轴线与左右两个分支中的转动副的转动轴线垂直,刀具末端、第二分支上的球铰、第三分支上的球铰三点共线。 Further, the rotation of all the sub-axis of rotation of the left and right in the two branches are parallel to each other, the spherical hinge rotation axis perpendicular to the rotation axis of revolute around two sub-branches in the middle branch of rotation of the tool end, a second branch , ball joints on the third branch collinear. 由此构成了图3所示实施例3。 Embodiment shown in FIG. 3 thereby constituting Example 3.

[0024] 以上所述的全部转动副均为轴孔配合的铰接结构。 [0024] All the above-described rotation of the sub-hinge structure are fitted in the shaft hole. 并且,为图面清晰,图中所有转动副仅画出铰接孔,铰接轴均予省略。 And for drawing clarity, only FIG draw all sub rotatable hinge hole, hinge shaft herein are omitted.

[0025] 另外,所述的电机,图中均省略不画。 [0025] Further, the motors are omitted in FIG Videos.

Claims (2)

1. 一种三自由度并联机器人机构,包括动平台G)、定平台(6)和连接动平台与定平台的三条分支;其特征在于该三条分支结构完全相同,其中左右两个分支的运动平面重合并关于动平台对称分布,中间分支的运动平面与左右分支的对称平面重合;每个分支设置一转动副、一连杆以及一球铰;并且,每个分支还分别设置一由电机驱动的移动副;该移动副直接安装在定平台(6)上,动平台(4)依次通过所述球铰、连杆、转动副以及移动副与定平台连接;或者,该移动副通过所述转动副连接在定平台(6)上,动平台(4)依次通过所述球铰、 连杆、移动副以及转动副与定平台连接;或者,每个分支还设置由电机驱动的第二转动副,该第二转动副通过转动副连接在定平台(6)上,动平台(4)依次通过所述球铰、连杆、第二转动副、第二连杆以及转动副与定平台连 1. A three-DOF parallel manipulator, comprising a movable platform G), a given platform (6) and connected to the movable platform and three branch given platform; characterized in that the three branches of identical structure, wherein the left and right movement of the two branches the combined weight of the movable platform plane symmetrically about plane of symmetry plane of movement of the intermediate branches overlap with the left and right branches; each branch provided with a turning pair, a connecting rod and a ball joint; and, each branch are further provided a motor-driven moving pair; this movement is directly mounted on a given sub-platform (6), the movable platform (4) passes through the ball joint, the link, the sub-rotation with the fixed and mobile sub internet connection; or by the movement of the sub given sub-rotatably connected to the platform (6), the movable platform (4) passes through the ball joint, linkage, and the rotational movement of the sub-sub connector and the fixed platform; Alternatively, each branch further rotated by a second motor drive is provided sub, rotation of the second sub-sub connector by rotation of a given platform (6), the movable platform (4) passes through the ball joint, a link, a second turning pair, and a second link rotatably connected sub and the fixed platform ;所述动平台的下方垂直设置一刀具(5),刀具末端与左右两个分支上的球铰中心 ; Vertically below the movable platform provided with a cutter (5), the ball joint end of the tool center in the right and left two branches
2.根据权利要求1所述的一种三自由度并联机器人机构,其特征在于所述转动副是轴孔配合的铰接结构。 2. A three-DOF parallel manipulator according to claim 1, wherein said rotatable shaft hole pair is fitted hinge structure.
CN 201010196594 2010-06-07 2010-06-07 Three freedom degree parallel robot mechanism CN101844350B (en)

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