CN102431028A - Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom - Google Patents

Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom Download PDF

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Publication number
CN102431028A
CN102431028A CN2011103344676A CN201110334467A CN102431028A CN 102431028 A CN102431028 A CN 102431028A CN 2011103344676 A CN2011103344676 A CN 2011103344676A CN 201110334467 A CN201110334467 A CN 201110334467A CN 102431028 A CN102431028 A CN 102431028A
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China
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pair
links
rod
revolute pair
axis
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CN2011103344676A
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CN102431028B (en
Inventor
曾达幸
侯雨雷
卢文娟
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燕山大学
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Abstract

A decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom mainly comprises a fixed pedestal, a movable platform and three branches connected therewith. The first branch comprises two connecting rods which are connected by a reolute pair vertical to axis of a reolute pair connected with the movable platform and to direction of a movable pair connected with the fixed pedestal. The second branch comprises three connecting rods which are connected by a reolute pair and a column pair with parallel axes, axis of the column pair is vertical to axis of a reolute pair connected with the fixed pedestal and parallel to axis of the reolute pair connected with the movable platform. The third branch comprises three connecting rods which are connected by two reolute pairs with parallel axes and connected with the fixed pedestal by the column pair, axis of the column pair is vertical to axis of the reolute pair connected with the movable platform and parallel with axes of the other two reolute pairs. Three branches of the mechanism are parallel with three reolute pairs connected with the movable platform. The invention has movable decoupling, high movable platform flexibility, easily developed control system and more simple and convenient calibration.

Description

A kind of one moves two changes three freedom decoupling parallel robot mechanism
Technical field
The present invention relates to the robot field, particularly a kind of parallel robot mechanism.
Background technology
Parallel robot mechanism is that the space multiple degrees of freedom encircles the closed chain form more.Since the last century the eighties, parallel institution obtains extensive use because of characteristics such as it has the rigidity height, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformations at industry fields such as virtual-shaft machine tool, fine motion operating desk, various motion simulator and power and torque sensors.
Parallel institution has 2,3,4,5 or 6 frees degree.At present, comparatively comprehensive and deep to the research of 6DOF parallel institution, in industry, also use more extensively.But the minimizing of mechanism freedom will make mechanism structure more simple, make and control cost relatively low, so under the situation that satisfies the expection job requirement, the lower-mobility parallel robot has its unique advantage.
With respect to the serial machine robot mechanism, the parallel robot mechanism working space is less, has strong coupling between the motion, and the control difficulty is bigger, and this has limited parallel institution further applying in industry.And if mechanism realizes mobile decoupling, then its working space will enlarge, and control is easy, can reach higher kinematic accuracy, and will be all significant to motion of mechanism control, trajectory planning and demarcation etc.
The utility model patent of authorizing in State Intellectual Property Office on November 10th, 2010 " a kind of full decoupled one moves two rotates the three-freedom degree spatial parallel structures " (CN 201625978 U); This mechanism comprises silent flatform, moving platform and is connected three branch roads quiet, moving platform; Its each branch road respectively by moving sets and universal hinge, two revolute pairs that are connected successively with universal hinge and the revolute pair that is connected successively, universal hinge and ball are secondary forms; Structure is complicated, and manufacturing cost is high; And mechanism's Jacobian matrix is following triangle battle array, so mechanism is merely partly decoupled between moving and rotating, is not truly full decoupled, the control of mechanism with demarcate still difficult.
Summary of the invention
The object of the present invention is to provide a kind ofly to have mobile decoupling, form simple and be easy to one of characteristics such as controlling and move two and change three freedom decoupling parallel robot mechanisms.The present invention mainly comprises fixed pedestal, moving platform and is connected fixed pedestal and three branches of moving platform; Wherein, First branch is made up of a moving sets, two revolute pairs and two connecting rods; One end of a connecting rod links to each other with fixed pedestal through moving sets, and an end of another connecting rod links to each other with moving platform through revolute pair, and the other end of above-mentioned two connecting rods links to each other through revolute pair; Two revolute pair axis are vertical each other in this branch, and the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets; Second branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; An end of first connecting rod links to each other with fixed pedestal through revolute pair in the branch; Its other end links to each other with an end of second connecting rod through cylindrical pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with fixed pedestal in this branch, and with other two turns auxiliary shaft line parallel; The 3rd branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; One end of first connecting rod links to each other with fixed pedestal through cylindrical pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with moving platform in this branch, and with other two turns auxiliary shaft line parallel; Three revolute pair axis that above-mentioned three branches link to each other with moving platform are parallel to each other.
The present invention compared with prior art has following advantage: has one and move and two rotational freedoms, and mechanism's Jacobian matrix is diagonal matrix, and mobile decoupling, so mechanism's moving platform flexibility is high, the control system is easy to develop, and demarcates more easy.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
Moving two shown in Figure 1 a kind of one changes in the three-dimensional simplified schematic diagram of three freedom decoupling parallel robot mechanisms, and an end of three branches all is connected with fixed pedestal 1, and its other end all is connected with moving platform 2.Wherein, First branch is made up of two connecting rods, a moving sets and two revolute pairs; One end of connecting rod 4 links to each other with fixed pedestal through moving sets 3, and its other end links to each other with an end of connecting rod 6 through revolute pair 5, and the other end of connecting rod 6 links to each other with moving platform through revolute pair 7; Revolute pair 5 is vertical each other with revolute pair 7 axis in this branch, and the axis of revolute pair 5 is vertical with the direction of motion of moving sets 3; Second branch is made up of three connecting rods, a cylindrical pair and three revolute pairs; One end of connecting rod 9 links to each other with fixed pedestal through revolute pair 8; Its other end links to each other with an end of connecting rod 11 through cylindrical pair 10, and the other end of connecting rod 11 links to each other with an end of connecting rod 13 through revolute pair 12, and the other end of connecting rod 13 links to each other with moving platform through revolute pair 14; Cylindrical pair 10 axis and revolute pair 8 axis normal in this branch, and with revolute pair 12 and revolute pair 14 parallel axes; The 3rd branch is made up of three connecting rods, a cylindrical pair and three revolute pairs; One end of connecting rod 16 links to each other with fixed pedestal through cylindrical pair 15; Its other end links to each other with an end of connecting rod 18 through revolute pair 17, and the other end of connecting rod 18 links to each other with an end of connecting rod 20 through revolute pair 19, and the other end of connecting rod 20 links to each other with moving platform through revolute pair 21; Cylindrical pair 15 axis and revolute pair 21 axis normal in this branch, and with revolute pair 17 and revolute pair 19 parallel axes; The axis of three revolute pairs that above-mentioned three branches link to each other with moving platform respectively is parallel to each other.

Claims (1)

1. one kind one is moved two commentaries on classics three freedom decoupling parallel robot mechanisms; Comprise fixed pedestal, moving platform and be connected fixed pedestal and three branches of moving platform; It is characterized in that: in these three branches, first branch is made up of a moving sets, two revolute pairs and two connecting rods, and an end of a connecting rod links to each other with fixed pedestal through moving sets; One end of another connecting rod links to each other with moving platform through revolute pair; The other end of above-mentioned two connecting rods links to each other through revolute pair, and two revolute pair axis are vertical each other in this branch, and the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets; Second branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; An end of first connecting rod links to each other with fixed pedestal through revolute pair in the branch; Its other end links to each other with an end of second connecting rod through cylindrical pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with fixed pedestal in this branch, and with other two turns auxiliary shaft line parallel; The 3rd branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; One end of first connecting rod links to each other with fixed pedestal through cylindrical pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with moving platform in this branch, and with other two turns auxiliary shaft line parallel; Three revolute pair axis that above-mentioned three branches link to each other with moving platform are parallel to each other.
CN201110334467.6A 2011-10-30 2011-10-30 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom CN102431028B (en)

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626871A (en) * 2012-05-03 2012-08-08 清华大学 High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism
CN102825595A (en) * 2012-08-24 2012-12-19 燕山大学 Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
CN103358303A (en) * 2013-06-25 2013-10-23 燕山大学 Two-rotation one-movement complete decoupling parallel mechanism
CN103568004A (en) * 2013-11-08 2014-02-12 燕山大学 Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism
CN103624559A (en) * 2013-11-25 2014-03-12 燕山大学 Two-rotating complete decoupling parallel mechanism
CN104275691A (en) * 2014-09-16 2015-01-14 燕山大学 Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom)
CN104440880A (en) * 2014-11-21 2015-03-25 广西智通节能环保科技有限公司 Two-CPR and PPR spatial parallel robot mechanism
CN104626117A (en) * 2015-01-20 2015-05-20 江南大学 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism
CN104626123A (en) * 2015-01-20 2015-05-20 江南大学 1R, (1T1R) and 1R decoupling series-parallel robot
CN104875193A (en) * 2015-05-19 2015-09-02 江南大学 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism
CN105215973A (en) * 2015-09-30 2016-01-06 河南科技大学 Asymmetric two-dimensional rotary one-dimensional movement parallel institution
CN105215977A (en) * 2015-09-30 2016-01-06 河南科技大学 Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism
CN105215974A (en) * 2015-09-30 2016-01-06 河南科技大学 There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism
CN105563462A (en) * 2014-11-07 2016-05-11 江南大学 (1T2R) & 1T1R five-degree-of-freedom decoupling hybrid mechanism
CN105643593A (en) * 2014-11-07 2016-06-08 江南大学 (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism
CN105855921A (en) * 2016-06-12 2016-08-17 清华大学 Parallel mechanism with three spatial freedom degrees
CN105855906A (en) * 2016-06-12 2016-08-17 清华大学 Parallel mechanism with three spatial degrees of freedom
CN105881496A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R)
CN105881499A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T
CN105881497A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T)
CN105881495A (en) * 2014-11-07 2016-08-24 江南大学 Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R
CN109925167A (en) * 2019-04-03 2019-06-25 燕山大学 Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone
WO2020200231A1 (en) * 2019-04-01 2020-10-08 东莞理工学院 Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism

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CN101143446A (en) * 2007-07-27 2008-03-19 河南科技大学 Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism
CN101249651A (en) * 2008-04-09 2008-08-27 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN101518898A (en) * 2009-04-09 2009-09-02 浙江理工大学 Parallel mechanism with three freedom degrees of twice rotation and once motion
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US5007300A (en) * 1989-03-03 1991-04-16 United Kingdom Atomic Energy Authority Multi-axis hand controller
US5279176A (en) * 1992-07-20 1994-01-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Six-degree-of-freedom parallel "minimanipulator" with three inextensible limbs
JPH0890462A (en) * 1994-09-28 1996-04-09 Nippon Steel Corp Parallel link manipulator
US5656905A (en) * 1995-04-03 1997-08-12 Tsai; Lung-Wen Multi-degree-of-freedom mechanisms for machine tools and the like
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CN101143446A (en) * 2007-07-27 2008-03-19 河南科技大学 Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism
CN101249651A (en) * 2008-04-09 2008-08-27 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN101518898A (en) * 2009-04-09 2009-09-02 浙江理工大学 Parallel mechanism with three freedom degrees of twice rotation and once motion
CN101791804A (en) * 2010-01-26 2010-08-04 燕山大学 Symmetrical double-rotation one-motion three-freedom-degree parallel mechanism

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102626871A (en) * 2012-05-03 2012-08-08 清华大学 High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism
CN102825595B (en) * 2012-08-24 2015-04-08 燕山大学 Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
CN102825595A (en) * 2012-08-24 2012-12-19 燕山大学 Input-output complete decoupling three-freedom-degree moving parallel robot mechanism
CN103358303A (en) * 2013-06-25 2013-10-23 燕山大学 Two-rotation one-movement complete decoupling parallel mechanism
CN103568004A (en) * 2013-11-08 2014-02-12 燕山大学 Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism
CN103624559A (en) * 2013-11-25 2014-03-12 燕山大学 Two-rotating complete decoupling parallel mechanism
CN103624559B (en) * 2013-11-25 2016-05-04 燕山大学 A kind of two rotate full decoupled parallel institution
CN104275691A (en) * 2014-09-16 2015-01-14 燕山大学 Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom)
CN104275691B (en) * 2014-09-16 2016-08-24 燕山大学 There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting
CN105881499A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T
CN105881496A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R)
CN105643593A (en) * 2014-11-07 2016-06-08 江南大学 (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism
CN105563462A (en) * 2014-11-07 2016-05-11 江南大学 (1T2R) & 1T1R five-degree-of-freedom decoupling hybrid mechanism
CN105881495A (en) * 2014-11-07 2016-08-24 江南大学 Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R
CN105881497A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T)
CN104440880A (en) * 2014-11-21 2015-03-25 广西智通节能环保科技有限公司 Two-CPR and PPR spatial parallel robot mechanism
CN104626123A (en) * 2015-01-20 2015-05-20 江南大学 1R, (1T1R) and 1R decoupling series-parallel robot
CN104626117A (en) * 2015-01-20 2015-05-20 江南大学 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism
CN104875193A (en) * 2015-05-19 2015-09-02 江南大学 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism
CN105215977B (en) * 2015-09-30 2017-04-12 河南科技大学 Non-coupled one-dimensional movement and two-dimensional rotation three-degree-of-freedom parallel mechanism
CN105215974A (en) * 2015-09-30 2016-01-06 河南科技大学 There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism
CN105215977A (en) * 2015-09-30 2016-01-06 河南科技大学 Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism
CN105215973A (en) * 2015-09-30 2016-01-06 河南科技大学 Asymmetric two-dimensional rotary one-dimensional movement parallel institution
CN105855921A (en) * 2016-06-12 2016-08-17 清华大学 Parallel mechanism with three spatial freedom degrees
CN105855906A (en) * 2016-06-12 2016-08-17 清华大学 Parallel mechanism with three spatial degrees of freedom
CN105855921B (en) * 2016-06-12 2019-01-04 清华大学 Parallel institution with space three-freedom
WO2020200231A1 (en) * 2019-04-01 2020-10-08 东莞理工学院 Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism
CN109925167A (en) * 2019-04-03 2019-06-25 燕山大学 Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone

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