CN102501243A - Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom - Google Patents

Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom Download PDF

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CN102501243A
CN102501243A CN2011103344661A CN201110334466A CN102501243A CN 102501243 A CN102501243 A CN 102501243A CN 2011103344661 A CN2011103344661 A CN 2011103344661A CN 201110334466 A CN201110334466 A CN 201110334466A CN 102501243 A CN102501243 A CN 102501243A
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CN102501243B (en
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侯雨雷
曾达幸
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Yanshan University
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Abstract

一种一转动两移动解耦并联机器人机构，主要包括固定基座、动平台和连接它们的三个分支。其中，二个结构完全相同的分支中的两个连杆的一端均通过移动副与固定基座相连，其另一端通过移动副分别与另两个连杆的一端相连，该两连杆的另一端均通过转动副与动平台相连；另一个分支中的第一个连杆的一端通过移动副与固定基座相连，其另一端也通过移动副与第二个连杆的一端相连，该连杆的另一端通过转动副与第三个连杆的一端相连，该连杆又通过转动副与动平台相连。本发明具有运动解耦、机构运动控制系统易于开发、标定更为简便等优点。

A one-rotation two-movement decoupling parallel robot mechanism mainly includes a fixed base, a moving platform and three branches connecting them. Among them, one end of the two connecting rods in the two branches with the same structure is connected to the fixed base through a moving pair, and the other end is connected to one end of the other two connecting rods through a moving pair respectively, and the other ends of the two connecting rods One end is connected to the moving platform through a rotating pair; one end of the first connecting rod in the other branch is connected to the fixed base through a moving pair, and the other end is also connected to one end of the second connecting rod through a moving pair. The other end of the rod is connected to one end of a third connecting rod through a swivel joint, which in turn is connected to the moving platform through a swivel joint. The invention has the advantages of motion decoupling, easy development of mechanism motion control system, simpler calibration and the like.

Description

一种一转动两移动解耦并联机器人机构A decoupling parallel robot mechanism with one rotation and two movements

技术领域 technical field

本发明涉及机器人领域，特别是一种并联机器人机构。 The invention relates to the field of robots, in particular to a parallel robot mechanism.

背景技术 Background technique

并联机器人机构为空间多自由度多环闭链形式。自上世纪八十年代以来，并联机构因其具有刚度高、承载能力大、累积误差小、动态特性好、结构紧凑等特点而在虚拟轴机床、微动操作台、运动模拟器以及力与力矩传感器等行业领域获得广泛应用。 The parallel robot mechanism is a closed-chain form with multiple degrees of freedom and multiple loops in space. Since the 1980s, parallel mechanisms have been widely used in virtual axis machine tools, micro-motion consoles, motion simulators, and force and moment mechanisms because of their high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. Sensors and other industries have been widely used.

并联机构具有2、3、4、5或6个自由度。目前，对6自由度并联机构的研究较为全面和深入，在工业中也应用得更为广泛。但机构自由度的减少将使得机构结构更为简单，制造和控制成本相对较低，故在满足预期工作要求的情况下，少自由度并联机器人有其独特优势。 Parallel mechanisms have 2, 3, 4, 5 or 6 degrees of freedom. At present, the research on 6-DOF parallel mechanism is relatively comprehensive and in-depth, and it is also widely used in industry. However, the reduction of the degree of freedom of the mechanism will make the structure of the mechanism simpler, and the cost of manufacturing and control is relatively low. Therefore, parallel robots with fewer degrees of freedom have their unique advantages when the expected work requirements are met.

相对于串联机器人机构，并联机器人机构工作空间较小，运动之间存在强的耦合性，控制难度较大，这限制了并联机构在工业中的进一步推广应用。而如果机构实现运动解耦，则其工作空间将扩大，并且控制容易，可以达到更高的运动精度，对机构的运动控制、轨迹规划及标定等均具有重要意义。 Compared with the serial robot mechanism, the parallel robot mechanism has a smaller working space, strong coupling between motions, and more difficult control, which limits the further promotion and application of the parallel mechanism in the industry. However, if the mechanism achieves motion decoupling, its working space will be enlarged, and the control will be easy, and higher motion precision can be achieved, which is of great significance to the motion control, trajectory planning and calibration of the mechanism.

国家知识产权局2010年7月7日公布的申请号为200910231054.8的发明专利“二平动一转动部分解耦并联机构”，具有两平动一转动自由度，但机构中包含万向铰和球副，结构较复杂，制造成本高，且机构平动和转动之间仅为部分解耦，并非完全解耦，故机构的控制与标定仍较困难。 The invention patent "two translational one rotational part decoupling parallel mechanism" published by the State Intellectual Property Office on July 7, 2010, with the application number 200910231054.8, has two translational one rotational degrees of freedom, but the mechanism includes a universal hinge and a ball Vice, the structure is more complicated, the manufacturing cost is high, and the decoupling between translation and rotation of the mechanism is only partly, not completely decoupled, so the control and calibration of the mechanism are still difficult.

发明内容 Contents of the invention

本发明的目的在于提供一种具有运动完全解耦、组成简单和易于控制的一转动两移动解耦并联机器人机构。本发明主要包括固定基座、动平台和连接固定基座与动平台的三个分支，其中两个分支结构完全相同，即均由两个连杆、两个移动副和一个转动副组成，该两个相同的分支中的两个连杆的一端均通过移动副与固定基座相连，其另一端通过移动副分别与另两个连杆的一端相连，该两连杆的另一端均通过转动副与动平台相连，与动平台相连的转动副轴线和与固定基座相连的移动副运动方向平行，且与连接两连杆的移动副运动方向垂直，此外，这两分支与动平台相连的转动副轴线重合，连接两连杆的移动副运动方向平行，与固定基座相连的移动副运动方向相同；另一个分支由三个连杆、两个移动副和两个转动副组成，其中，第一个连杆的一端通过移动副与固定基座相连，其另一端也通过移动副与第二个连杆的一端相连，该连杆的另一端通过转动副与第三个连杆的一端相连，该连杆又通过转动副与动平台相连，此分支中两移动副运动方向相互垂直，两转动副轴线相互平行，且与和固定基座相连的移动副运动方向平行，并与上述两个相同分支中和动平台相连的转动副轴线平行；上述两个相同分支与固定基座相连的移动副与另一分支与固定基座相连的移动副运动方向平行，上述两个相同分支中连接两连杆的移动副的运动方向与另一分支中连接两连杆的移动副的运动方向相互垂直。 The object of the present invention is to provide a one-rotation two-movement decoupling parallel robot mechanism with complete decoupling of motion, simple composition and easy control. The present invention mainly includes a fixed base, a moving platform and three branches connecting the fixed base and the moving platform, wherein the two branches have the same structure, that is, both are composed of two connecting rods, two moving pairs and a rotating pair. One end of the two connecting rods in the two identical branches is connected to the fixed base through a moving pair, and the other end is connected to one end of the other two connecting rods through a moving pair, and the other ends of the two connecting rods are connected by rotating The pair is connected to the moving platform, and the axis of the rotating pair connected to the moving platform is parallel to the moving direction of the moving pair connected to the fixed base, and perpendicular to the moving direction of the moving pair connecting the two connecting rods. In addition, the two branches connected to the moving platform The axis of the rotating pair coincides, the moving direction of the moving pair connecting the two connecting rods is parallel, and the moving direction of the moving pair connected to the fixed base is the same; the other branch is composed of three connecting rods, two moving pairs and two rotating pairs, among which, One end of the first connecting rod is connected to the fixed base through a moving pair, and the other end is also connected to one end of the second connecting rod through a moving pair, and the other end of the connecting rod is connected to one end of the third connecting rod through a rotating pair. The connecting rod is connected to the moving platform through the rotating pair. The moving directions of the two moving pairs in this branch are perpendicular to each other, and the axes of the two rotating pairs are parallel to each other and parallel to the moving direction of the moving pair connected to the fixed base. The axis of the rotating pair connected to the moving platform in two identical branches is parallel; the moving pair connected to the fixed base in the above two identical branches is parallel to the moving direction of the moving pair connected to the fixed base in the other branch, and the moving pair connected to the fixed base in the above two identical branches is parallel. The motion direction of the moving pair of the two connecting rods is perpendicular to the moving direction of the moving pair connecting the two connecting rods in the other branch.

本发明与现有技术相比具有如下优点：具有一个转动和两个移动自由度，并且运动解耦，机构运动控制系统易于开发，标定更为简便。 Compared with the prior art, the invention has the following advantages: it has one rotation and two moving degrees of freedom, and the motion is decoupled, the mechanism motion control system is easy to develop, and the calibration is simpler.

附图说明 Description of drawings

图1为本发明的立体示意简图。 Fig. 1 is a three-dimensional schematic diagram of the present invention.

具体实施方式 Detailed ways

在图1所示的一种一转动两移动解耦并联机器人机构立体示意简图中，固定基座1通过三个分支与动平台2连接，其中，第一、第二两个完全相同的分支中的两个连杆4、9的一端分别通过移动副3、8与固定基座相连，其另一端分别通过移动副5、10与另两个连杆6、11的一端相连，该两连杆的另一端分别通过转动副7、12与动平台相连，与动平台相连的转动副轴线和与固定基座相连的移动副运动方向平行，且与连接两连杆的移动副运动方向垂直，此外，上述两分支与动平台相连的转动副轴线重合，与固定基座相连的移动副运动方向相同；第三个分支的连杆14一端通过移动副13与固定基座相连，其另一端通过移动副15与连杆16的一端相连，该连杆的另一端通过转动副17与连杆18的一端相连，该连杆的另一端通过转动副19与动平台相连，上述分支中两个转动副的轴线相互平行，且与和固定基座相连的移动副的运动方向平行，移动副13和移动副15的运动方向相互垂直；上述两个相同分支与动平台相连的两个转动副轴线重合，并与上述第三分支和动平台相连的转动副轴线平行；上述两个相同分支与固定基座相连的移动副与上述第三分支与固定基座相连的移动副运动方向平行，且与和动平台相连的三个转动副轴线平行；上述两个相同分支中连接两连杆的移动副5、移动副10的运动方向平行，且与第三个分支中移动副15的运动方向垂直。 In the three-dimensional schematic diagram of a one-rotation two-movement decoupling parallel robot mechanism shown in Figure 1, the fixed base 1 is connected to the moving platform 2 through three branches, among which the first and second two identical branches One ends of the two connecting rods 4, 9 are connected to the fixed base through the moving pair 3, 8 respectively, and the other ends are connected to one end of the other two connecting rods 6, 11 through the moving pair 5, 10 respectively. The other end of the rod is connected to the moving platform through the rotating pair 7, 12 respectively, the axis of the rotating pair connected to the moving platform is parallel to the moving direction of the moving pair connected to the fixed base, and perpendicular to the moving direction of the moving pair connecting the two connecting rods, In addition, the above two branches are coincident with the axis of the rotating pair connected to the moving platform, and the moving direction of the moving pair connected to the fixed base is the same; one end of the connecting rod 14 of the third branch is connected with the fixed base through the moving pair The moving pair 15 is connected with one end of the connecting rod 16, and the other end of the connecting rod is connected with one end of the connecting rod 18 through the rotating pair 17, and the other end of the connecting rod is connected with the moving platform through the rotating pair 19, and the two rotating parts in the above-mentioned branch The axes of the pairs are parallel to each other, and parallel to the movement direction of the moving pair connected to the fixed base, and the moving directions of the moving pair 13 and the moving pair 15 are perpendicular to each other; the above-mentioned two identical branches coincide with the axes of the two rotating pairs connected to the moving platform , and parallel to the axis of the rotating pair connected to the third branch and the moving platform; the moving pair connected to the fixed base of the above two same branches is parallel to the moving direction of the moving pair connected to the fixed base of the third branch, and is parallel to and The axes of the three rotating pairs connected to the moving platform are parallel; the moving directions of the moving pair 5 and the moving pair 10 connecting the two connecting rods in the above two same branches are parallel and perpendicular to the moving direction of the moving pair 15 in the third branch.

Claims (1)

1.一种一转动两移动解耦并联机器人机构，包括固定基座、动平台和连接固定基座与动平台的三个分支，其特征在于：该三个分支中，二个结构完全相同的分支中的两个连杆的一端均通过移动副与固定基座相连，其另一端通过移动副分别与另两个连杆的一端相连，该两连杆的另一端均通过转动副与动平台相连，与动平台相连的转动副轴线和与固定基座相连的移动副运动方向平行，并与连接两连杆的移动副运动方向垂直，上述两个分支与动平台相连的转动副轴线重合，连接两连杆的移动副运动方向平行，与固定基座相连的移动副运动方向相同；另一个分支中的第一个连杆的一端通过移动副与固定基座相连，其另一端也通过移动副与第二个连杆的一端相连，该连杆的另一端通过转动副与第三个连杆的一端相连，该连杆又通过转动副与动平台相连，该分支中两移动副运动方向相互垂直，两转动副轴线相互平行，且与和固定基座相连的移动副运动方向平行，并与上述两个相同分支中和动平台相连的转动副轴线平行；上述两个相同分支与固定基座相连的移动副与另一分支与固定基座相连的移动副运动方向平行，上述两个相同分支中连接两连杆的移动副的运动方向与另一分支中连接两连杆的移动副的运动方向相互垂直。 1. A decoupling parallel robot mechanism with one rotation and two movements, comprising a fixed base, a moving platform and three branches connecting the fixed base and the moving platform, characterized in that: among the three branches, two of the same structures One end of the two connecting rods in the branch is connected to the fixed base through a moving pair, and the other end is connected to one end of the other two connecting rods through a moving pair, and the other ends of the two connecting rods are connected to the moving platform through a rotating pair. The axis of the rotating pair connected to the moving platform is parallel to the moving direction of the moving pair connected to the fixed base, and perpendicular to the moving direction of the moving pair connecting the two connecting rods. The above two branches coincide with the axis of the rotating pair connected to the moving platform. The movement direction of the moving pair connecting the two connecting rods is parallel, and the moving direction of the moving pair connected with the fixed base is the same; one end of the first connecting rod in the other branch is connected with the fixed base through a moving pair, and the other end is also connected through a moving pair. The pair is connected with one end of the second connecting rod, and the other end of the connecting rod is connected with one end of the third connecting rod through the rotating joint, and the connecting rod is connected with the moving platform through the rotating joint, and the moving direction of the two moving pairs in this branch They are perpendicular to each other, the axes of the two rotating pairs are parallel to each other, and parallel to the movement direction of the moving pair connected to the fixed base, and parallel to the axis of the rotating pair connected to the moving platform in the above two identical branches; the above two identical branches are connected to the fixed base The movement direction of the movement pair connected to the base is parallel to the movement direction of the movement pair connected to the fixed base in the other branch, and the movement direction of the movement pair connected to the two connecting rods in the above two same branches is the same The directions of motion are perpendicular to each other.
CN201110334466.1A 2011-10-30 2011-10-30 Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom Expired - Fee Related CN102501243B (en)

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CN104002298B (en) * 2014-05-12 2016-01-27 燕山大学 A kind of two move a rotating decoupling parallel robot mechanism
CN105563460A (en) * 2014-11-07 2016-05-11 江南大学 1T & (1T1R) & 2R five-degree-of-freedom decoupling hybrid mechanism
CN105881498A (en) * 2014-11-07 2016-08-24 江南大学 Decoupling hybrid mechanism with five freedom degrees of (2T)&(1T1R)&1R
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CN109571444A (en) * 2019-01-17 2019-04-05 燕山大学 A kind of partly decoupled parallel institution of two translations, one rotation
CN109571444B (en) * 2019-01-17 2020-06-23 燕山大学 A Partially Decoupled Parallel Mechanism with Two Translations and One Rotation
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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
CN112344139A (en) * 2020-10-27 2021-02-09 燕山大学 A two-turn, two-shift vibration isolation platform
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