CN102615645A - Six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot - Google Patents

Six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot Download PDF

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Publication number
CN102615645A
CN102615645A CN201210107528XA CN201210107528A CN102615645A CN 102615645 A CN102615645 A CN 102615645A CN 201210107528X A CN201210107528X A CN 201210107528XA CN 201210107528 A CN201210107528 A CN 201210107528A CN 102615645 A CN102615645 A CN 102615645A
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China
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moving platform
slide plate
guide rail
ball pivot
support
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CN201210107528XA
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Chinese (zh)
Inventor
谢志江
孙海生
张钧
石万凯
刘志涛
沈志洪
聂博文
梁勇
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Chongqing University
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Chongqing University
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Priority to CN201210107528XA priority Critical patent/CN102615645A/en
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Pending legal-status Critical Current

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Abstract

The invention discloses a six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot, two groups of guide rails in parallel on the left and the right are fixed on a machine seat. The front portion, the middle portion and the back portion of the each group of guide rails are respectively provided with a sliding plate, each sliding plate is provided with a lower spherical hinge seat and a grating ruler numerical reading head, a lower spherical hinge is installed on the lower spherical hinge seat, and grating ruler numerical reading heads on the sliding plates on the same side are located above a corresponding grating ruler. A movable platform is arranged above the machine seat, upper ball hinges are installed at the position of four corners at the bottom of the movable platform, an inclined plate is arranged on the back side of the movable platform, the inclined plate is also provided with two upper spherical hinges which are symmetrical in the left and right mode, and six upper spherical hinges are connected with six lower spherical hinges through a pull rod. The parallel connection robot is driven by six high speed linear motors and is capable of achieving six-degree-of-freedom movement required by the movable platform. The six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot has the advantages of being high in speed, high in accuracy, large in rigidity, large in range, high in adaptation capability and the like, thereby being capable of being applied to relative fields.

Description

The high motor-driven high-precision real of six degree of freedom is used parallel robot
Technical field
The present invention relates to a kind of robot, particularly the high motor-driven high-precision real of six degree of freedom is used parallel robot.
Background technology
In recent years, the parallel robot technology has obtained great development, and it has been widely applied to multiple complicated fields such as medical treatment, parallel machine, microelectronics assembling, space articulation platform.But because constraints such as six-degree-of-freedom parallel connection mechanism mechanism is complicated, kinematic pair is many, close coupling property, precision are non-linear causes parallel institution to realize that high motor-driven, high-precision practical six-degree-of-freedom parallel robot is relatively more difficult.The parallel robot that uses traditional approach to drive because of the hinge gap error, drive influence such as driving error, causes the kinematic accuracy of parallel institution poor, difficult point such as precision control complicacy.For addressing the above problem, aspect mechanism design, adopt modes such as high manufacturing accuracy, flexible hinge to improve precision usually; Aspect control, adopt methods such as Coupling Control strategy, feedback decoupling control, from control feedback raising precision; In driving element, adopt linear electric motors at a high speed to improve the actuating speed and the precision of parallel robot.Therefore, though precision or actuating speed have obtained the raising of certain aspect, the problem of thereupon bringing is: flexible hinge causes space to be limited in scope; Feedback decoupling control causes mechanism controls complicated, and response speed is slow, can not well bring into play Practical Performance; The linear electric motors high-speed driving causes mechanism size excessive, and kinematic chain can not bear the impact that brings at a high speed, and mechanism part such as damages easily at influence.The application scenario of, high accuracy motor-driven at height, big working space, six-degree-of-freedom parallel robot does not also obtain the extensive use of practicality.
Summary of the invention
Technical problem to be solved by this invention is to provide that a kind of six degree of freedom height is motor-driven, high-precision real is used parallel robot, the high accuracy six-freedom motion of realization moving platform that can fast and flexible.
Technical scheme of the present invention is following: the high motor-driven high-precision real of a kind of six degree of freedom is used parallel robot; On support (1), be fixed with two groups of guide rails (2) that the left and right sides is parallel; The next door of every group of guide rail (2) is provided with a grating chi (10); Said grating chi (10) is fixed on the support (1), and each grating chi (10) is parallel with corresponding guide rail (2), and keeps certain distance to install; At front portion, middle part and the rear portion of every group of guide rail (2) slide plate (3) is installed; This slide plate (3) can be gone up at the guide rail (2) of correspondence and slide; Slide plate (3) symmetric arrangement on the right and left guide rail (2) is installed under each slide plate (3) and is equipped with linear electric motors (4), and elementary (4a) of these linear electric motors (4) fixes with slide plate (3); Secondary (4b) of linear electric motors (4) is fixed on the support (1), and linear electric motors (4) drive slide plate (3) motion; The next door of said each slide plate (3) is equipped with drag chain (5); The tache motorice of this drag chain (5) is connected with slide plate (3); The stiff end of drag chain (5) is connected with support (1), and ball pivot seat (6a) and grating ruler reading head (11) down all are installed on each slide plate (3), and following ball pivot (6) is installed in down on the ball pivot seat (6a); Be positioned at the top of corresponding grating chi (10) with the grating ruler reading head (11) on the slide plate (3) on one side, have the gap between grating ruler reading head (11) and the corresponding grating chi (10); Be provided with moving platform (9) in the top of said support (1); This moving platform (9) is the stage body structure; The bottom surface of moving platform is a rectangle; Ball pivot (8) all is equipped with at place, four angles in moving platform (9) bottom; The rear side of said moving platform (9) is provided with a swash plate (9a), and two symmetrical ball pivots (8) of going up also are installed on this swash plate (9a), and two of said moving platform (9) bottom front corner go up ball pivots (9) and are connected with following ball pivot (6) on the right and left guide rail front portion slide plate (3) through pull bar (7) respectively; Two of rear end, moving platform (9) bottom corner go up ball pivot (8) and are connected with following ball pivot (6) on the right and left guide rail rear portion slide plate (3) through pull bar (7) respectively, and on the moving platform swash plate (9a) two go up ball pivot (8) and pass through respectively that the following ball pivot (6) on the slide plate (3) is connected in the middle part of pull bar (7) and the right and left guide rail.
Adopt above technical scheme,, utilize the contrary characteristics of motion that obtains linear electric motors of separating of Kinematics of Parallel Robot according to moving platform motion requirement.Linear electric motors drive six skateboarding as the driving arrangement of robot, and drag chain moves with slide plate, can the cable support effect be provided for the control linear electric motors; Skateboarding drives the pull bar motion, finally realizes the six-freedom motion of moving platform.Signal feedback according to grating ruler reading head is carried out Position Control to linear electric motors, can accurately realize high motor-driven, the high accuracy six-freedom motion of moving platform.
For simplified structure, make things convenient for processing and fabricating and assembling, said support (1) is a slab construction, moving platform (9) be positioned at support (1) directly over, this moving platform (9) and support (1) parallel.
In order to improve the rapid movement performance as much as possible, the face that the right and left guide rail (2) matches with slide block (3) is the inclined-plane, have 15-45 ° angle between this inclined-plane and the support (1), and the inclined-plane of the right and left guide rail (2) is relative.
For guaranteeing the integral rigidity and the precision of robot; Reduce moving component weight: slide plate (3) adopts the titanium alloy processing and manufacturing; Moving platform (9) adopts aviation aluminium forging processing; Moving platform is an overall structure, and the bottom of the upper end of said swash plate (9a) and moving platform (9) is fixed with one, and has 20-60 ° angle between the bottom surface of this swash plate (9a) and moving platform (9).
Said pull bar (7) is made up of metalwork (7a) and carbon fiber multiple tube (7b), and metalwork (7a) is installed in the pipe at carbon fiber multiple tube (7b) two ends, and pull bar has the rigidity height, is out of shape characteristics such as little like this.
In order to improve the stability of slide plate, said slide plate (3) is slidingly matched through four slide blocks (2a) by the rectangular distribution and guide rail (2).
The invention has the beneficial effects as follows:
1) adopt 6-PSS stage body mechanism, last ball pivot coordinate is not in same plane, and also not in same plane, guide rail can be indefinite length to following ball pivot coordinate, has big working space, has improved practicality.
2) adopt materials such as carbon fiber multiple tube, titanium alloy, aviation aluminium, alleviated total quality, improve mobility.
3) linear electric motors directly drive, and have cancelled machine driving such as gear-box, feed screw nut; Select high-speed, high precision ball pivot, guide rail for use, improved precision, speed and mobility.
4) two groups of guide rail structures have been simplified mechanism's composition, have improved precision, practicality and reliability.The shared one group of linear electric motors of three slide plates are elementary, three shared grating chis of grating ruler reading head, and the movement travel of slide plate obtains repetitive cycling and effectively utilizes, and has increased the range of movement of slide plate and the working space of robot.
Characteristics such as 5) parallel robot has the speed height, and precision is high, and rigidity is high, and range is big, and adaptive capacity is strong can realize the six-freedom motion of moving platform flexibly.
Description of drawings
Fig. 1 is a general structure sketch map of the present invention.
Fig. 2 is a local enlarged diagram of the present invention.
Fig. 3 is a Tiebar structure sketch map of the present invention.
Fig. 4 is a moving platform structural representation of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further:
Like Fig. 1, shown in Figure 2, support 1 is the rectangular flat structure, on support 1, is fixed with two groups of guide rails 2 that the left and right sides is parallel.At front portion, middle part and the rear portion of every group of guide rail 2 slide plate 3 is installed; Slide plate 3 is slidingly matched through four slide block 2a and guide rails 2 by the rectangular distribution; This slide plate 3 can slide on the guide rail 2 of correspondence, slide plate 3 symmetric arrangement on the right and left guide rail 2, and the face that the right and left guide rail 1 matches with slide plate 2 is the inclined-plane; The angle that has 15-45 ° between this inclined-plane and the support 1, the inclined-plane of the right and left guide rail 1 is relative.The next door of every group of guide rail 2 is provided with a grating chi 10; Said grating chi 10 is fixed on the support 1; Left side grating chi 10 is positioned at the right side of left side guide rail 2, and the right grating chi 10 is positioned at the left side of the right guide rail 2, and each grating chi 10 parallels with corresponding guide rail 2 and be together adjacent.
As shown in Figure 1, the left side central portion of three slide plates 3 of on the left side is equipped with drag chain 5, and the tache motorice of this drag chain 5 fixes with corresponding slide plate 3, and the stiff end of drag chain 5 is fixedly connected with pedestal 1.The right side central of three slide plates 3 also is equipped with drag chain 5 on the right, and the tache motorice of this drag chain 5 is fixing with corresponding slide plate 3, and the stiff end of drag chain 5 is fixedly connected with pedestal 1.The right edge middle part of three slide plates 3 of on the left side all is equipped with grating ruler reading head 11, and this grating ruler reading head 11 is positioned at the top of left side grating chi 10, and has the gap between this grating ruler reading head 11 and the left side grating chi 10.The left side of three slide plates 2 middle part also is equipped with grating ruler reading head 11 on the right, and this grating ruler reading head 11 is positioned at the top of the right grating chi 10, and has the gap between this grating ruler reading head 11 and the right grating chi 10.Ball twisted seat 6a down all is installed on each slide plate 3, and each is the corresponding following ball pivot 6 of ball twisted seat 6a down, and following ball pivot 6 is installed in down on the ball pivot seat 6a, and the following ball pivot 6 of the right and left is symmetrically distributed, and the grating ruler reading head 11 of the right and left also is symmetrically distributed.The ball pivot coordinate of following ball pivot 6 is not on same plane.
Like Fig. 1, shown in Figure 2; Linear electric motors 4 are installed under each slide plate 3; These linear electric motors 4 are made up of elementary 4a and secondary 4b, and the elementary 4a of linear electric motors 4 is installed on the slide plate 3, and the secondary fixed of linear electric motors 4 is installed on the pedestal 1; The gap is left between elementary 4a and the secondary 4b in the position between the guide rail 2 of correspondence.
Like Fig. 1, shown in Figure 4, above support 1, be provided with moving platform 9, in the present embodiment, moving platform 9 be positioned at support 1 directly over, this moving platform 9 parallels with support 1.Said is the stage body structure, can be terrace with edge, round platform or other moulding that is fit to.The bottom surface of moving platform is a rectangle; Ball pivot 8 all is equipped with at place, four angles in moving platform 9 bottoms; The rear side of said moving platform 9 is provided with a swash plate 9a, and the upper end of this swash plate 9a and the bottom of moving platform 9 are fixed with one, and has 20-60 ° angle between the bottom surface of swash plate 9a and moving platform 9.Also be equipped with on the said swash plate 9a two symmetrical on ball pivot 8; Go up ball pivot 9 and be connected through the following ball pivot 6 on the anterior slide plate 3 of two pull bars 7 and the right and left guide rail respectively for two of said moving platform 9 bottom front corners; Two of rear end, moving platform 9 bottom corner go up ball pivot 8 and is connected with following ball pivot 6 on the right and left guide rail rear portion slide plate 3 through two pull bars 7 respectively, on the moving platform swash plate 9a two go up ball pivot 8 and pass through respectively that the following ball pivot 6 on the slide plate 3 is connected in the middle part of two pull bars 7 and the right and left guide rail.
Like Fig. 1, shown in Figure 3, pull bar 7 is made up of metalwork 7a and carbon fiber multiple tube 7b, and metalwork 7a is installed in the pipe at carbon fiber multiple tube 7b two ends.The metalwork 7a of carbon fiber multiple tube 7b upper end is connected with last ball pivot 8, and the metalwork 7a of carbon fiber multiple tube 7b lower end is connected with following ball pivot 6.Last ball pivot 8 coordinates on the moving platform 9 are not at grade.The last ball pivot 8 and the following ball pivot 6 at pull bar 7 two ends are expressed as S, are moving sets P between slide plate 3 and the guide rail 2, and parallel robot has 6 movement branched chain, so parallel robot also is called as the 6-PSS parallel institution.
Among the present invention,, utilize the contrary characteristics of motion that obtains six linear electric motors 4 of separating of Kinematics of Parallel Robot according to the requirement of moving platform six-freedom motion.Linear electric motors 4 are the driving arrangement of robot, drive 3 motions of 6 slide plates, and drag chain 5 can provide the cable support effect for control linear electric motors 4; Slide plate 3 motions drive pull bar 7 motions, finally realize the six-freedom motion of moving platform 9.Signal feedback according to grating ruler reading head 11 is carried out Position Control to linear electric motors 4, can accurately realize high motor-driven, the high accuracy six-freedom motion of moving platform 9.
Kinematics is contrary separates
On moving platform, set up inertial coodinate system O 1-X 1Y 1Z 1, on support, set up fixed coordinate system O-XYZ.The characteristics of motion of known moving platform, according to the known structure parameter of parallel institution, the coordinate position of last ball pivot in inertial coodinate system, following ball pivot (also being sledge displacement) position coordinates in fixed coordinate system all can directly be obtained at the component of YZ direction.According to the motion of tested moving object, calculating the displacement of slide plate directions X is exactly that kinematics is against separating.
Last ball pivot coordinate in inertial coodinate system is:
U i1:(U ix1,U iy1,U iz1)
Following ball pivot coordinate in fixed coordinate system is:
D i:(D ix0,D iy0,D iz0)
Last ball pivot is coordinate (U in fixed coordinate system Ix, U Iy, U Iz) be tied to the fixed coordinate system conversion from inertial coordinate:
x 0 y 0 z 0 1 = R P 0 1 x 1 y 1 z 1 1
In the formula, and P=(x, y, z) TThe expression inertial coordinate ties up to the position vector in the fixed coordinate system, and R is the direction cosine matrix that inertial coordinate is tied to fixed coordinate system:
R = cβcα - sβcγ + cβsαsγ sβsγ + cβsαcγ sβcα cβcγ + sβsαsγ - cβsγ + sβsαcγ - sα cαsγ cαcγ
C β=cos β wherein, s β=sin β, and the like.Last ball pivot and the position coordinates of following ball pivot in fixed coordinate system all can in the hope of.According to pull bar length computation formula:
l i 2 = ( D ix 0 - U ix 0 ) 2 + ( D iy 0 - U iy 0 ) 2 + ( D iz 0 - U iz 0 ) 2 , ( i = 1 ~ 6 )
Can derive the sledge displacement equation:
D ix 0 = U ix 0 ± l i 2 - ( D iy 0 - U iy 0 ) 2 - ( D iz 0 - U iz 0 ) 2 , ( i = 1 ~ 6 )
Get "+" or "-" according to the movement characteristic of slide plate in the formula.
By the required characteristics of motion of moving platform, utilize kinematics against separating, can obtain the characteristics of motion of required slide plate.The control linear electric motors just can be realized the required six-freedom motion of moving platform by the characteristics of motion motion of calculating.

Claims (6)

1. the high motor-driven high-precision real of six degree of freedom is used parallel robot; It is characterized in that: on support (1), be fixed with two groups of guide rails (2) that the left and right sides is parallel; The next door of every group of guide rail (2) is provided with a grating chi (10); Said grating chi (10) is fixed on the support (1), and each grating chi (10) is parallel with corresponding guide rail (2); At front portion, middle part and the rear portion of every group of guide rail (2) slide plate (3) is installed; This slide plate (3) can be gone up at the guide rail (2) of correspondence and slide; Slide plate (3) symmetric arrangement on the right and left guide rail (2) is installed under each slide plate (3) and is equipped with linear electric motors (4), and elementary (4a) of these linear electric motors (4) fixes with slide plate (3); Secondary (4b) of linear electric motors (4) is fixed on the support (1); The next door of said each slide plate (3) is equipped with drag chain (5), and the tache motorice of this drag chain (5) is connected with slide plate (3), and the stiff end of drag chain (5) is connected with support (1); Ball pivot seat (6a) and grating ruler reading head (11) down all are installed on each slide plate (3); Following ball pivot (6) is installed in down on the ball pivot seat (6a), is positioned at the top of corresponding grating chi (10) with the grating ruler reading head (11) on the slide plate (3) on one side, has the gap between grating ruler reading head (11) and the corresponding grating chi (10); Be provided with moving platform (9) in the top of said support (1); This moving platform (9) is the stage body structure; The bottom surface of moving platform is a rectangle; Ball pivot (8) all is equipped with at place, four angles in moving platform (9) bottom; The rear side of said moving platform (9) is provided with a swash plate (9a), and two symmetrical ball pivots (8) of going up also are installed on this swash plate (9a), and two of said moving platform (9) bottom front corner go up ball pivots (9) and are connected with following ball pivot (6) on the right and left guide rail front portion slide plate (3) through pull bar (7) respectively; Two of rear end, moving platform (9) bottom corner go up ball pivot (8) and are connected with following ball pivot (6) on the right and left guide rail rear portion slide plate (3) through pull bar (7) respectively, and on the moving platform swash plate (9a) two go up ball pivot (8) and pass through respectively that the following ball pivot (6) on the slide plate (3) is connected in the middle part of pull bar (7) and the right and left guide rail.
2. the high motor-driven high-precision real of six degree of freedom according to claim 1 use parallel robot, and it is characterized in that: said support (1) is slab construction, moving platform (9) be positioned at support (1) directly over, this moving platform (9) and support (1) parallel.
3. the high motor-driven high-precision real of six degree of freedom according to claim 2 is used parallel robot; It is characterized in that: the face that the right and left guide rail (2) matches with slide block (3) is the inclined-plane; The angle that has 15-45 ° between this inclined-plane and the support (1), and the inclined-plane of the right and left guide rail (2) is relative.
4. use parallel robot according to claim 1 or the high motor-driven high-precision real of 2 or 3 described six degree of freedoms; It is characterized in that: the bottom of the upper end of said swash plate (9a) and moving platform (9) is fixed with one, and has 20-60 ° angle between the bottom surface of this swash plate (9a) and moving platform (9).
5. the high motor-driven high-precision real of six degree of freedom according to claim 1 is used parallel robot, and it is characterized in that: said pull bar (7) is made up of metalwork (7a) and carbon fiber multiple tube (7b), and metalwork (7a) is installed in the pipe at carbon fiber multiple tube (7b) two ends.
6. the high motor-driven high-precision real of six degree of freedom according to claim 1 is used parallel robot, and it is characterized in that: said slide plate (3) is slidingly matched through four slide blocks (2a) by the rectangular distribution and guide rail (2).
CN201210107528XA 2012-04-12 2012-04-12 Six-degree-of-freedom high-maneuvering high-accuracy practical parallel connection robot Pending CN102615645A (en)

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CN103465233A (en) * 2013-09-06 2013-12-25 苏州凯欧机械科技有限公司 Ultra-high-precision positioning worktable driven by electromagnetic force
CN103737576A (en) * 2014-01-08 2014-04-23 北京邮电大学 Six freedom degree force feedback hand controller
CN103895006A (en) * 2014-04-14 2014-07-02 南京理工大学 Planar three-freedom-degree parallel mechanism
CN104229158A (en) * 2014-09-03 2014-12-24 上海交通大学 Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member
CN105890516A (en) * 2014-11-14 2016-08-24 北京方道环保科技有限公司 Long-range three-dimensional robot measurement control system
CN106430088A (en) * 2016-08-30 2017-02-22 上海交通大学 Large-stroke six-degree-of-freedom magnetic-suspension magnetically-driven nano positioning platform
CN109052257A (en) * 2018-09-21 2018-12-21 南京理工大学 A kind of elevating mechanism of solid space layout
CN109787447A (en) * 2019-01-29 2019-05-21 哈尔滨工业大学 A kind of two-freedom motion platform based on double secondary linear motors

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CN103465233A (en) * 2013-09-06 2013-12-25 苏州凯欧机械科技有限公司 Ultra-high-precision positioning worktable driven by electromagnetic force
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CN103895006A (en) * 2014-04-14 2014-07-02 南京理工大学 Planar three-freedom-degree parallel mechanism
CN103895006B (en) * 2014-04-14 2015-12-30 南京理工大学 Planar three-freedom-degree parallel mechanism
CN104229158A (en) * 2014-09-03 2014-12-24 上海交通大学 Six-degree-of-freedom positioning gesture adjusting equipment used for automatic assembling of large barrel-shaped thin-wall construction member
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CN105890516A (en) * 2014-11-14 2016-08-24 北京方道环保科技有限公司 Long-range three-dimensional robot measurement control system
CN106430088A (en) * 2016-08-30 2017-02-22 上海交通大学 Large-stroke six-degree-of-freedom magnetic-suspension magnetically-driven nano positioning platform
CN109052257A (en) * 2018-09-21 2018-12-21 南京理工大学 A kind of elevating mechanism of solid space layout
CN109787447A (en) * 2019-01-29 2019-05-21 哈尔滨工业大学 A kind of two-freedom motion platform based on double secondary linear motors

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Application publication date: 20120801