CN102773856A - Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion - Google Patents
Space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion Download PDFInfo
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- CN102773856A CN102773856A CN2012103108659A CN201210310865A CN102773856A CN 102773856 A CN102773856 A CN 102773856A CN 2012103108659 A CN2012103108659 A CN 2012103108659A CN 201210310865 A CN201210310865 A CN 201210310865A CN 102773856 A CN102773856 A CN 102773856A
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Abstract
A space five-FOD (Degree of Freedom) mechanism for independently controlling rotational motion and translational motion comprises a rack, a first motion fork chain, a second motion fork chain, a third motion fork chain, a fourth motion fork chain, a fifth motion fork chain, a translational table and a spherical motion chain. The first motion fork chain, the second motion fork chain and the third motion fork chain together drive the translational table to carry out three-dimensional translational motion; the fourth motion fork chain and the fifth motion fork chain together drive the spherical motion chain to move, and the spherical motion chain can realize two-dimensional rotation around the centre of sphere. The translational motion and the rotational motion in the mechanism are independently controlled by different fork chains; the normal and inverse solutions in kinematics of mechanism are easy to solve; the mechanism is convenient to control; driving motors are all arranged on the rack; member bars can be manufactured into light bars; and therefore, according to the mechanism, the mechanism weight is efficiently reduced, the mechanism rigidity is good, the inertia is small, and the dynamic performance is good.
Description
Technical field
The present invention relates to the robot field, particularly the space five-freedom mechanism of the independent control of rotational motion and translational motion.
Background technology
Existing five degree of freedom mechanism is divided into three types of tandem, parallel and series parallel types.That tandem mechanism has is simple in structure, motion flexibly, advantage such as working space is big, but owing to mechanism is connected in series and need causes it to have deficiencies such as mechanical arm weight is big, rotary inertia is big, error accumulation is big at joint installing drive motor.Relative serial mechanism; Parallel unit mechanism is the pose output that is realized its end effector by many movement branched chain driven in common moving platforms; Thereby this type of mechanism has advantages such as precision height, compact conformation, rigidity are high, bearing capacity is strong; Also has simultaneously complex structure, shortcomings such as control difficulty.Series parallel type mechanism is that the mode that adopts parallel connection and serial connection to combine realizes motion of mechanism, but part still needs drive installation on the mechanism joint, so motion of mechanism is relatively poor with dynamic performance because it is connected.
US.Patent No.4976582 discloses a kind of three-dimensional translation and one-dimensional rotation space four-degree-of-freedom mechanism that realizes; This manipulator adopts outer revolute pair to drive and the parallelogram branched structure; Can realize the high speed 3 dimension translations of end effector; The scalable rotating shaft that two ends have hook hinge also is set between the sound platform simultaneously, rotates with the single-degree-of-freedom that realizes end effector.This mechanism is that mechanism with single degree of freedom of series connection realizes that thereby it rotates the four-degree-of-freedom motion of output implementation space on three translation parallel mechanism, but the inventor should be installed on the frame at the motor of installing on the moving platform cleverly.
Inspired by US.Patent No.4976582; The present invention becomes series connection bidimensional one-rotation parallel mechanism on the three-dimensional translating parallel structure with mechanism design first for the motion of implementation space five degree of freedom; And five drive motors of this mechanism all are installed on the frame, and translational degree of freedom and rotational freedom can be realized independent control.The invention solves five-freedom parallel structure kinematics just, the contrary difficulty of separating, problems such as control difficulty.
Summary of the invention
The object of the present invention is to provide rotational motion and the translational motion space five-freedom mechanism of control separately; Can solve problem such as five degree of freedom serial mechanism poor rigidity, inertia are big, joint error accumulation and five-freedom parallel structure kinematics just, the contrary difficulty of separating, problems such as control difficulty.
The present invention achieves the above object through following technical scheme: rotational motion and translational motion be the space five-freedom mechanism of control separately, comprises frame, first movement branched chain, second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform and spherical chain.
Said first movement branched chain is made up of first servomotor, first driving lever, first connecting rod and second connecting rod; Rack-mounted first servomotor drives the motion of first driving lever through first revolute pair; First driving lever drives first connecting rod and second connecting rod motion through first Hooke's hinge (or spherical pair) and second Hooke's hinge (or spherical pair), and first connecting rod and second connecting rod drive the motion of translation platform through the 3rd Hooke's hinge (or spherical pair) and the 4th Hooke's hinge (or spherical pair).
Said second movement branched chain is made up of second servomotor, second driving lever, third connecting rod and the 4th connecting rod; Rack-mounted second servomotor drives the motion of second driving lever through second revolute pair; Second driving lever drives third connecting rod and the 4th link motion through the 5th Hooke's hinge (or spherical pair) and the 6th Hooke's hinge (or spherical pair), and third connecting rod and the 4th connecting rod drive the motion of translation platform through the 7th Hooke's hinge (or spherical pair) and the 8th Hooke's hinge (or spherical pair).
Said the 3rd movement branched chain is made up of the 3rd servomotor, the 3rd driving lever, the 5th connecting rod and the 6th connecting rod; Rack-mounted the 3rd servomotor drives the motion of the 3rd driving lever through the 3rd revolute pair; The 3rd driving lever drives the 5th connecting rod and the 6th link motion through the 9th Hooke's hinge (or spherical pair) and the tenth Hooke's hinge (or spherical pair), and the 5th connecting rod and the 6th connecting rod drive the motion of translation platform through the 11 Hooke's hinge (or spherical pair) and the 12 Hooke's hinge (or spherical pair).
Said first movement branched chain, second movement branched chain and the 3rd movement branched chain are united the motion of driving translation platform, but the motion of said translation platform implementation space three-dimensional translating.
Said the 4th movement branched chain is made up of the 4th servomotor, seven-link assembly and the 8th connecting rod, first bevel gear and second bevel gear; Rack-mounted the 4th servomotor drives the seven-link assembly motion through the 13 Hooke's hinge; Seven-link assembly is connected with the 8th connecting rod through first moving sets and drives the 8th link motion; The 8th connecting rod other end drives the motion of first bevel gear through the 14 Hooke's hinge; First bevel gear is connected with the translation platform through the 4th revolute pair and through driving the motion of second bevel gear with the engagement of second bevel gear, second bevel gear is connected with the translation platform through the 5th revolute pair.
Said the 5th movement branched chain is made up of the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear; Rack-mounted the 5th servomotor drives the 9th link motion through the 15 Hooke's hinge; The 9th connecting rod is connected with the tenth connecting rod through second moving sets and drives the tenth link motion; The tenth connecting rod other end drives the third hand tap gear movement through the 16 Hooke's hinge; The third hand tap gear is connected with the translation platform through the 6th revolute pair and through driving the motion of the 4th bevel gear with the engagement of the 4th bevel gear, the 4th bevel gear is connected with the translation platform through the 7th revolute pair.
Said spherical chain is made up of the 11 connecting rod, the 12 connecting rod, the 13 connecting rod and the 14 connecting rod; Second bevel gear drives the 11 link motion through the 5th revolute pair; The 4th bevel gear drives the 14 link motion through the 7th revolute pair; The 11 connecting rod drives ten two connecting rod and ten three link motion that through nine revolute pair are connected through the 8th revolute pair with the tenth revolute pair with the 14 connecting rod; The axes intersect of the 5th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is in a bit, and the 12 connecting rod and the 13 connecting rod all can be realized rotating around the bidimensional of above-mentioned intersection point.
Outstanding advantage of the present invention is:
1, drive motors is installed on the frame, and rod member is made lighter bar, and mechanism is in light weight, good rigidly, inertia is little, dynamic performance good;
2, the translational motion of mechanism is controlled separately by different side chains respectively with rotational motion, and kinematics of mechanism just, inverse problem finds the solution easily, and control is convenient;
3, install different end effectors, this mechanism may be used on assembling, welding, attitude adjustment and positioning equipment, laser, field such as medical.
Description of drawings
Fig. 1 is first structural representation of the space five-freedom mechanism of rotational motion according to the invention and the independent control of translational motion.
Fig. 2 is second structural representation of the space five-freedom mechanism of rotational motion according to the invention and the independent control of translational motion.
Fig. 3 is the 3rd structural representation of the space five-freedom mechanism of rotational motion according to the invention and the independent control of translational motion.
Fig. 4 is the work sketch map of the space five-freedom mechanism of rotational motion according to the invention and the independent control of translational motion.
Fig. 5 is the spherical chain sketch map of the space five-freedom mechanism of rotational motion according to the invention and the independent control of translational motion.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 1, Fig. 2 and Fig. 3; Rotational motion and translational motion be the space five-freedom mechanism of control separately, comprises frame 1, first movement branched chain, second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform 39 and spherical chain.
Said first movement branched chain is made up of first servomotor 2, first driving lever 10, first connecting rod 19 and second connecting rod 20; First servomotor 2 that is installed on the frame 1 drives 10 motions of first driving lever through first revolute pair 7; First driving lever 10 drives first connecting rod 19 and second connecting rod 20 motions through first Hooke's hinge (or spherical pair) 13 and second Hooke's hinge (or spherical pair) 14, and first connecting rod 19 drives 39 motions of translation platform with second connecting rod 20 through the 3rd Hooke's hinge (or spherical pair) 25 and the 4th Hooke's hinge (or spherical pair) 26.
Said second movement branched chain is made up of second servomotor 3, second driving lever 11, third connecting rod 21 and the 4th connecting rod 22; Second servomotor 3 that is installed on the frame 1 drives 11 motions of second driving lever through second revolute pair 8; Second driving lever 11 drives third connecting rod 21 and 22 motions of the 4th connecting rod through the 5th Hooke's hinge (or spherical pair) 15 and the 6th Hooke's hinge (or spherical pair) 16, and third connecting rod 21 and the 4th connecting rod 22 drive 39 motions of translation platform through the 7th Hooke's hinge (or spherical pair) 27 and the 8th Hooke's hinge (or spherical pair) 28.
Said the 3rd movement branched chain is made up of the 3rd servomotor 4, the 3rd driving lever 12, the 5th connecting rod 23 and the 6th connecting rod 24; The 3rd servomotor 4 that is installed on the frame 1 drives 12 motions of the 3rd driving lever through the 3rd revolute pair 9; The 3rd driving lever 12 drives the 5th connecting rod 23 and 24 motions of the 6th connecting rod through the 9th Hooke's hinge (or spherical pair) 17 and the tenth Hooke's hinge (or spherical pair) 18, and the 5th connecting rod 23 and the 6th connecting rod 24 drive 39 motions of translation platform through the 11 Hooke's hinge (or spherical pair) 29 and the 12 Hooke's hinge (or spherical pair) 30.
Said first movement branched chain, second movement branched chain and the 3rd movement branched chain are united 39 motions of driving translation platform, but the motion of said translation platform 39 implementation space three-dimensional translatings.
Said the 4th movement branched chain is made up of the 4th servomotor 5, seven-link assembly 33 and the 8th connecting rod 35, first bevel gear 51 and second bevel gear 52; The 4th servomotor 5 that is installed on the frame 1 drives seven-link assembly 33 motions through the 13 Hooke's hinge 31; Seven-link assembly 33 is connected with the 8th connecting rod 35 through first moving sets 55 and drives the motion of the 8th connecting rod 35; The 8th connecting rod 35 other ends drive 51 motions of first bevel gear through the 14 Hooke's hinge 37; First bevel gear 51 is connected with translation platform 39 through the 4th revolute pair 40 and through driving 52 motions of second bevel gear with 52 engagements of second bevel gear, second bevel gear 52 is connected with translation platform 39 through the 5th revolute pair 42.
Said the 5th movement branched chain is made up of the 5th servomotor 6, the 9th connecting rod 34 and the tenth connecting rod 36, third hand tap gear 53 and the 4th bevel gear 54; The 5th servomotor 6 that is installed on the frame 1 drives 34 motions of the 9th connecting rod through the 15 Hooke's hinge 32; The 9th connecting rod 34 is connected with the tenth connecting rod 36 through second moving sets 56 and drives the motion of the tenth connecting rod 36; The tenth connecting rod 36 other ends drive 53 motions of third hand tap gear through the 16 Hooke's hinge 38; Third hand tap gear 53 is connected with translation platform 39 through the 6th revolute pair 41 and through driving 54 motions of the 4th bevel gear with 54 engagements of the 4th bevel gear, the 4th bevel gear 54 is connected with translation platform 39 through the 7th revolute pair 50.
Said spherical chain is made up of the 11 connecting rod the 43, the 12 connecting rod the 45, the 13 connecting rod 47 and the 14 connecting rod 49; Second bevel gear 52 drives 43 motions of the 11 connecting rod through the 5th revolute pair 42; The 4th bevel gear 54 drives 49 motions of the 14 connecting rod through the 7th revolute pair 50; The 11 connecting rod 43 drives the 12 connecting rod 45 and 47 motions of the 13 connecting rod that are connected through the 9th revolute pair 46 with the 14 connecting rod 49 through the 8th revolute pair 44 and the tenth revolute pair 48; The axes intersect of the 5th revolute pair 42, the 7th revolute pair 50, the 8th revolute pair 44, the 9th revolute pair 46 and the tenth revolute pair 48 is in a bit, and the 12 connecting rod 45 and the 13 connecting rod 47 all can be realized rotating around the bidimensional of above-mentioned intersection point.
Map 2 and Fig. 5; Separately the axes intersect of spherical chain the 5th revolute pair 42, the 7th revolute pair 50, the 8th revolute pair 44, the 9th revolute pair 46 and the tenth revolute pair 48 of the space five-freedom mechanism of control is in a bit for rotational motion and translational motion, and the 11 connecting rod the 43, the 12 connecting rod the 45, the 13 connecting rod 47 and the 14 connecting rod 49 have been formed a spherical chain jointly.
Claims (1)
1. the independent space five-freedom mechanism of control of rotational motion and translational motion; Comprise frame, first movement branched chain, second movement branched chain, the 3rd movement branched chain, the 4th movement branched chain, the 5th movement branched chain, translation platform and spherical chain, it is characterized in that:
Said first movement branched chain is by first servomotor; First driving lever; First connecting rod and second connecting rod are formed; First driving lever, one end is connected with rack-mounted first servomotor through first revolute pair; The first driving lever other end is connected with second connecting rod with first connecting rod with second Hooke's hinge (or spherical pair) through first Hooke's hinge (or spherical pair); The first connecting rod other end is connected with the translation platform through the 3rd Hooke's hinge (or spherical pair); The second connecting rod other end is connected with the translation platform through the 4th Hooke's hinge (or spherical pair)
Said second movement branched chain is by second servomotor; Second driving lever; Third connecting rod and the 4th connecting rod are formed; Second driving lever, one end is connected with rack-mounted second servomotor through second revolute pair; The second driving lever other end is connected with the 4th connecting rod with third connecting rod with the 6th Hooke's hinge (or spherical pair) through the 5th Hooke's hinge (or spherical pair); The third connecting rod other end is connected with the translation platform through the 7th Hooke's hinge (or spherical pair); The 4th connecting rod other end is connected with the translation platform through the 8th Hooke's hinge (or spherical pair)
Said the 3rd movement branched chain is by the 3rd servomotor; The 3rd driving lever; The 5th connecting rod and the 6th connecting rod are formed; The 3rd driving lever one end is connected with rack-mounted the 3rd servomotor through the 3rd revolute pair; The 3rd driving lever other end is connected with the 6th connecting rod with the 5th connecting rod with the tenth Hooke's hinge (or spherical pair) through the 9th Hooke's hinge (or spherical pair); The 5th connecting rod other end is connected with the translation platform through the 11 Hooke's hinge (or spherical pair); The 6th connecting rod other end is connected with the translation platform through the 12 Hooke's hinge (or spherical pair)
Said the 4th movement branched chain is made up of the 4th servomotor, seven-link assembly and the 8th connecting rod, first bevel gear and second bevel gear; Seven-link assembly one end is connected with rack-mounted the 4th servomotor through the 13 Hooke's hinge; The seven-link assembly other end is connected with the 8th connecting rod through first moving sets; The 8th connecting rod other end is connected with first bevel gear through the 14 Hooke's hinge, and first bevel gear is connected with the translation platform through the 4th revolute pair, first bevel gear and the engagement of second bevel gear; Second bevel gear is connected with the translation platform through the 5th revolute pair
Said the 5th movement branched chain is made up of the 5th servomotor, the 9th connecting rod and the tenth connecting rod, third hand tap gear and the 4th bevel gear; The 9th connecting rod one end is connected with rack-mounted the 5th servomotor through the 15 Hooke's hinge; The 9th connecting rod other end is connected with the tenth connecting rod through second moving sets; The tenth connecting rod other end is connected with the third hand tap gear through the 16 Hooke's hinge, and the third hand tap gear is connected with the translation platform through the 6th revolute pair, third hand tap gear and the engagement of the 4th bevel gear; The 4th bevel gear is connected with the translation platform through the 7th revolute pair
Said spherical chain is made up of the 11 connecting rod, the 12 connecting rod, the 13 connecting rod and the 14 connecting rod; The 11 connecting rod one end is connected with second bevel gear through the 5th revolute pair; The 11 connecting rod other end is connected with the 12 connecting rod through the 8th revolute pair; The 12 connecting rod other end is connected with the 13 connecting rod through the 9th revolute pair; The 13 connecting rod other end is connected with the 14 connecting rod through the tenth revolute pair, and the 14 connecting rod other end is connected with the 4th bevel gear through the 7th revolute pair, and the axes intersect of the 5th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the tenth revolute pair is in a bit.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103350418A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | High-speed five-freedom-degree parallel mechanical arm |
| CN103350417A (en) * | 2013-07-25 | 2013-10-16 | 天津大学 | Parallel mechanism capable of realizing three-dimensional translational motion and two-dimensional rotation |
| CN103440796A (en) * | 2013-08-02 | 2013-12-11 | 湖南大学 | Deep space exploration simulation training device based on series-parallel five freedom degree and working method thereof |
| CN103489355A (en) * | 2013-08-02 | 2014-01-01 | 湖南大学 | Deep space exploration simulation training device and working method thereof |
| CN104626110A (en) * | 2014-12-30 | 2015-05-20 | 中国矿业大学 | Electric-drive and high-rigidity 6-DOF parallel platform |
| CN106272346A (en) * | 2016-08-31 | 2017-01-04 | 上海交通大学 | There are the three five degree of freedom sorting machine people's devices moving two rotation decouplings |
| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN111168649A (en) * | 2020-01-08 | 2020-05-19 | 清华大学 | High-speed high-precision parallel robot |
| CN112405501A (en) * | 2020-11-13 | 2021-02-26 | 重庆邮电大学 | Series-parallel six-freedom-degree force feedback device with differential gear train |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112474121A (en) * | 2020-11-24 | 2021-03-12 | 厦门槟闽汽车零部件有限公司 | Surface rust-proof treatment device for metal part production |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108858142A (en) * | 2018-06-30 | 2018-11-23 | 郑州大学 | Five-freedom parallel device people |
| CN111168649A (en) * | 2020-01-08 | 2020-05-19 | 清华大学 | High-speed high-precision parallel robot |
| CN111168649B (en) * | 2020-01-08 | 2021-04-27 | 清华大学 | High-speed high-precision parallel robot |
| CN112405501A (en) * | 2020-11-13 | 2021-02-26 | 重庆邮电大学 | Series-parallel six-freedom-degree force feedback device with differential gear train |
| CN112428255A (en) * | 2020-11-13 | 2021-03-02 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112428255B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Five-freedom-degree parallel processing robot with double-drive constraint branched chains |
| CN112474121A (en) * | 2020-11-24 | 2021-03-12 | 厦门槟闽汽车零部件有限公司 | Surface rust-proof treatment device for metal part production |
| CN112474121B (en) * | 2020-11-24 | 2021-09-14 | 深圳科瑞晟环保科技有限公司 | Surface rust-proof treatment device for metal part production |
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Application publication date: 20121114 |