CN101844350B - Three freedom degree parallel robot mechanism - Google Patents

Three freedom degree parallel robot mechanism Download PDF

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Publication number
CN101844350B
CN101844350B CN201010196594XA CN201010196594A CN101844350B CN 101844350 B CN101844350 B CN 101844350B CN 201010196594X A CN201010196594X A CN 201010196594XA CN 201010196594 A CN201010196594 A CN 201010196594A CN 101844350 B CN101844350 B CN 101844350B
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China
Prior art keywords
branch
revolute pair
platform
moving
fixed platform
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CN201010196594XA
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Chinese (zh)
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CN101844350A (en
Inventor
李秦川
陈志�
陈巧红
王茹
张铁牛
孙晓东
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浙江理工大学
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Publication of CN101844350A publication Critical patent/CN101844350A/en
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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 in relation 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

A kind of three-freedom parallel robot mechanism
Technical field
The invention belongs to mechanical manufacturing field, particularly relate to a kind of 3-freedom parallel mechanism.
Background technology
The institution freedom number of degrees of lower-mobility parallel robot are less than 6.For requiring the free degree to be less than 6 operation task in the practical application in a large number, the unnecessary free degree has increased the complexity of system hardware, software and later maintenance, the also corresponding increase of cost.Prominent example is Delta 3 (Dai Erta) free degree mobile robot of present extensive use.The research of 3-dof parallel robot is subjected to showing great attention to of international relevant academia and industrial quarters with using always over nearly 10 years, configuration comprehensive theory and method for designing more became hot issue during particularly the lower-mobility parallel robot mechanism was learned.Wang Liping people such as [CN200910086957.1] has designed a kind of parallel 3-DOF drive mechanism of spindle head, can be applicable to the machinery production field; Li Yanbiao [CN200810162511.8] etc. has designed a kind of three-DOF personified parallel manipulator, is suitable for fields such as anthropomorphic robot, finishes some complicated personification operations.
Two change one, and to move parallel institution be an important class in the lower-mobility parallel institution, 1 one-movement-freedom-degree and 2 rotational freedoms that can the implementation space, be a class that has the typical project application background in the lower-mobility parallel institution, the main shaft that is used as telescope focusing arrangement, motion simulator, microoperation manipulator, coordinate measuring machine, machining center is first-class.Disclosed two change a shift three degrees of freedom parallel institution (as US6431802, WO0025976, ZL200610013608.3 on the existing publication, EP1123175, CA2349579, DE59905578D, ES2198991T, ZL200710057179.4) all exist the kinematics model complicated problems, cause real-time control, demarcate difficulty.
Carretero (Ka Leiteluo) etc. has at first introduced the notion of associated movement in the 3-PRS parallel institution, thinks that associated movement is the restrained free degree of 3-PRS parallel institution, the small magnitude motion that takes place on the promptly dependent free degree.[PP] S class comprises 3-PRS, 3-RPS, 3-PPS and four kinds of mechanisms of 3-RRS, wherein 3-PRS represents to be made up of three branches, and the kinematic pair of each branch is followed successively by P (moving sets), R (revolute pair), S (ball pivot), in like manner, 3-RPS, 3-PPS and 3-RRS is arranged.The associated movement of [PP] S class parallel institution is X, Y direction two and moves and the rotation of moving platform normal.Though the associated movement amplitude is little, the practical application of [PP] S class parallel institution there is material impact.Because associated movement is this mechanism's inherent characteristic, can not compensate by self control system, then needs to reduce by Optimal Structure Designing the associated movement of [PP] S class mechanism as far as possible.
Li Qinchuan [CN200910097535.4] etc. has proposed a kind of parallel institution that a shift three degrees of freedom is changeed in two of associated movement that do not have, and there is not associated movement in its operating platform central spot.Yet, it should be noted that this point is in the kinematic pair, thereby at work, be difficult to become actual operating point.
Summary of the invention
The objective of the invention is to propose a kind of improvement of 3-freedom parallel mechanism, this mechanism should have the only associated movement of cutter end, kinematics on the moving platform simple, be easy to the characteristics of controlling and demarcating, can be applicable to parallel robot and parallel machine.
Technical scheme provided by the invention is: a kind of three-freedom parallel robot mechanism comprises moving platform, fixed platform and is connected moving platform and three branches of fixed platform; It is characterized in that these three branched structures are identical, wherein about the plane of movement of two branches overlap and be symmetrically distributed about moving platform, the plane of movement of medial fascicle overlaps with the symmetrical plane of left and right sides branch; Each branch is provided with a revolute pair, a connecting rod and a ball pivot; And,
Each branch also is provided with one respectively by motor-driven moving sets; This moving sets is directly installed on the fixed platform, and moving platform is connected with fixed platform by described ball pivot, connecting rod, revolute pair and moving sets successively; Perhaps,
Each branch also is provided with one respectively by motor-driven moving sets; This moving sets is connected on the fixed platform by described revolute pair, and moving platform is connected with fixed platform by described ball pivot, connecting rod, moving sets and revolute pair successively; Perhaps,
Each branch also is provided with by motor-driven second revolute pair, and this second revolute pair is connected on the fixed platform by revolute pair, and moving platform is connected with fixed platform by described ball pivot, connecting rod, second revolute pair, second connecting rod and revolute pair successively.
The pivot center of all revolute pairs about described in two branches is parallel mutually, the pivot center of the revolute pair of medial fascicle with about the pivot center of revolute pair in two branches vertical.
The below of described moving platform vertically is provided with a cutter, cutter terminal with about ball pivot center three point on a straight line in two branches.
Described revolute pair is the articulated structure that axis hole cooperates.
Useful effect of the present invention is, (only has an associated movement owing to reduced the associated movement of 3-freedom parallel mechanism moving platform cutter end, and conventional 3-freedom parallel mechanism has two or three associated movements), reduced the complexity of motion compensation, mechanism has more simple kinematics, make this mechanism be easy to control and demarcation more, can be applicable to occasions such as parallel robot and parallel machine.
Description of drawings
Fig. 1 is the structural representation of the 3-PRS parallel institution of the embodiment of the invention 1.
Fig. 2 is the structural representation of the 3-RPS parallel institution of the embodiment of the invention 2.
Fig. 3 is the structural representation of the 3-RRS parallel institution of the embodiment of the invention 3.
Among the figure: 1, one branch's guide rail, 1-1, one branch's slide block, 1-2, one branch's revolute pair, 1-3, one branch's connecting rod, 1-4, one branch's ball pivot, 2, two branch's guide rails, 2-1, two branch's slide blocks, 2-2, two branch's revolute pairs, 2-3, two branch's connecting rods, 2-4, two branch's ball pivots, 3, three branch's guide rails, 3-1, three branch's slide blocks, 3-2, three branch's revolute pairs, 3-3, three branch's connecting rods, 3-4, three branch's ball pivots, 4, moving platform, 5, cutter, 6, fixed platform, 1-31, one branch's slip pipe, 2-31, two branch's slip pipes, 3-31, three branch's slip pipes, 1-311, one branch, second revolute pair, 2-311, two branches, second revolute pair, 3-311, three branches, second revolute pair, 1-5, one branch's second connecting rod, 2-5, two branch's second connecting rods, 3-5,, three branch's second connecting rods.
The specific embodiment
Below further specify by embodiment shown in the drawings.
Three embodiment shown in the drawings include moving platform 4, fixed platform 6 and are connected three branches of moving platform and fixed platform; Article three, branched structure is identical, wherein about the plane of movement of two branches overlap and be symmetrically distributed about moving platform, the plane of movement of medial fascicle overlaps with the symmetrical plane of left and right sides branch; Each branch is provided with a revolute pair, a connecting rod and a ball pivot at least; Cutter 5 is positioned at the moving platform below, and perpendicular to moving platform; The difference of each embodiment is on this basis:
Add A: each branch also is provided with one respectively by motor-driven moving sets; This moving sets is directly installed on the fixed platform, and moving platform is connected with moving sets by described ball pivot, connecting rod and revolute pair successively, and three degree of freedom is arranged during the moving platform motion.For example, first branch is provided with a slide block 1-1 of branch that is driven by motor (among the figure motor omit), this slide block directly with the fixing branch's guide rail 1 of fixed platform on slide; The moving platform 4 branch's guide rail 1 by a ball pivot 1-4 of branch, a connecting rod 1-3 of branch, a revolute pair 1-2 of branch, a slide block 1-1 of branch and on being fixed on fixed platform successively connects (structure of second branch, the 3rd branch is also identical, no longer carefully states); And: the guide rail of three branches all is parallel to each other, about the pivot center of all revolute pairs in two branches parallel mutually, the pivot center of the revolute pair of medial fascicle with about the pivot center of revolute pair in two branches vertical, the ball pivot in cutter end, second branch, the ball pivot three point on a straight line in the 3rd branch.Constituted embodiment illustrated in fig. 11 thus.
Perhaps add B: each branch also is provided with one respectively by motor-driven moving sets, this moving sets is connected on the fixed platform by described revolute pair, moving platform is connected with fixed platform by described ball pivot, connecting rod, moving sets and revolute pair successively, and three degree of freedom is arranged during the moving platform motion.For example, second branch is provided with a moving sets by motor (motor omits among the figure) driving, this moving sets is installed on the fixed platform 6 by the described two revolute pair 2-2 of branch, moving platform 4 is connected (structure of second branch, the 3rd branch is also identical, no longer carefully states) by the described two ball pivot 2-4 of branch, the two connecting rod 2-3 of branch, the two slip pipe 2-31 of branch (the two connecting rod 2-3 of branch form moving sets as guide rail with the two slip pipe 2-31 of branch), the two revolute pair 2-2 of branch successively with fixed platform.And, about the pivot center of all revolute pairs in two branches parallel mutually, the pivot center of the revolute pair of medial fascicle with about the pivot center of revolute pair in two branches vertical, the ball pivot in cutter end, second branch, the ball pivot three point on a straight line in the 3rd branch.Constituted embodiment illustrated in fig. 22 thus.Obviously, embodiment 2 and the difference of embodiment 1 be moving sets with revolute pair to be connected order opposite, and the revolute pair pivot center at the direction of motion of the moving sets in each branch and its two ends, the center of rotation of ball pivot intersect, and do not require between the direction of motion of the moving sets in each branch.
Perhaps add C: each branch also is provided with by motor-driven second revolute pair, this second revolute pair connects fixed platform by revolute pair, moving platform is connected with fixed platform by described ball pivot, connecting rod, second revolute pair, second connecting rod, revolute pair successively, and three degree of freedom is arranged during the moving platform motion.For example: first branch is provided with the second revolute pair 1-311, the second revolute pair 1-311 is connected on the fixed platform 6 by a revolute pair 1-2 of branch, moving platform 4 connects (structure of second branch, the 3rd branch is also identical, no longer carefully states) by a ball pivot 1-4 of branch, a connecting rod 1-3 of branch, the second revolute pair 1-311 of a branch, a second connecting rod 1-5 of branch and a revolute pair 1-2 of branch with fixed platform successively.And, about the pivot center of all revolute pairs in two branches parallel mutually, the pivot center of the revolute pair of medial fascicle with about the pivot center of revolute pair in two branches vertical, the ball pivot in cutter end, second branch, the ball pivot three point on a straight line in the 3rd branch.Constituted embodiment illustrated in fig. 33 thus.
Above-described whole revolute pair is the articulated structure that axis hole cooperates.And, for drawing clear, all revolute pairs hinge hole that only draws among the figure, jointed shaft all gives omission.
In addition, described motor all omits among the figure and does not draw.

Claims (2)

1. three-freedom parallel robot mechanism comprises moving platform (4), fixed platform (6) and is connected three branches of moving platform and fixed platform; It is characterized in that these three branched structures are identical, wherein about the plane of movement of two branches overlap and be symmetrically distributed about moving platform, the plane of movement of medial fascicle overlaps with the symmetrical plane of left and right sides branch; Each branch is provided with a revolute pair, a connecting rod and a ball pivot; And,
Each branch also is provided with one respectively by motor-driven moving sets; This moving sets is directly installed on the fixed platform (6), and moving platform (4) is connected with fixed platform by described ball pivot, connecting rod, revolute pair and moving sets successively;
Perhaps, this moving sets is connected on the fixed platform (6) by described revolute pair, and moving platform (4) is connected with fixed platform by described ball pivot, connecting rod, moving sets and revolute pair successively;
Perhaps, each branch also is provided with by motor-driven second revolute pair, this second revolute pair is connected on the fixed platform (6) by revolute pair, and moving platform (4) is connected with fixed platform by described ball pivot, connecting rod, second revolute pair, second connecting rod and revolute pair successively;
The below of described moving platform (4) vertically is provided with a cutter (5), cutter terminal with about ball pivot center three point on a straight line in two branches.
2. a kind of three-freedom parallel robot mechanism according to claim 1 is characterized in that described revolute pair is the articulated structure that axis hole cooperates.
CN201010196594XA 2010-06-07 2010-06-07 Three freedom degree parallel robot mechanism CN101844350B (en)

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CN101966504B (en) * 2010-10-15 2012-11-28 江苏长虹汽车装备集团有限公司 Combined spraying robot based on planar three-freedom-degree parallel mechanism
CN101966506B (en) * 2010-10-15 2012-12-12 江苏长虹汽车装备集团有限公司 Plane three degree-of-freedom parallel mechanism and spray painting robot
CN102172912A (en) * 2011-02-23 2011-09-07 常州大学 Two-degree-of-freedom parallel manipulator
CN102126216A (en) * 2011-04-12 2011-07-20 浙江理工大学 Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom
CN102126217A (en) * 2011-04-12 2011-07-20 浙江理工大学 Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom
CN102211333A (en) * 2011-06-15 2011-10-12 天津职业技术师范大学 Double-freedom-degree spatial parallel mechanism capable of realizing one-dimensional rotation and one-dimensional movement
CN102248533A (en) * 2011-06-15 2011-11-23 天津职业技术师范大学 Two-degree-of-freedom spatial parallel mechanism for realizing one-dimensional rotation and one-dimensional movement
CN102554914A (en) * 2012-01-06 2012-07-11 上海大学 Novel three-degrees-of-freedom under-actuated mechanism
CN102672709B (en) * 2012-05-18 2014-12-17 天津大学 Five-freedom-degree hybrid robot
CN103600346A (en) * 2013-11-25 2014-02-26 浙江理工大学 Three-degree-of-freedom spatial orientation parallel mechanism
CN104236491B (en) * 2014-06-27 2017-03-22 华东交通大学 Four-rope traction three-freedom-degree intelligent measurement robot
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Application publication date: 20100929

Assignee: Anhui Hiseed Robot Company Limited

Assignor: Zhejiang Sci-Tech University

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Denomination of invention: Three degree of freedom parallel robot mechanism

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