CN102579137B - Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally - Google Patents
Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally Download PDFInfo
- Publication number
- CN102579137B CN102579137B CN201210084872.1A CN201210084872A CN102579137B CN 102579137 B CN102579137 B CN 102579137B CN 201210084872 A CN201210084872 A CN 201210084872A CN 102579137 B CN102579137 B CN 102579137B
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- turntable
- parallel
- chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The invention relates to a parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally, which comprises a first RPRPR closed-loop sub-chain, a second RPRPR closed-loop sub-chain and an actuating mechanism sub-chain. The first RPRPR closed-loop sub-chain and the second RPRPR closed-loop sub-chain are located in the same plane. The first RPRPR closed-loop sub-chain can control a first rotary table to move with two degrees of freedom in the plane, and the second RPRPR closed-loop sub-chain can control a second rotary table to move with two degrees of freedom in the plane. A movable platform can move with four degrees of freedom in a space due to movement of the first rotary table and movement of the second rotary table. The two closed-loop sub-chains are used for controlling movement of the two rotary tables in the plane, and accordingly the movable platform can move with four degrees of freedom in the space. The parallel surgical manipulator has the advantages of compact structure and simplicity in control. All driving rods are connected onto a framework and can be light rods, inertia of mechanism kinematics is low, and dynamics performances are good.
Description
Technical field
The present invention relates to robot field, particularly a kind of surgery mechanical hands in parallel of realizing three-dimensional translation and one-dimensional rotation.
Background technology
Parallel institution be a kind of moving platform with fixed platform by least two independently kinematic chain be connected, there are two or more degree of freedom, and the mechanism driving with parallel way, there is the advantages such as precision is higher, compact conformation, rigidity is high, bearing capacity is strong greatly, at aspects such as motion simulator, parallel machine, micro-manipulating robot, crawl robots, obtained good application.But the basic Dou Shi of existing parallel institution branch does not contain closed loop, for number of degrees of freedom,, be greater than the parallel institution of side chain number, some side chain must arrange two or more driving links, the joint of this side chain of just having to motor to be arranged on, thereby cause the problems such as mechanism's poor rigidity, inertia great, joint error accumulation, mechanism dynamic poor-performing, controls difficulty.Operation is the accurate instrument of the very high height of requirement with robot, and traditional serial machine people is difficult to reach its instructions for use, adopts parallel institution can meet the requirement of the accurate motion of robot for operation.
Summary of the invention
The object of the present invention is to provide a kind of surgery mechanical hands in parallel that three-dimensional translation and one-dimensional rotates of realizing, solve the problems such as surgery mechanical hands poor rigidity in parallel that traditional number of degrees of freedom, is greater than side chain number, inertia great, joint error accumulation.
The present invention achieves the above object by the following technical programs: a kind of surgery mechanical hands in parallel of realizing three-dimensional translation and one-dimensional rotation, comprises that a RPRPR closed loop subchain, the 2nd RPRPR closed loop subchain and actuator subchain ，Qi mechanism and on-link mode (OLM) are:
A described RPRPR closed loop subchain is formed by connecting by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and frame, first connecting rod is connected in frame by the first revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the second revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the second moving sets, the 4th connecting rod other end is connected in frame by the 3rd revolute pair, first connecting rod is by the first driven by servomotor, the 4th connecting rod is by the second driven by servomotor
Described the 2nd RPRPR closed loop subchain is formed by connecting by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and frame, the 5th connecting rod is connected in frame by the 4th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by three moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 5th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 4th moving sets, the 8th connecting rod other end is connected in frame by the 6th revolute pair, the 5th connecting rod is by the 3rd driven by servomotor, the 8th connecting rod is by the 4th driven by servomotor
Described actuator subchain is by the first turntable, the second turntable, the 9th connecting rod, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod and moving platform are formed by connecting, the first turntable is connected with second connecting rod by the second revolute pair, the first turntable is connected with the 9th connecting rod by the 7th revolute pair, the first turntable is connected with the tenth connecting rod by the 8th revolute pair, the 9th connecting rod other end is connected with moving platform by the 9th revolute pair, the tenth connecting rod other end is connected with moving platform by the tenth revolute pair, the second turntable is connected with the 6th connecting rod by five revolute pairs, the second turntable is connected with the 11 connecting rod by the 11 revolute pair, the second turntable is connected with the 12 connecting rod by the 12 revolute pair, the 11 connecting rod other end is connected with the 9th connecting rod with moving platform by the 9th revolute pair, the 12 connecting rod other end is connected with moving platform by the 13 revolute pair.The first turntable and the motion planar of the second turntable can realize moving platform in the four-degree-of-freedom motion in space,
The rotation axis of described the first revolute pair, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair is parallel to each other, the rotation axis of the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair is parallel to each other, the 9th connecting rod is isometric parallel with the tenth connecting rod, and the 11 connecting rod is isometric parallel with the 12 connecting rod.
Outstanding advantages of the present invention is:
1, drive motors is installed in frame, and rod member can be made lighter bar, effectively reduces mechanism's weight, and mechanism's good rigidly, inertia are little, and dynamic performance is good;
2, by the closed loop subchain of two symmetrical structures, control moving platform movement output, the forward and inverse problem solving of kinematics of mechanism is easy, and it is convenient to control;
3, by being installed on moving platform, the operation tools such as scalpel complete surgical action task.
Accompanying drawing explanation
Fig. 1 is a kind of the first structural representation of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 2 is a kind of the second structural representation of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 3 is a kind of the first work schematic diagram of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 4 is a kind of the second work schematic diagram of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 5 is a kind of the 3rd work schematic diagram of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 6 is a kind of the 4th work schematic diagram of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
Fig. 7 is a kind of the 5th work schematic diagram of realizing the surgery mechanical hands in parallel of three-dimensional translation and one-dimensional rotation of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1 and Fig. 2, a kind of surgery mechanical hands in parallel of realizing three-dimensional translation and one-dimensional rotation, comprises a RPRPR closed loop subchain, the 2nd RPRPR closed loop subchain and actuator subchain.
A described RPRPR closed loop subchain is by first connecting rod 3, second connecting rod 4, third connecting rod 8, the 4th connecting rod 9 and frame 1 are formed by connecting, first connecting rod 3 is connected in frame 1 by the first revolute pair 2, first connecting rod 3 other ends are connected with second connecting rod 4 by the first moving sets 30, second connecting rod 4 other ends are connected with third connecting rod 8 by the second revolute pair 28, third connecting rod 8 other ends are connected with the 4th connecting rod 9 by the second moving sets, the 4th connecting rod 9 other ends are connected in frame 1 by the 3rd revolute pair 10, first connecting rod 3 is driven by the first servomotor 34, the 4th connecting rod 9 is driven by the second servomotor 35.
Described the 2nd RPRPR closed loop subchain is by the 5th connecting rod 20, the 6th connecting rod 21, seven-link assembly 25, the 8th connecting rod 26 and frame 1 are formed by connecting, the 5th connecting rod 20 is connected in frame 1 by the 4th revolute pair 19, the 5th connecting rod other end is connected with the 6th connecting rod 21 by three moving sets 32, the 6th connecting rod 21 other ends are connected with seven-link assembly 25 by the 5th revolute pair 29, seven-link assembly 25 other ends are connected with the 8th connecting rod 26 by the 4th moving sets 33, the 8th connecting rod 26 other ends are connected in frame 1 by the 6th revolute pair 27, the 5th connecting rod 20 is driven by the 3rd servomotor 36, the 8th connecting rod 26 is driven by the 4th servomotor 37.
Described actuator subchain is by the first turntable 5, the second turntable 24, the 9th connecting rod 12, the tenth connecting rod 11, the 11 connecting rod 18, the 12 connecting rod 17 and moving platform 14 are formed by connecting, the first turntable 5 is connected with second connecting rod 4 by the second revolute pair 28, the first turntable 5 is connected with the 9th connecting rod 12 by the 7th revolute pair 7, the first turntable 5 is connected with the tenth connecting rod 11 by the 8th revolute pair 6, the 9th connecting rod 12 other ends are connected with moving platform 14 by the 9th revolute pair 15, the tenth connecting rod 11 other ends are connected with moving platform 14 by the tenth revolute pair 13, the second turntable 24 is connected with the 6th connecting rod 21 by five revolute pairs 29, the second turntable 24 is connected with the 11 connecting rod 18 by the 11 revolute pair 22, the second turntable 24 is connected with the 12 connecting rod 17 by the 12 revolute pair 23, the 11 connecting rod 18 other ends are connected with the 9th connecting rod 12 with moving platform 14 by the 9th revolute pair 15, the 12 connecting rod 17 other ends are connected with moving platform 15 by the 13 revolute pair 16.The first turntable 5 and the second turntable 24 motion planar can realize the 4DOF motion in moving platform 14 space.
The rotation axis of described the first revolute pair 2, the second revolute pair 28, the 3rd revolute pair 10, the 4th revolute pair 19, the 5th revolute pair 29, the 6th revolute pair 27 is parallel to each other, the rotation axis of the 7th revolute pair 7, the 8th revolute pair 6, the 9th revolute pair 15, the tenth revolute pair the 13, the 11 revolute pair the 22, the 12 revolute pair 23, the 13 revolute pair 16 is parallel to each other, the 9th connecting rod 12 is isometric parallel with the tenth connecting rod 11, and the 11 connecting rod 18 is isometric parallel with the 12 connecting rod 17.
Contrast Fig. 3 and Fig. 4, the first turntable 4 and the second turntable 21 move and can realize the upper and lower translation of moving platform 13 in space.
Contrast Fig. 5, the first turntable 4 and the second turntable 21 moves and can realize moving platform 13 around the one dimension complete cycle rotation of self axis in space.
Contrast Fig. 6, the first turntable 4 and the second turntable 21 move and can realize the front and back translation of moving platform 13 in space.
Contrast Fig. 7, the first turntable 4 and the second turntable 21 move and can realize the left and right translation of moving platform 13 in space.
Claims (1)
1. can realize the surgery mechanical hands in parallel that three-dimensional translation and one-dimensional rotates, comprise a RPRPR closed loop subchain, the 2nd RPRPR closed loop subchain and actuator subchain, it is characterized in that ，Qi mechanism and on-link mode (OLM) are:
A described RPRPR closed loop subchain is formed by connecting by first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod and frame, first connecting rod is connected in frame by the first revolute pair, the first connecting rod other end is connected with second connecting rod by the first moving sets, the second connecting rod other end is connected with third connecting rod by the second revolute pair, the third connecting rod other end is connected with the 4th connecting rod by the second moving sets, the 4th connecting rod other end is connected in frame by the 3rd revolute pair, first connecting rod is by the first driven by servomotor, the 4th connecting rod is by the second driven by servomotor
Described the 2nd RPRPR closed loop subchain is formed by connecting by the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and frame, the 5th connecting rod is connected in frame by the 4th revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by three moving sets, the 6th connecting rod other end is connected with seven-link assembly by the 5th revolute pair, the seven-link assembly other end is connected with the 8th connecting rod by the 4th moving sets, the 8th connecting rod other end is connected in frame by the 6th revolute pair, the 5th connecting rod is by the 3rd driven by servomotor, the 8th connecting rod is by the 4th driven by servomotor
Described actuator subchain is by the first turntable, the second turntable, the 9th connecting rod, the tenth connecting rod, the 11 connecting rod, the 12 connecting rod and moving platform are formed by connecting, the first turntable is connected with second connecting rod by the second revolute pair, the first turntable is connected with the 9th connecting rod by the 7th revolute pair, the first turntable is connected with the tenth connecting rod by the 8th revolute pair, the 9th connecting rod other end is connected with moving platform by the 9th revolute pair, the tenth connecting rod other end is connected with moving platform by the tenth revolute pair, the second turntable is connected with the 6th connecting rod by the 5th revolute pair, the second turntable is connected with the 11 connecting rod by the 11 revolute pair, the second turntable is connected with the 12 connecting rod by the 12 revolute pair, the 11 connecting rod other end is connected with the 9th connecting rod with moving platform by the 9th revolute pair, the 12 connecting rod other end is connected with moving platform by the 13 revolute pair, the first turntable and the motion planar of the second turntable can realize moving platform in the four-degree-of-freedom motion in space,
The rotation axis of described the first revolute pair, the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair is parallel to each other, the rotation axis of the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair, the 13 revolute pair is parallel to each other, the 9th connecting rod is isometric parallel with the tenth connecting rod, and the 11 connecting rod is isometric parallel with the 12 connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210084872.1A CN102579137B (en) | 2012-03-28 | 2012-03-28 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210084872.1A CN102579137B (en) | 2012-03-28 | 2012-03-28 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102579137A CN102579137A (en) | 2012-07-18 |
| CN102579137B true CN102579137B (en) | 2014-01-15 |
Family
ID=46468766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210084872.1A Expired - Fee Related CN102579137B (en) | 2012-03-28 | 2012-03-28 | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102579137B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102599979A (en) * | 2012-03-28 | 2012-07-25 | 广西大学 | Parallel surgical device capable of transversely moving three-dimensionally and rotating one-dimensionally |
| CN104323861B (en) * | 2014-11-21 | 2016-08-31 | 山东科技大学 | Three Degree Of Freedom serial-parallel mirror arthroplasty operating robot |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
| CN109191986A (en) * | 2018-11-16 | 2019-01-11 | 上海赢浩机电设备有限公司 | 3-RRR+3-RPS type six freedom-degree motion simulator executing agency |
| CN110279470A (en) * | 2019-06-14 | 2019-09-27 | 北京罗森博特科技有限公司 | Dynamic regulation device, dynamic adjusting system and its application method |
| CN113352304B (en) * | 2021-07-16 | 2022-06-14 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN113370189A (en) * | 2021-07-16 | 2021-09-10 | 燕山大学 | High-rigidity three-translation redundant driving parallel mechanism |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5673595A (en) * | 1995-05-19 | 1997-10-07 | Canadian Space Agency | Four degree-of-freedom manipulator |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| JP3806273B2 (en) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 4-DOF parallel robot |
| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| CN100553899C (en) * | 2008-03-31 | 2009-10-28 | 浙江理工大学 | A kind of fork four-freedom parallel connection robot mechanism |
| CN101508110A (en) * | 2009-03-19 | 2009-08-19 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| CN201625979U (en) * | 2010-02-26 | 2010-11-10 | 深圳先进技术研究院 | Parallel robot with four degrees of freedom |
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN102119872B (en) * | 2011-01-10 | 2012-11-07 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN202554112U (en) * | 2012-03-28 | 2012-11-28 | 广西大学 | Parallel operation manipulator capable of realizing three-dimension translation motion and one-dimension rotation |
-
2012
- 2012-03-28 CN CN201210084872.1A patent/CN102579137B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102579137A (en) | 2012-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102579137B (en) | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally | |
| CN102350697A (en) | 5R closed loop subchain-containing two-degree-of-freedom parallel mechanism | |
| CN108621130B (en) | Parallel mechanism with two motion modes of 2R1T and 2T1R | |
| CN103722553B (en) | A kind of controlled welding robot of multiple freedom parallel mechanism formula | |
| CN108818502B (en) | Two-movement one-rotation parallel mechanism with spherical surface rotation freedom degree | |
| CN108638031B (en) | Parallel mechanism with two motion modes of 2T1R and 3T | |
| CN203901283U (en) | Three-freedom-degree parallel-serial stacking mechanical arm with large working space | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN103381602A (en) | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN101362336A (en) | Two-degree of freedom translational parallel manipulator by redundant actuation | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN102689304B (en) | Three-freedom-degree mobile parallel robot mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN104875188A (en) | (2T1R)&(2R) Completely isotropic parallel serial robot mechanism | |
| CN104690723A (en) | Two-degree-of-freedom positioning mechanism and telescopic driving type multiple-degree-of-freedom mixed-connected robot thereof | |
| CN102350698A (en) | Six-DOF (degree of freedom) parallel mechanism containing 5R closed-loop branch chain | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN203245874U (en) | Three-freedom-degree movable parallel robot mechanism | |
| CN101362337A (en) | Two-degree of freedom translational redundant parallel manipulator | |
| CN202241279U (en) | Two-degree-of-freedom parallel-connection mechanism comprising 5R closed-loop sub-chain | |
| CN202357164U (en) | Six-degree-of-freedom parallel mechanism including 5R closed loop sub-chains | |
| CN102601787A (en) | Parallel mechanism capable of spatially three-dimensionally traversing and one-dimensionally circularly rotating | |
| CN202555453U (en) | Two degree-of-freedom parallel spraying robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140115 Termination date: 20150328 |
|
| EXPY | Termination of patent right or utility model |