CN102248535A - Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive - Google Patents
Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive Download PDFInfo
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Abstract
The invention discloses a branch three-leg five-DOF (degree of freedom) parallel mechanism containing a double-compound drive. The branch three-leg five-DOF parallel mechanism comprises an engine base, a movable platform and a single-drive branched chain for connecting the engine base and the movable platform and two compound drive branched chains with the same structure, both ends of each of three branched chains are symmetrically distributed in a regular triangle shape, wherein the single-drive branched chain is composed of two universal pairs and a drive translation pair to form a UPU-type series structure branched chain. Each compound drive branched chain is composed of two revolute pairs, a drive translation pair and a spherical hinge to form an RRPS-type compound drive series structure branched chain, and axial lines of two revolute pairs are vertical to each other to form a universal pair, wherein one revolute pair is connected with the engine base and coaxially connected with a drive motor, and the spherical hinge is connected with the movable platform. The branch three-leg five-DOF parallel mechanism is strong in bearing capacity, good in stability, large in working space, high in flexibility, simple in structure, less in movable branched chain, hard to interference, free from automatic jogging, high in precision, close to a frame in drive and easy to control.
Description
Technical field
The present invention relates to robot, particularly parallel robot.
Background technology
Parallel robot and equipment have the rigidity height, bearing capacity is strong, end mass is light, inertia is little and site error such as does not accumulate at characteristics, and is complementary with serial machine people and equipment on using relatively.Heavy parallel connection equipment in high-end equipment manufacturing field, military equipment, intelligence are made the existing many important use in parallel connection equipment, space flight simulation training, seabed operation, underground mining, medical treatment and aspects such as bioengineering and MEMS.Each driving leg of tradition parallel robot and equipment all is single driving, and the driving leg number equals the free degree.When moving platform center during away from support center or over-tilting, traditional parallel robot stability and bearing capacity obviously descend.
Utilize parallel institution to realize that grand and little double drive becomes the research focus in recent years in a lot of fields.Sun Li in 2003 rather waits and proposes six degree of freedom-three side chain pantographic mixing parallel robot CN1544209, and there is the side chain of three circumference uniform distributions in this mechanism, and each side chain is two driving plane mechanisms of a closed loop.Sun Li in 2004 rather waits and has proposed the six degree of freedom macro/micro and drive nanoscale and locate big stroke flexible parallel connection robot C N1562578, and it has six identical side chains, and each side chain has grand and micro drive, can grand driving again can inching.The peaceful grade of Sun Li proposed a kind of three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism CN1544209 again in 2006, it has three identical side chains, each side chain has two piezoelectric type microdrive, connects with moving platform and support by flexibility hinge joint, realizes the dual little driving of six degree of freedom.A kind of combination drive 6DOF parallel institution CN201009243 that contain the plane 5 rods closed chain of proposition such as He Lile in 2007, it has three identical side chains, and each side chain contains plane 5 rods closed loop chain, uses two kinds of dissimilar motor-driven simultaneously.Zhao Tieshis in 2008 etc. propose a kind of dual drive four-freedom parallel institution CN101244559, there are four side chains in this mechanism, each side chain has two series connection to move the driving pair, this mechanism has eight drivings in essence, two kinds of parallel institutions of 4-PUU and 4-UPU have been merged, but be different from the direct series connection of two kinds of parallel institutions, realize the dual grand and little driving of four-degree-of-freedom.Zhao Tieshis in 2009 etc. propose a kind of five-freedom dual-driving parallel mechanism CN101623866 again, it has five side chains, each side chain has two series connection to move the driving pair, there are ten drivings in this in essence mechanism, be side chain in the middle of in the dual drive four-freedom parallel institution, increasing by, realize the grand and little driving of five-freedom dual.Because the movement branched chain of more above-mentioned parallel institutions is more, the major part of the driver of twice side chain number is away from support, so be difficult to obtain high and the dual grand and little driven Parallel Kinematic Manipulator simple in structure of precision.
Summary of the invention
The object of the invention is to provide that a kind of mechanism is simple, automaticity is high, precision is high contains two compound driving branch three leg five-freedom parallel structures.The present invention mainly includes support, moving platform, the single side chain and two compound driving side chains that structure is identical of driving.Their end all connects with support, the other end all connects with moving platform, and three side chain two ends all are equilateral triangle and are symmetrically distributed, wherein single side chain that drives is made up of two universal pairs and a driving moving sets, constitute UPU type cascaded structure side chain, and what link with support and moving platform is two universal pairs, and they connect by driving moving sets, and this driving moving sets axis is crossed the center of the universal pair in two ends.Each compound driving side chain is made up of two revolute pairs, a driving moving sets and a ball pivot, constitute the compound driving cascaded structure of RRPS type side chain, and the axis of two revolute pairs is perpendicular to one another to intersect and constitutes a universal pair, one of them revolute pair connect with support and with coaxial a connection of drive motors, the axis of this drive motors can be positioned on the support and be parallel to the support plane, also can its axis normal in the support plane and drive motors is positioned under the support.Ball pivot connects with moving platform, and connects with another revolute pair by driving moving sets, and this driving moving sets axis is crossed universal sub-center and ball pivot center.
Compare with traditional parallel institution, because the driving of parallel institution of the present invention divides number to be less than the free degree, and two drivers directly are supported on the support, other three drivers are near support, therefore must reduce its inertia and vibration influence, realize that driver is near the nearly frame Drive Optimization of support layout this parallel institution kinematic accuracy.
This invention compared with prior art has following advantage: its bearing capacity is strong, good stability, working space is big, automaticity is high, simple in structure, movement branched chain is few, be not easy to interfere, do not have from fine motion, precision height, nearly frame and drive and control easily, can realize that the five-freedom parallel machine tool normal direction processes the requirement of any free form surface and five-freedom parallel device people's flexible motion.Can design spatial parallel device people, parallel machine, jiggle robot and the sensor element etc. of various uses.
Description of drawings
Fig. 1 is the schematic perspective view of the embodiment of the invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the invention 2.
The specific embodimentAt the two compound driving branch three leg five-freedom parallel structures that contain shown in Figure 1
In the schematic perspective view of embodiment 1, the one end all connects with support 1, the other end all connects with moving platform 2, and three side chain two ends all are equilateral triangle and are symmetrically distributed, and wherein single side chain that drives is made up of two universal secondary 3-1,3-2 and a driving moving sets 4-1, constitutes UPU type cascaded structure side chain, universal secondary 3-1 links with support, universal secondary 3-2 and moving platform link, and above-mentioned two universal pairs connect by driving moving sets, and this driving moving sets axis is crossed the center of the universal pair in two ends.Each compound driving side chain drives moving sets 4-2 by 5,6, one of two revolute pairs and a ball pivot 7 is formed, constitute the compound driving cascaded structure of RRPS type side chain, and the axis of two revolute pairs is perpendicular to one another to intersect and constitutes a universal pair, wherein revolute pair 5 connect with support and with 8 coaxial connections of drive motors, the axis of motor is positioned on the support and is parallel to the support plane, ball pivot connects with moving platform, and connect with revolute pair 6 by driving moving sets, this driving moving sets axis is crossed universal sub-center and ball pivot center.
In the schematic perspective view that contains two compound driving three leg five-freedom parallel structure embodiment 2 of branch shown in Figure 2, three side chains are equilateral triangle and are symmetrically distributed, the one end all connects with support 1, the other end all connects with moving platform 2, and three side chain two ends all are equilateral triangle and are symmetrically distributed, wherein single driving side chain is by two universal secondary 3-1,3-2 and a driving moving sets 4-1 form, constitute UPU type cascaded structure side chain, universal secondary 3-1 links with support, universal secondary 3-2 and moving platform link, above-mentioned two universal pairs connect by driving moving sets, and this driving moving sets axis is crossed the center of the universal pair in two ends.Each compound driving side chain drives moving sets 4-2 by 5,6, one of two revolute pairs and a ball pivot 7 is formed, constitute the compound driving cascaded structure of RRPS type side chain, and the axis of two revolute pairs is perpendicular to one another to intersect and constitutes a universal pair, wherein revolute pair 5 connect with support and with 8 coaxial connections of drive motors, the axis normal of its motor is in the support plane and drive motors is positioned under the support.Ball pivot connects with moving platform, and connects with revolute pair 6 by driving moving sets, and this driving moving sets axis is crossed universal sub-center and ball pivot center.
Claims (3)
1. one kind contains two compound driving branch three leg five-freedom parallel structures, its organic block, moving platform and one that connects them single side chain and two compound driving side chains that structure is identical of driving, it is characterized in that: their end all connects with support, the other end all connects with moving platform, and three side chain two ends all are equilateral triangle and are symmetrically distributed, wherein single side chain that drives is made up of two universal pairs and a driving moving sets, constitute UPU type cascaded structure side chain, and what link with support and moving platform is two universal pairs, they connect by driving moving sets, and this driving moving sets axis is crossed the center of the universal pair in two ends; Each compound driving side chain is made up of two revolute pairs, a driving moving sets and a ball pivot, constitute the compound driving cascaded structure of RRPS type side chain, and the axis of two revolute pairs is perpendicular to one another to intersect and constitutes a universal pair, one of them revolute pair connect with support and with coaxial a connection of drive motors, ball pivot connects with moving platform, and connect with another revolute pair by driving moving sets, this driving moving sets axis is crossed universal sub-center and ball pivot center.
2. the two compound driving branch three leg five-freedom parallel structures that contain according to claim 1, it is characterized in that: the axis of this drive motors is positioned on the support and is parallel to the support plane.
3. the two compound driving branch three leg five-freedom parallel structures that contain according to claim 1, it is characterized in that: the axis normal of revolute pair and drive motors is in support, and this drive motors is positioned under the support.
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| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN102645241A (en) * | 2012-04-17 | 2012-08-22 | 燕山大学 | Visual monitoring parallel tripod head |
| CN102750850A (en) * | 2012-06-06 | 2012-10-24 | 中国民航大学 | Three-rotational-freedom series-parallel driving mechanism |
| CN103042520A (en) * | 2012-11-27 | 2013-04-17 | 上海大学 | Space 5 freedom degree parallel robot mechanism |
| CN103056869A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
| CN103111827A (en) * | 2013-02-04 | 2013-05-22 | 中联重科股份有限公司 | Nuclear power main pump disassembling device |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
| CN104269097A (en) * | 2014-08-13 | 2015-01-07 | 天津工程机械研究院 | Redundant drive six-degree-of-freedom motion simulation table |
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN104942796A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | Three-translation two-rotation five-freedom rotation and translation complete decoupling parallel mechanism |
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN106077843A (en) * | 2016-06-20 | 2016-11-09 | 南京航空航天大学 | Female thread low frequency exciting cold extrusion Special Purpose Machine for Processing |
| CN106181967A (en) * | 2016-07-18 | 2016-12-07 | 燕山大学 | The symmetry two turn one without associated movement with many rotating shafts continuously moves parallel institution |
| CN106313006A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation |
| CN106514622A (en) * | 2015-06-11 | 2017-03-22 | 陈国栋 | Working method for four-freedom-degree self-stabilizing box body grab bucket based on parallel mechanism |
| CN106837904A (en) * | 2016-11-30 | 2017-06-13 | 燕山大学 | The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment |
| CN107671845A (en) * | 2017-11-10 | 2018-02-09 | 燕山大学 | A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom |
| CN108247611A (en) * | 2018-01-29 | 2018-07-06 | 河海大学常州校区 | A kind of 3-freedom parallel mechanism control method |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109352631A (en) * | 2018-12-03 | 2019-02-19 | 燕山大学 | Three branch's five degree of freedom parallel connection platforms |
| CN109895041A (en) * | 2019-04-25 | 2019-06-18 | 上海工程技术大学 | A kind of boat-carrying serial-parallel mirror stabilized platform |
| CN111299703A (en) * | 2019-11-21 | 2020-06-19 | 深圳大学 | Machining device and precision machining machine tool |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112757262A (en) * | 2021-01-16 | 2021-05-07 | 北京工业大学 | Micro-motion 3-UPU compliant parallel mechanism with pure movement |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| WO2022077952A1 (en) * | 2020-10-13 | 2022-04-21 | 中国民航大学 | Parallel-connection mechanism comprising exact-constrained and compound driving branched chain |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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| CN102488557A (en) * | 2011-11-25 | 2012-06-13 | 华东交通大学 | Device capable of realizing combinatorial motion output of 3PUU (three-prismatic-universal-universal) mechanism and 3UPU (three-universal-prismatic- universal) mechanism |
| CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
| CN102645241A (en) * | 2012-04-17 | 2012-08-22 | 燕山大学 | Visual monitoring parallel tripod head |
| CN102750850A (en) * | 2012-06-06 | 2012-10-24 | 中国民航大学 | Three-rotational-freedom series-parallel driving mechanism |
| CN103042520A (en) * | 2012-11-27 | 2013-04-17 | 上海大学 | Space 5 freedom degree parallel robot mechanism |
| CN103056869A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
| CN103111827B (en) * | 2013-02-04 | 2016-02-03 | 中联重科股份有限公司 | Nuclear power main pump attaching/detaching apparatus |
| CN103111827A (en) * | 2013-02-04 | 2013-05-22 | 中联重科股份有限公司 | Nuclear power main pump disassembling device |
| CN104269097A (en) * | 2014-08-13 | 2015-01-07 | 天津工程机械研究院 | Redundant drive six-degree-of-freedom motion simulation table |
| CN104240548A (en) * | 2014-09-04 | 2014-12-24 | 燕山大学 | Six-degree-of-freedom motion simulation platform with three composite drive branched chains |
| CN104608118A (en) * | 2015-01-19 | 2015-05-13 | 天津智达机器人有限公司 | Three-branch six-degree-of-freedom robot |
| CN106514622A (en) * | 2015-06-11 | 2017-03-22 | 陈国栋 | Working method for four-freedom-degree self-stabilizing box body grab bucket based on parallel mechanism |
| CN106514622B (en) * | 2015-06-11 | 2018-12-25 | 黄朝阳 | A kind of working method grabbed bucket based on the four-degree-of-freedom of parallel institution from steady cabinet |
| CN104889978A (en) * | 2015-07-01 | 2015-09-09 | 北京工业大学 | Two-rotation one-movement three-degree-of-freedom asymmetric parallel robot mechanism |
| CN104942796A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | Three-translation two-rotation five-freedom rotation and translation complete decoupling parallel mechanism |
| CN105171736A (en) * | 2015-09-09 | 2015-12-23 | 北京理工大学 | Waist simulator of bionic mechanical rat |
| CN105171736B (en) * | 2015-09-09 | 2018-04-03 | 北京理工大学 | The waist analogue means of bionic machine mouse |
| CN105539786B (en) * | 2016-02-01 | 2017-07-04 | 山东大学（威海） | Wheel leg combined shunt leg mechanism and underwater robot |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105856197A (en) * | 2016-05-20 | 2016-08-17 | 燕山大学 | Pure translational motion 3-UPU parallel-connection mechanism free of unexpected rotation |
| CN105856197B (en) * | 2016-05-20 | 2018-12-28 | 燕山大学 | Pure translational 3-UPU parallel institution without undesirable rotation |
| CN105773582A (en) * | 2016-05-25 | 2016-07-20 | 河北工业大学 | Six-degree-of-freedom robot with three branch chains |
| CN106077843A (en) * | 2016-06-20 | 2016-11-09 | 南京航空航天大学 | Female thread low frequency exciting cold extrusion Special Purpose Machine for Processing |
| CN106077843B (en) * | 2016-06-20 | 2017-11-28 | 南京航空航天大学 | Internal thread low frequency exciting cold extrusion Special Purpose Machine for Processing |
| CN106181967A (en) * | 2016-07-18 | 2016-12-07 | 燕山大学 | The symmetry two turn one without associated movement with many rotating shafts continuously moves parallel institution |
| CN106181967B (en) * | 2016-07-18 | 2019-02-01 | 燕山大学 | No associated movement has symmetrical two turn of one shifting parallel institution of more continuous shafts |
| CN106313006A (en) * | 2016-10-07 | 2017-01-11 | 南京理工大学 | Three-branched-chain four-freedom-degree robot mechanism achieving three-dimensional translation and one-dimensional rotation |
| CN106837904A (en) * | 2016-11-30 | 2017-06-13 | 燕山大学 | The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment |
| CN106837904B (en) * | 2016-11-30 | 2018-04-06 | 燕山大学 | Make steel the hand hydraulically controlled device of rocking-turn stove parallel connection tilting equipment |
| CN107671845A (en) * | 2017-11-10 | 2018-02-09 | 燕山大学 | A kind of few joint Planar Mechanisms series parallel robot in five degrees of freedom |
| CN108247611A (en) * | 2018-01-29 | 2018-07-06 | 河海大学常州校区 | A kind of 3-freedom parallel mechanism control method |
| CN108858134A (en) * | 2018-04-19 | 2018-11-23 | 河海大学常州校区 | A kind of 3-dof parallel robot control method |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109352631B (en) * | 2018-12-03 | 2020-08-25 | 燕山大学 | Three-branch five-degree-of-freedom parallel platform |
| CN109352631A (en) * | 2018-12-03 | 2019-02-19 | 燕山大学 | Three branch's five degree of freedom parallel connection platforms |
| CN109895041A (en) * | 2019-04-25 | 2019-06-18 | 上海工程技术大学 | A kind of boat-carrying serial-parallel mirror stabilized platform |
| CN111299703A (en) * | 2019-11-21 | 2020-06-19 | 深圳大学 | Machining device and precision machining machine tool |
| CN111299703B (en) * | 2019-11-21 | 2022-02-08 | 深圳大学 | Machining device and precision machining machine tool |
| WO2022077952A1 (en) * | 2020-10-13 | 2022-04-21 | 中国民航大学 | Parallel-connection mechanism comprising exact-constrained and compound driving branched chain |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112757262A (en) * | 2021-01-16 | 2021-05-07 | 北京工业大学 | Micro-motion 3-UPU compliant parallel mechanism with pure movement |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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