CN102554914A - Novel three-degrees-of-freedom under-actuated mechanism - Google Patents
Novel three-degrees-of-freedom under-actuated mechanism Download PDFInfo
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- CN102554914A CN102554914A CN2012100028154A CN201210002815A CN102554914A CN 102554914 A CN102554914 A CN 102554914A CN 2012100028154 A CN2012100028154 A CN 2012100028154A CN 201210002815 A CN201210002815 A CN 201210002815A CN 102554914 A CN102554914 A CN 102554914A
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Abstract
The invention relates to a novel three-degrees-of-freedom under-actuated mechanism. The mechanism comprises a base, a movable platform, three branch chains having an identical structure and distributed in axial symmetry, two power sources and a position detection device. The three branch chains are movably connected with the movable platform, the movable platform sinks towards the direction of the base and is in an inward concave shape, the two driving power sources directly drive the two moving branch chains to form the third moving branch chain, namely, the under-actuated mechanism, so that the movable platform moves in three degrees of freedom; and the position detection device is connected with the under-actuated moving branch chains to realize position detection. The mechanism is easy to machine and assemble, flexible in movement, compact in structure and good in rigidity; and as an under-actuated manner is adopted, the cost is lowered, the weight of the wrist part is reduced, and the mechanism can be used in occasions such as parallel robots, micro-robots and the like.
Description
Technical field
The present invention relates to a kind of novel three-degree of freedom under-actuated structure, especially a kind of concave shaped Three Degree Of Freedom based on spherical pair is owed driven Parallel Kinematic Manipulator.
Background technology
3-freedom parallel mechanism is a kind of very important lower-mobility parallel institution, and its moving platform can be realized three-degree-of-freedom motion.Compare with serial mechanism, parallel institution has characteristics such as compact conformation, bearing capacity are good, kinematic accuracy Gao ﹑ mechanism good rigidity.The lack of driven structure is meant the mechanism of control discrepancy less than degree of freedom in system; Lack of driven robot is a kind of robot that contains the lack of driven structure; Because it has characteristics such as volume is little, in light weight, cost is low, energy consumption is low, flexibility height; Therefore cause scholars' extensive concern, become the new focus of robot field's research.Want to realize in working space that pose needs six-freedom degree at least arbitrarily such as robot, often need three degree of freedom in wrist or waist, industry is now gone up the robot that uses and is mostly the serial machine people; Bigger some inborn defectives that still exist in space though the serial machine people works; For example ratio of rigidity is less, and bearing capacity is little, and precision is low; Movement inertia is big, and the occasion accurate at ask for something received considerable restraint.Moreover because the weight issue in each joint, had a strong impact on the bearing capacity of end effector, and driver element weight has accounted for a greater part of of each joint weight.
Summary of the invention
The objective of the invention is defective, a kind of novel three-degree of freedom under-actuated structure is provided to above-mentioned prior art existence.This mechanism structure is simple, and reliable, volume is little, mechanism is compact, good rigidity, in light weight, and cost is low, is easy to processing, is easy to assembling.This device is applicable to parallel robot, jiggle robot etc.
For achieving the above object, design of the present invention is:
This novel three-degree of freedom under-actuated structure contains a pedestal, a moving platform, three movement branched chain that the structure same axis is arranged symmetrically and evenly, and two drive power source and a position detecting device.It is characterized in that: ring flange is used for being connected with other devices; Moving platform is concave shaped, and pedestal connects moving platform through three side chains, wherein has two side chains to have power source; Another side chain has a rotary encoder to detect the anglec of rotation of connecting rod, and moving platform can be done the motion of Three Degree Of Freedom.Its discal patch drives the side chain motor and decelerator links together through being bolted on the motor supporting seat; Drive connecting rod one end links to each other through revolute pair with follower link through flat key and the reducer output shaft other end that links together through sleeve; The follower link other end links to each other with the moving platform connecting rod through spherical pair; The moving platform connecting rod is fixed together through screw and moving platform, constitutes article one side chain; It is identical that another drives side chain; Article three, side chain encoder supporting seat is fixed on the ring flange through screw; Coder shaft is identical through link together remainder and article one side chain of shaft coupling and lower link; Three moving platform connecting rods become 120 ° evenly to distribute, 120 ° at interval of motor supporting seat and motor supporting seat and encoder supporting seats.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of novel three-degree of freedom under-actuated structure comprises a pedestal, a moving platform, three movement branched chain, two power sources and position detecting devices that the structure same axis is arranged symmetrically and evenly.It is characterized in that: three movement branched chain flexibly connect with moving platform respectively, so not only are convenient to process and assemble but also motion flexibly; Moving platform sinks towards the pedestal direction, is concave shaped, and this can make structure compact more and strengthen the rigidity of mechanism; Two movement branched chain of the direct driving of said two motors constitute three movement branched chain and make three-degree-of-freedom motion for the lack of driven structure makes moving platform, reduce cost and have reduced the weight of mechanism; Said position detecting device is connected with the movement branched chain of owing to drive, and realizes position probing.
The structure of said pedestal is: two motor supporting seats and a rotary encoder supporting seat are fixed on a ring flange upper surface through screw respectively, all at interval 120 ° of said two motor supporting seats and rotary encoder supporting seats.
The structure of said moving platform and three movement branched chain active links is: first, second is fixed on the moving platform lower surface through screw respectively with the three or three moving platform connecting rod one end; Three moving platform connecting rods become 120 ° circumferentially evenly to distribute; Three moving platform connecting rod other ends are connected with the connecting rod of the 3rd spherical pair with said three side chains through first, second respectively, make the moving platform spill that suspends in being.
The structure of said three movement branched chain is: one first drive connecting rod and one first follower link are through one first revolute pair series connection; Constitute first side chain in three side chains; One end of this first side chain is connected with one first reducer output shaft through flat key through one first sleeve, and the other end of this first side chain is connected with the first moving platform connecting rod through said first spherical pair; One second drive connecting rod and one second follower link are through one second revolute pair series connection; Constitute second side chain in three side chains; One end of this second side chain is connected with one second reducer output shaft through flat key through one second sleeve, and the other end of this second side chain is connected with the second moving platform connecting rod through one second spherical pair; The 3rd side chain is that a master connecting-rod and one connecting rod are connected through one the 3rd revolute pair; One end of the 3rd side chain is connected with a rotary coder shaft through a shaft coupling, and the other end of the 3rd side chain is connected with the 3rd moving platform connecting rod through one the 3rd spherical pair.
Said two power source structures are: the first and second two motors link together with the one the second two decelerators respectively and are fastened on the first and second two motor supporting seats through bolt respectively, and these two reducer output shafts are connected with the second two drive connecting rod through in flat key and the first and second two side chains first through the first and second two sleeves respectively.
Said position detecting device structure is: said rotary encoder is fastened on the rotary encoder supporting seat through bolt, and said rotary coder shaft is connected with said master connecting-rod through said shaft coupling.
The invention has the beneficial effects as follows: make assembling and be more prone to, precision is high, good rigidity, and volume more minor structure is compact more, and cost is low, and weight is littler.
Description of drawings
Fig. 1 is the vertical view of novel three-degree of freedom under-actuated structure.
Fig. 2 is that the A of Fig. 1 is to view (changeing 120 °) clockwise.
Fig. 3 is that the B of Fig. 1 is to view (changeing 120 °) clockwise.
The specific embodiment
The preferred embodiments of the present invention combine detailed description of the drawings following:
Embodiment one:
Referring to Fig. 1-Fig. 3; This novel three-degree of freedom under-actuated structure comprises a pedestal, a moving platform (11); Article three, movement branched chain, two power sources and position detecting device of arranging symmetrically and evenly of structure same axis; It is characterized in that: three movement branched chain flexibly connect with moving platform (11) respectively, so not only are convenient to process and assemble but also motion flexibly; Moving platform (11) sinks towards the pedestal direction, is concave shaped, and this can make structure compact more and strengthen the rigidity of mechanism; Two movement branched chain of direct driving of said two motors (3,21) constitute three movement branched chain and make three-degree-of-freedom motion for the lack of driven structure makes moving platform (11), reduce cost and have reduced the weight of mechanism; Said position detecting device is connected with the movement branched chain of owing to drive, and realizes position probing.
Embodiment two:
Present embodiment and embodiment one are basic identical; Special feature is: the structure of said pedestal is: two motor supporting seats (2,20) and a rotary encoder supporting seat (12) are fixed on a ring flange (1) upper surface through screw respectively, all at interval 120 ° of said two motor supporting seats (2,20) and rotary encoder supporting seats (12).Said moving platform (11) with the structure that three movement branched chain flexibly connect is: first, second is fixed on moving platform (11) lower surface through screw respectively with the three or three moving platform connecting rod (10,28, a 19) end; Three moving platform connecting rods (10,28,19) become 120 ° circumferentially evenly to distribute; Three moving platform connecting rods (10,28,19) other end is connected with the connecting rod (8,26,17) of said three side chains with the 3rd spherical pair (9,27,18) through first, second respectively, makes the moving platform spill that suspends in being.The structure of said three movement branched chain is: one first drive connecting rod (6) and one first follower link (8) are through one first revolute pair (7) series connection; Constitute first side chain in three side chains; One end of this first side chain is connected with one first decelerator (4) output shaft through flat key through one first sleeve (5), and the other end of this first side chain is connected with the first moving platform connecting rod (10) through said first spherical pair (9); One second drive connecting rod (24) and one second follower link (26) are through one second revolute pair (25) series connection; Constitute second side chain in three side chains; One end of this second side chain is connected with one second decelerator (22) output shaft through flat key through one second sleeve (23), and the other end of this second side chain is connected with the second moving platform connecting rod (28) through one second spherical pair (27); The 3rd side chain is that a master connecting-rod (15) and one connecting rod (17) are connected through one the 3rd revolute pair (16); One end of the 3rd side chain is connected with a rotary encoder (13) axle through a shaft coupling (14), and the other end of the 3rd side chain is connected with the 3rd moving platform connecting rod (19) through the 3rd spherical pair (18).Said two power source structures are: the first and second two motors (3,21) link together with the first and second two decelerators (4,22) respectively and are fastened on the first and second motor supporting seats (2,20) through bolt respectively, and this two decelerators (4,22) output shaft is connected through the first and second two drive connecting rod (6,24) in flat key and the first and second two side chains through the first and second two sleeves (5,25) respectively.Said position detecting device structure is: said rotary encoder (13) is fastened on the rotary encoder supporting seat (12) through bolt, and said rotary encoder (13) axle is connected with said master connecting-rod (15) through said shaft coupling (14).
Embodiment three:
Shown in Fig. 1-3; This novel three-degree of freedom under-actuated structure: first motor (3) and second motor (21) are respectively with first decelerator (4) with second decelerator (22) links together and be fastened on the first motor supporting seat (2) and the second motor supporting seat (20) through bolt respectively; Rotary encoder (13) is fastened on the rotary encoder supporting seat (12) through bolt; The first motor supporting seat (2), the second motor supporting seat (20) and rotary encoder supporting seat (12) are fixed on ring flange (1) upper surface through screw respectively, all at interval 120 ° of the first motor supporting seat (2), the second motor supporting seat (20) and rotary encoder supporting seats (12).First, second, third 3 moving platform connecting rods (10,28,19) end is fixed on moving platform (11) lower surface through screw respectively, and three moving platform connecting rods (10,28,19) become 120 ° circumferentially evenly to distribute, and moving platform is concave shaped.First drive connecting rod (6) and first follower link (8) are through first revolute pair (7) series connection; Constitute first side chain in three side chains; One end of this first side chain is connected with first decelerator (4) output shaft through flat key through first sleeve (5), and the other end of this first side chain is connected with the first moving platform connecting rod (10) through first spherical pair (9); Second drive connecting rod (24) and second follower link (26) are through second revolute pair (25) series connection; Constitute second side chain in three side chains; One end of this second side chain is connected with second decelerator (22) output shaft through flat key through second sleeve (23), and the other end of this second side chain is connected with the second moving platform connecting rod (28) through second spherical pair (27); Article three, side chain master connecting-rod (15) and time connecting rod (17) are through the 3rd revolute pair (16) series connection; One end of this side chain is connected with rotary encoder (13) axle through shaft coupling (14), and the other end of the 3rd side chain is connected with the 3rd moving platform connecting rod (19) through the 3rd spherical pair (18).
The operation principle of present embodiment is: two motors (3,21) drive the moving platform motion through first and second chain movements of two decelerators (4,22) driving mechanism, thereby moving platform drives the 3rd chain movement; Rotary encoder (13) detects the corner of the connecting rod (15) of the 3rd side chain; This sensor is passed to computer with this value simultaneously, and computer solves the input value of two motors of expectation according to the inverse kinematics of this value calculation mechanism; Give the control system then; The input of control system and then control motor reaching the desired locations of moving platform, thereby realizes the control to mechanism.
Claims (6)
1. novel three-degree of freedom under-actuated structure; Comprise a pedestal, a moving platform (11); Article three, movement branched chain, two power sources and position detecting device of arranging symmetrically and evenly of structure same axis; It is characterized in that: three movement branched chain flexibly connect with moving platform (11) respectively, so not only are convenient to process and assemble but also motion flexibly; Moving platform (11) sinks towards the pedestal direction, is concave shaped, and this can make structure compact more and strengthen the rigidity of mechanism; Two movement branched chain of direct driving of said two motors (3,21) constitute three movement branched chain and make three-degree-of-freedom motion for the lack of driven structure makes moving platform (11), reduce cost and have reduced the weight of mechanism; Said position detecting device is connected with the movement branched chain of owing to drive, and realizes position probing.
2. novel three-degree of freedom under-actuated structure according to claim 1; The structure that it is characterized in that said pedestal is: two motor supporting seats (2,20) and a rotary encoder supporting seat (12) are fixed on a ring flange (1) upper surface through screw respectively, all at interval 120 ° of said two motor supporting seats (2,20) and rotary encoder supporting seats (12).
3. novel three-degree of freedom under-actuated structure according to claim 2; It is characterized in that said moving platform (11) and the structure that three movement branched chain flexibly connect are: first, second is fixed on moving platform (11) lower surface through screw respectively with the three or three moving platform connecting rod (10,28, a 19) end; Three moving platform connecting rods (10,28,19) become 120 ° circumferentially evenly to distribute; Three moving platform connecting rods (10,28,19) other end is connected with the connecting rod (8,26,17) of said three side chains with the 3rd spherical pair (9,27,18) through first, second respectively, makes the moving platform spill that suspends in being.
4. novel three-degree of freedom under-actuated structure according to claim 1; The structure that it is characterized in that said three movement branched chain is: one first drive connecting rod (6) and one first follower link (8) are through one first revolute pair (7) series connection; Constitute first side chain in three side chains; One end of this first side chain is connected with one first decelerator (4) output shaft through flat key through one first sleeve (5), and the other end of this first side chain is connected with the first moving platform connecting rod (10) through said first spherical pair (9); One second drive connecting rod (24) and one second follower link (26) are through one second revolute pair (25) series connection; Constitute second side chain in three side chains; One end of this second side chain is connected with one second decelerator (22) output shaft through flat key through one second sleeve (23), and the other end of this second side chain is connected with the second moving platform connecting rod (28) through one second spherical pair (27); The 3rd side chain is that a master connecting-rod (15) and one connecting rod (17) are connected through one the 3rd revolute pair (16); One end of the 3rd side chain is connected with a rotary encoder (13) axle through a shaft coupling (14), and the other end of the 3rd side chain is connected with the 3rd moving platform connecting rod (19) through the 3rd spherical pair (18).
5. novel three-degree of freedom under-actuated structure according to claim 1; It is characterized in that said two power source structures are: the first and second two motors (3,21) link together with the first and second two decelerators (4,22) respectively and are fastened on the first and second motor supporting seats (2,20) through bolt respectively, and this two decelerators (4,22) output shaft is connected through the first and second two drive connecting rod (6,24) in flat key and the first and second two side chains through the first and second two sleeves (5,25) respectively.
6. novel three-degree of freedom under-actuated structure according to claim 4; It is characterized in that said position detecting device structure is: said rotary encoder (13) is fastened on the rotary encoder supporting seat (12) through bolt, and said rotary encoder (13) axle is connected with said master connecting-rod (15) through said shaft coupling (14).
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| CN2012100028154A CN102554914A (en) | 2012-01-06 | 2012-01-06 | Novel three-degrees-of-freedom under-actuated mechanism |
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| CN2012100028154A CN102554914A (en) | 2012-01-06 | 2012-01-06 | Novel three-degrees-of-freedom under-actuated mechanism |
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Cited By (9)
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| CN103112561A (en) * | 2012-11-07 | 2013-05-22 | 哈尔滨工程大学 | Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device |
| CN103158157A (en) * | 2013-04-01 | 2013-06-19 | 天津工业大学 | Simulated joint mechanism with radial direction buffering function |
| CN103286792A (en) * | 2013-03-26 | 2013-09-11 | 上海大学 | Three-freedom-degree parallel robot wrists with aligning mechanisms |
| CN104890005A (en) * | 2015-06-24 | 2015-09-09 | 上海大学 | Spherical space based under-actuated robot wrist mechanism |
| CN105500365A (en) * | 2016-01-26 | 2016-04-20 | 南京航空航天大学 | Hybrid robot with six degrees of freedom |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN108406746A (en) * | 2018-03-19 | 2018-08-17 | 薛豪俊 | Drive lacking stroke adjustable crank device |
| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
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| CN113305807A (en) * | 2021-05-17 | 2021-08-27 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
| CN113305807B (en) * | 2021-05-17 | 2022-07-19 | 华中科技大学 | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
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Application publication date: 20120711 |