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 PDFInfo
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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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Abstract
A decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom mainly comprises a fixed base, a moving platform and three branches for connecting the fixed base with the moving platform. One end of each of two connecting rods of two structurally identical branches is connected with the fixed base through a moving pair, the other end of each of the two connecting rods is connected with one end of each of another two connecting rods through a moving pair, and the other end of each of the another two connecting rods is connected with the moving platform through a rotating pair. One end of a first connecting rod of the other branch is connected with the fixed base through a moving pair, the other end of the first connecting rod is also connected with one end of a second connecting rod through a moving pair, the other end of the second connecting rod is connected with one end of a third connecting rod through a rotating pair, and the third connecting rod is further connected with the moving platform through a rotating pair. The decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom has the advantages that movement decoupling is realized, a movement control system of the mechanism is easy to develop, calibration is simpler and more convenient, and the like.
Description
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, 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 application number that State Intellectual Property Office announced on July 7th, 2010 is 200910231054.8 patent of invention " twin-translation-rotation partial decoupling parallel mechanism "; Have two translations, one rotational freedom, but comprise universal hinge and ball pair in the mechanism, structure is complicated; Manufacturing cost is high; And being merely partly decoupled between mechanism's translation and the rotation, is not full decoupled, so the control of mechanism is still difficult with demarcation.
Summary of the invention
The object of the present invention is to provide an a kind of rotation two moved decoupling parallel robot mechanisms that motion is full decoupled, form simply and be easy to control that have.The present invention mainly comprises fixed pedestal, moving platform and is connected fixed pedestal and three branches of moving platform; Wherein two branched structures are identical, promptly form by two connecting rods, two moving sets and a revolute pair, and an end of two connecting rods in these two identical branches all links to each other with fixed pedestal through moving sets; Its other end links to each other with other end of two connecting rods respectively through moving sets; The other end of this two connecting rod all links to each other with moving platform through revolute pair, and is parallel with the moving sets direction of motion that links to each other with fixed pedestal with the revolute pair axis that moving platform links to each other, and vertical with the moving sets direction of motion that is connected two connecting rods; In addition; The revolute pair axis that this two branch links to each other with moving platform overlaps, and the moving sets direction of motion that connects two connecting rods is parallel, and the moving sets direction of motion that links to each other with fixed pedestal is identical; Another branch is made up of three connecting rods, two moving sets and two revolute pairs; Wherein, an end of first connecting rod links to each other with fixed pedestal through moving sets, and its other end also links to each other with an end of second connecting rod through moving sets; The other end of this connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; This connecting rod links to each other with moving platform through revolute pair again, and the two moving sets directions of motion are vertical each other in this branch, and two revolute pair axis are parallel to each other; And parallel with the moving sets direction of motion that links to each other with fixed pedestal, and with above-mentioned two same branches in the turns auxiliary shaft line parallel that links to each other with moving platform; The moving sets that above-mentioned two same branches and fixed pedestal link to each other is parallel with the moving sets direction of motion that another branch links to each other with fixed pedestal, and the direction of motion of moving sets that is connected two connecting rods in above-mentioned two same branches in the direction of motion of the moving sets of connection two connecting rods and another branch is vertical each other.
The present invention compared with prior art has following advantage: have a rotation and two one-movement-freedom-degrees, and mobile decoupling, mechanism kinematic control system is easy to exploitation, demarcates more easy.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
In the three-dimensional simplified schematic diagram of an a kind of rotation two moved decoupling parallel robot mechanisms shown in Figure 1; Fixed pedestal 1 is connected with moving platform 2 through three branches; Wherein, an end of two connecting rods 4,9 in first, second two identical branches links to each other with fixed pedestal through moving sets 3,8 respectively, and its other end passes through moving sets 5,10 respectively and links to each other with other end of two connecting rods 6,11; The other end of this two connecting rod links to each other with moving platform through revolute pair 7,12 respectively; Parallel with the revolute pair axis that moving platform links to each other with the moving sets direction of motion that links to each other with fixed pedestal, and vertical with the moving sets direction of motion that is connected two connecting rods, in addition; The revolute pair axis that above-mentioned two branches link to each other with moving platform overlaps, and the moving sets direction of motion that links to each other with fixed pedestal is identical; Connecting rod 14 1 ends of the 3rd branch link to each other with fixed pedestal through moving sets 13; Its other end links to each other with an end of connecting rod 16 through moving sets 15; The other end of this connecting rod links to each other with an end of connecting rod 18 through revolute pair 17, and the other end of this connecting rod links to each other with moving platform through revolute pair 19, and the axis of two revolute pairs is parallel to each other in the above-mentioned branch; And parallel with the direction of motion of the moving sets that links to each other with fixed pedestal, the direction of motion of moving sets 13 and moving sets 15 is vertical each other; Two revolute pair axis that above-mentioned two same branches link to each other with moving platform overlap, and the turns auxiliary shaft line parallel that links to each other with moving platform with above-mentioned the 3rd branch; The moving sets that above-mentioned two same branches and fixed pedestal link to each other is parallel with the moving sets direction of motion that above-mentioned the 3rd branch links to each other with fixed pedestal, and with three turns auxiliary shaft line parallels that link to each other with moving platform; The direction of motion of the moving sets 5 of connection two connecting rods, moving sets 10 is parallel in above-mentioned two same branches, and vertical with the direction of motion of moving sets 15 in the 3rd branch.
Claims (1)
1. one kind one is rotated two moved 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, an end of two connecting rods in two identical in structure branches all links to each other with fixed pedestal through moving sets, and its other end links to each other with other end of two connecting rods respectively through moving sets; The other end of this two connecting rod all links to each other with moving platform through revolute pair; Parallel with the revolute pair axis that moving platform links to each other with the moving sets direction of motion that links to each other with fixed pedestal, and vertical with the moving sets direction of motion that is connected two connecting rods, and the revolute pair axis that above-mentioned two branches link to each other with moving platform overlaps; The moving sets direction of motion that connects two connecting rods is parallel, and the moving sets direction of motion that links to each other with fixed pedestal is identical; One end of first connecting rod in another branch links to each other with fixed pedestal through moving sets; Its other end also links to each other with an end of second connecting rod through moving sets; The other end of this connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; This connecting rod links to each other with moving platform through revolute pair again, and the two moving sets directions of motion are vertical each other in this branch, and two revolute pair axis are parallel to each other; And parallel with the moving sets direction of motion that links to each other with fixed pedestal, and with above-mentioned two same branches in the turns auxiliary shaft line parallel that links to each other with moving platform; The moving sets that above-mentioned two same branches and fixed pedestal link to each other is parallel with the moving sets direction of motion that another branch links to each other with fixed pedestal, and the direction of motion of moving sets that is connected two connecting rods in above-mentioned two same branches in the direction of motion of the moving sets of connection two connecting rods and another branch is vertical each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110334466.1A CN102501243B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110334466.1A CN102501243B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom |
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| CN102501243A true CN102501243A (en) | 2012-06-20 |
| CN102501243B CN102501243B (en) | 2014-07-23 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949957A (en) * | 2014-04-21 | 2014-07-30 | 清华大学 | Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism |
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-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 |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN109571444A (en) * | 2019-01-17 | 2019-04-05 | 燕山大学 | A kind of partly decoupled parallel institution of two translations, one rotation |
| 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 |
| CN112344139A (en) * | 2020-10-27 | 2021-02-09 | 燕山大学 | Two-rotation two-movement vibration isolation platform |
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| EP2133181A2 (en) * | 2008-06-10 | 2009-12-16 | Murata Machinery, Ltd. | Parallel mechanism |
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| DE102008019725A1 (en) * | 2008-04-18 | 2009-10-29 | Elau Gmbh | Delta robot has stationary base plate and three servo drives mounted on base plate, where swivel arm is mounted at output shaft of servo drives, and two torsion supports have triangular profiles with parallel surfaces in unloaded condition |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949957A (en) * | 2014-04-21 | 2014-07-30 | 清华大学 | Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism |
| CN103949957B (en) * | 2014-04-21 | 2017-01-18 | 清华大学 | Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism |
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| 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 |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| 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 | Two-translation one-rotation partial decoupling parallel mechanism |
| 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 |
| CN112344139A (en) * | 2020-10-27 | 2021-02-09 | 燕山大学 | Two-rotation two-movement vibration isolation platform |
| CN112344139B (en) * | 2020-10-27 | 2021-09-14 | 燕山大学 | Two-rotation two-movement vibration isolation platform |
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