CN102069392A - Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot - Google Patents

Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot Download PDF

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Publication number
CN102069392A
CN102069392A CN 201110037826 CN201110037826A CN102069392A CN 102069392 A CN102069392 A CN 102069392A CN 201110037826 CN201110037826 CN 201110037826 CN 201110037826 A CN201110037826 A CN 201110037826A CN 102069392 A CN102069392 A CN 102069392A
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China
Prior art keywords
revolute pair
axis
branched chain
movable
robot
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CN 201110037826
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Chinese (zh)
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CN102069392B (en
Inventor
张帆
刘燕
宋芳
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上海工程技术大学
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Publication of CN102069392B publication Critical patent/CN102069392B/en

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Abstract

The invention provides a two-rotational degree-of-freedom parallel mechanism for an imaginary axis machine tool and a robot. The two-rotational degree-of-freedom parallel mechanism comprises a static platform, a movable platform, a first movable branched chain and a second movable branched chain, wherein the first movable branched chain and the second movable branched chain are connected between the static platform and the movable platform; the first movable branched chain comprises a universal hinge, a moving pair and a first revolute pair which are connected in sequence; the universal hinge is also connected with the static platform; the first revolute pair is also connected with the movable platform through a connecting rod; the second movable branched chain comprises a second revolute pair and a third revolute pair which are connected in sequence; the second revolute pair is also connected with the static platform; and the third revolute pair is also connected with the movable platform. The two-rotational degree-of-freedom parallel mechanism has two decoupled rotational degrees of freedom which only depend on the linear control of kinematic pairs of the movable branched chains, and has an extremely simple implementation principle and an extremely good linear relationship.

Description

Two rotation freedom parallel mechanisms that are used for virtual axis machine and robot
Technical field
The present invention relates to lathe and industrial robot, relate in particular to a kind of two rotation freedom parallel mechanisms that are used for virtual axis machine and robot that are used for parallel-connection structure imaginary axis Digit Control Machine Tool and parallel robot.
Background technology
Parallel institution is widely used in heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation field.Yet, be coupled between each driver element of parallel institution, be that the whole output stage of parallel institution (moving platform) all is that moving of all driver elements is synthetic along moving of either direction, and be non-linear between the motion of each driver element and the parallel institution mass motion (i.e. input and output).This characteristic causes parallel institution control complicated, demarcates difficulty, and has restricted the raising of precision.Therefore, how to realize the parallel institution decoupling zero, to simplify control and to demarcate, improve kinematic accuracy, be a difficulty and challenging subject always.
The mobile decoupling parallel robot is meant that arbitrary free degree of output movement all only relies on single driver element, and the action of other driver elements does not exert an influence to this free degree.Have that full decoupled parallel institution movement relation is simple, demarcation is easy, control accuracy is high, rigidity is big, have a extensive future at virtual axis machine and robot field.
Chinese patent literature CN101036986A reported by moving platform, silent flatform and connect that their four closed loop moving side chains form two rotate a mobile parallel connection mechanism, every spherical mechanism of six bars that the closed loop side chain contains one group of symmetrical structure, moving platform is connected with revolute pair with every side chain with silent flatform.Document [XianwenKong, Clement M.Gosselin Type synthesis of input-output decoupled parallelmanipulators, Transactions of the CSME, Vol.28, Special Edition, 2004] reported to have two parallel institutions that move a rotational freedom in, mixed the movement branched chain of taking by moving platform, silent flatform and connection in series-parallel and form.Document [Li Huiliang, Jin Qiong, Yang Tingli, decoupling parallel mechanism and Displacement Analysis thereof are rotated in one translation two of one class, machine-building and research, and Feb 2002, (1): 9-12,14] propose a kind of two rotations, one mobile parallel connection mechanism, but the output free degree still belongs to the partly decoupled parallel institution not exclusively by single driver control with trigonometric ratio decoupling zero characteristic.
Summary of the invention
Purpose of the present invention is exactly in order to provide a kind of two rotation freedom parallel mechanisms that are used for virtual axis machine and robot, to overcome complex structure in the prior art, to control the defective inconvenient, that kinematic accuracy is low.
In order to achieve the above object, the present invention has adopted following technical scheme: a kind of two rotation freedom parallel mechanisms that are used for virtual axis machine and robot, comprise silent flatform, moving platform and be connected silent flatform and moving platform between first movement branched chain and second movement branched chain; Be characterized in:
Described first movement branched chain comprises universal coupling, moving sets and first revolute pair that order links to each other; Universal coupling also links to each other with silent flatform, and first revolute pair also links to each other with moving platform by connecting rod;
Described second movement branched chain comprises second revolute pair and the 3rd revolute pair that order links to each other; Second revolute pair also links to each other with silent flatform, and the 3rd revolute pair also links to each other with moving platform;
The axis of the axis of first turning cylinder of above-mentioned universal coupling, the axis of second revolute pair and the 3rd revolute pair intersects at a bit, and this point is positioned on the plane of moving platform.
The axis of described first revolute pair is parallel with second turning cylinder of universal coupling, second turning cylinder of the axis of moving sets and universal coupling vertical and with the axis normal of first revolute pair.
The axis normal of the axis of described second revolute pair and the 3rd revolute pair and with the dead in line of first turning cylinder of universal coupling, the axis of the 3rd revolute pair is parallel with the axis of first revolute pair.
The present invention is used for two rotation freedom parallel mechanisms of virtual axis machine and robot owing to adopted above technical scheme, makes it compared with prior art, has following advantage and characteristics:
1, have two each and every one rotational freedoms of decoupling zero, rotational freedom only relies on the Linear Control of the kinematic pair of movement branched chain, realizes that principle is very simple, has extraordinary linear relationship.
2, only contain the small motion pair, simple in structure, easy for installation, rotary inertia is little, the motion response is fast.
3, mobile decoupling, 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 the perspective view that the present invention is used for two rotation freedom parallel mechanisms of virtual axis machine and robot.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Accompanying drawing is depicted as a preferred embodiment of the present invention, and technical scheme of the present invention is not limited to present embodiment.
Referring to Fig. 1, a kind of two rotation freedom parallel mechanisms that are used for virtual axis machine and robot of the present invention, comprise silent flatform 1, moving platform 3 and be connected silent flatform and moving platform between the first movement branched chain 2a and the second movement branched chain 2b.
The first movement branched chain 2a comprises universal coupling 21, moving sets 23 and first revolute pair 24 that order links to each other; Universal coupling 21 also links to each other with silent flatform 1, and first revolute pair 24 also links to each other with moving platform 3 by connecting rod 22; In the first movement branched chain 2a, the axis of first revolute pair 24 is parallel with second turning cylinder 212 of universal coupling 21, second turning cylinder 212 of the axis of moving sets 23 and universal coupling vertical and with the axis normal of first revolute pair 24.
The second movement branched chain 2b comprises second revolute pair 25 and the 3rd revolute pair 26 that order links to each other; Second revolute pair 25 also links to each other with silent flatform 1, and the 3rd revolute pair 26 also links to each other with moving platform 3; In the second movement branched chain 2b, the axis normal of the axis of second revolute pair 25 and the 3rd revolute pair 26 and with the dead in line of first turning cylinder 211 of universal coupling 21, the axis of the 3rd revolute pair 26 is parallel with the axis of first revolute pair 24.
The axis of the axis of first turning cylinder 211 of above-mentioned universal coupling 21, the axis of second revolute pair 25 and the 3rd revolute pair 26 intersects at a bit, and this point is positioned on the plane of moving platform 3.
But operation principle accompanying drawings of the present invention is as follows:
When the moving sets in the first movement branched chain 2a 23 stretches, drive moving platform 3 and rotate around the 3rd revolute pair 26; And the second movement branched chain 2b has the rotational freedom around the 3rd revolute pair 26, and therefore, under moving sets 23 drove, moving platform 3 rotated around the 3rd revolute pair 26.
When second revolute pair 25 in second movement branched chain is rotated, drive moving platform 3 and rotate around second revolute pair 25; And the dead in line of the axis of first turning cylinder 211 of the universal coupling 21 among the first movement branched chain 2a and second revolute pair 25, therefore, under second revolute pair 25 drove, moving platform 3 rotated around second revolute pair 25.
Because the axis of second revolute pair 25 and the axis junction of the 3rd revolute pair 26 and vertical, so mechanism has the rotational freedom of two decoupling zeros.

Claims (3)

1. two rotation freedom parallel mechanisms that are used for virtual axis machine and robot, comprise silent flatform, moving platform and be connected silent flatform and moving platform between first movement branched chain and second movement branched chain; It is characterized in that:
Described first movement branched chain comprises universal coupling, moving sets and first revolute pair that order links to each other; Universal coupling also links to each other with silent flatform, and first revolute pair also links to each other with moving platform by connecting rod;
Described second movement branched chain comprises second revolute pair and the 3rd revolute pair that order links to each other; Second revolute pair also links to each other with silent flatform, and the 3rd revolute pair also links to each other with moving platform;
The axis of the axis of first turning cylinder of above-mentioned universal coupling, the axis of second revolute pair and the 3rd revolute pair intersects at a bit, and this point is positioned on the plane of moving platform.
2. two rotation freedom parallel mechanisms that are used for virtual axis machine and robot as claimed in claim 1, it is characterized in that: the axis of described first revolute pair is parallel with second turning cylinder of universal coupling, second turning cylinder of the axis of moving sets and universal coupling vertical and with the axis normal of first revolute pair.
3. two rotation freedom parallel mechanisms that are used for virtual axis machine and robot as claimed in claim 1, it is characterized in that: the axis normal of the axis of described second revolute pair and the 3rd revolute pair and with the dead in line of first turning cylinder of universal coupling, the axis of the 3rd revolute pair is parallel with the axis of first revolute pair.
CN2011100378261A 2011-02-15 2011-02-15 Two-rotational degree-of-freedom parallel mechanism for imaginary axis machine tool and robot CN102069392B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN105563459A (en) * 2014-10-15 2016-05-11 上海工程技术大学 Decoupling two-rotation serial mechanism used for minimally invasive surgery

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0249318A1 (en) * 1986-06-10 1987-12-16 Lord Corporation Object manipulator
US20040103738A1 (en) * 2002-05-23 2004-06-03 Hebei University Of Technology 3~6-DOF decoupling structure parallel micromanipulator
CN101058186A (en) * 2007-05-18 2007-10-24 燕山大学 Two rotation decoupling parallel robot mechanism
CN101780670A (en) * 2009-01-19 2010-07-21 上海工程技术大学 Two-rotation one-movement-freedom-degree decoupling parallel mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0249318A1 (en) * 1986-06-10 1987-12-16 Lord Corporation Object manipulator
US20040103738A1 (en) * 2002-05-23 2004-06-03 Hebei University Of Technology 3~6-DOF decoupling structure parallel micromanipulator
CN101058186A (en) * 2007-05-18 2007-10-24 燕山大学 Two rotation decoupling parallel robot mechanism
CN101780670A (en) * 2009-01-19 2010-07-21 上海工程技术大学 Two-rotation one-movement-freedom-degree decoupling parallel mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN105563459A (en) * 2014-10-15 2016-05-11 上海工程技术大学 Decoupling two-rotation serial mechanism used for minimally invasive surgery
CN105563459B (en) * 2014-10-15 2017-09-05 上海工程技术大学 Decoupling two for Minimally Invasive Surgery rotates serial mechanism

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