CN102825595A - Input-output complete decoupling three-freedom-degree moving parallel robot mechanism - Google Patents

Input-output complete decoupling three-freedom-degree moving parallel robot mechanism Download PDF

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Publication number
CN102825595A
CN102825595A CN2012103034922A CN201210303492A CN102825595A CN 102825595 A CN102825595 A CN 102825595A CN 2012103034922 A CN2012103034922 A CN 2012103034922A CN 201210303492 A CN201210303492 A CN 201210303492A CN 102825595 A CN102825595 A CN 102825595A
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moving
parallel
branch
links
rod
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CN102825595B (en
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曾达幸
卢文娟
常威
张超
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Yanshan University
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Yanshan University
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Abstract

An input-output complete decoupling three-freedom-degree moving parallel robot mechanism comprises a fixed platform, a movable platform and three branches for connecting the fixed platform and the movable platform. The first branch and the third branch are composed of three moving pairs and two connecting rods. The third branch is composed of five rotating pairs and four connecting rods. The input-output complete decoupling three-freedom-degree moving parallel robot mechanism is simple in structure, easy to control, high in flexibility, low in cumulative error, fast in response, large in operation space and high in bearing capacity, is widely applicable to parallel machine tools, walking machines, parallel pressing machines, error compensators, high-precision electronic element encapsulation, food, packing and medical industries, and realizes complete decoupling of three motions of the movable platform.

Description

The three free degree moving parallel connected robot mechanism that input-output is full decoupled
Technical field
The invention belongs to the robot field, particularly a kind of parallel robot mechanism.
Background technology
With respect to serial mechanism, parallel institution has characteristics such as rigidity is big, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformation.Owing to possess these good characteristics, parallel institution is widely used in aspects such as parallel machine, medicine equipment, fine motion operating desk, various motion simulator, sensor, parallel institution forcing press.
But compare with the serial machine robot mechanism, parallel robot mechanism has that working space is little, have close coupling property, shortcomings such as control difficulty etc. between the motion.The very complicacy that parallel institution normal solution kinematics problem becomes owing to the close coupling between its pose usually, corresponding kinetic model is more complicated, and then has limited the application of control algolithm, and mechanism's manufacturing cost is also higher relatively.
In commercial Application, often use the lower-mobility parallel institution.And the 3-freedom parallel mechanism of decoupling zero also more and more comes into one's own owing to its decoupling zero characteristic that has.At present; More existing achievements aspect three freedom degrees decoupling sphere parallel mechanism research, for example, Chinese patent document CN102085660A has proposed a kind of three freedom decoupling parallel robot mechanism; Realized the operation of space three-freedom; But this mechanism will increase working space by the length that prolongs guide rail, and this mechanism is hybrid mechanism, realization be the decoupling zero of moving and rotating.
Summary of the invention
The object of the present invention is to provide the full decoupled three free degree moving parallel connected robot mechanism of a kind of input-output simple in structure, full decoupled, that be easy to control.The present invention mainly comprises fixed platform, moving platform and is connected fixed platform and three branches of moving platform.First branch and second branch all are made up of three moving sets and two connecting rods; One end of one of them connecting rod links to each other with fixed platform through moving sets; One end of another connecting rod links to each other with moving platform through moving sets, and the other end of above-mentioned two connecting rods links to each other through moving sets; In above-mentioned two branches; The normal direction of moving sets that is connected two connecting rods in the moving sets that links to each other with fixed platform in first branch and second branch is parallel to each other; The normal direction of the moving sets that links to each other with fixed platform in the moving sets that connects two connecting rods in first branch and second branch is parallel to each other, and the normal direction of two moving sets that link to each other with moving platform in first branch and second branch is parallel to each other.The 3rd branch is made up of five revolute pairs and four connecting rods; One end of first connecting rod links to each other with fixed platform through revolute pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair, and the 3rd the connecting rod other end links to each other with an end of the 4th connecting rod through revolute pair, and the 4th the connecting rod other end links to each other with moving platform through revolute pair.The revolute pair that links to each other with fixed platform in this branch constitutes two with the revolute pair that is connected first and second connecting rods and rotates parallel subchain; The axis direction of these two revolute pairs is parallel to each other; The parallel subchain of three rotations that other three revolute pairs constitute, the axis direction of these three revolute pairs is also parallel to each other.The revolute pair that links to each other with fixed platform and the axis direction of the revolute pair that is connected second and the 3rd connecting rod keep orthogonal.
The present invention compared with prior art has following advantage:
1, simple in structure, process and assemble is convenient, low cost of manufacture.
2, motor can be arranged on the fixed platform, has reduced the load of rod member, makes mechanism have that good kinematics performance, flexibility are high, accumulated error is little, reaction speed is fast, working space is big and bearing capacity is strong.
3, because three moving movements of moving platform are full decoupled, make control very easy, its kinematics is positive and negative separates also very simply, is easy to carry out trajectory planning; Can be widely used in the industries such as parallel machine, parallel institution forcing press, error compensator, high density electronic package, packing and medical treatment.
Description of drawings
Fig. 1 is a structural representation sketch of the present invention.
The specific embodiment
In the structural representation sketch of the full decoupled three free degree moving parallel connected robot mechanism of a kind of input-output shown in Figure 1; First branch and second branch are located at the both sides of fixed platform respectively; All form by three moving sets and two connecting rods; Wherein an end of first branch connecting rod 3 links to each other with fixed platform 1 through moving sets 2, and an end of another connecting rod 5 links to each other with moving platform 7 through moving sets 6, and the other end of above-mentioned two connecting rods links to each other through moving sets 4.One end of a connecting rod 11 of second branch links to each other with fixed platform through moving sets 13, and an end of another connecting rod 10 links to each other with moving platform through moving sets 9, and the other end of above-mentioned two connecting rods links to each other through moving sets 12.Moving sets 2 in above-mentioned two branches and 12 normal direction are parallel to each other, and moving sets 4 and 13 normal direction are parallel to each other, and moving sets 6 and 9 normal direction are parallel to each other.The 3rd branch is located at the centre of fixed platform; Form by five revolute pairs and four connecting rods; One end of first connecting rod 15 links to each other with fixed platform through revolute pair 14, and its other end links to each other with an end of second connecting rod 17 through revolute pair 16, and the other end of this second connecting rod links to each other with an end of the 3rd connecting rod 19 through revolute pair 18; The 3rd the connecting rod other end links to each other with an end of the 4th connecting rod 21 through revolute pair 20, and the 4th the connecting rod other end links to each other with moving platform through revolute pair 8.Revolute pair 14 in this branch is rotated parallel subchain with two of revolute pair 16 formations; The axis direction of these two revolute pairs is parallel to each other; The parallel subchain of three rotations that other three revolute pairs 18,20,8 constitute, the axis direction of these three revolute pairs is also parallel to each other.The revolute pair that links to each other with fixed platform and the axis direction of the revolute pair that is connected second and the 3rd connecting rod keep orthogonal.
All have an input component in above-mentioned three branches, and all be positioned at the position approaching with fixed platform, described input component is respectively rod member 3,11,15, and the input pair is respectively moving sets 2,13 and revolute pair 14.Moving forward and backward of moving platform 7 controlled in moving forward and backward through rod member 3 and 5 of moving sets 2 in above-mentioned first and second branches, and moving sets 13 is done to move up and down through rod member 10 and 11 drive moving platforms 7 with respect to fixed platform 1 and moved up and down; Above-mentioned the 3rd branch moves in a circle to drive rod member 15 rotations and then drive moving platform 7 through revolute pair 14 and does the move left and right motion.Three branches through mechanism just can realize three moving movements of moving platform 7 in the space like this, and these three moving movements are full decoupled.

Claims (3)

1. three free degree moving parallel connected robot mechanism that input-output is full decoupled; By moving platform, fixed platform be connected moving platform and three branches of fixed platform form; It is characterized in that: its first branch and second branch all are made up of three moving sets and two connecting rods; One end of one of them connecting rod links to each other with fixed platform through moving sets, and an end of another connecting rod links to each other with moving platform through moving sets, and the other end of above-mentioned two connecting rods links to each other through moving sets; The 3rd branch is made up of five revolute pairs and four connecting rods; One end of first connecting rod links to each other with fixed platform through revolute pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair, and the 3rd the connecting rod other end links to each other with an end of the 4th connecting rod through revolute pair, and the 4th the connecting rod other end links to each other with moving platform through revolute pair.
2. the full decoupled three free degree moving parallel connected robot mechanism of a kind of input-output according to claim 1; It is characterized in that: in above-mentioned first and second branches; The normal direction of moving sets that is connected two connecting rods in the moving sets that links to each other with fixed platform in first branch and second branch is parallel to each other; The normal direction of the moving sets that links to each other with fixed platform in the moving sets that connects two connecting rods in first branch and second branch is parallel to each other, and the normal direction of two moving sets that link to each other with moving platform in first branch and second branch is parallel to each other.
3. the full decoupled three free degree moving parallel connected robot mechanism of a kind of input-output according to claim 1 and 2; It is characterized in that: the revolute pair that links to each other with fixed platform in above-mentioned the 3rd branch constitutes two with the revolute pair that is connected first and second connecting rods and rotates parallel subchain; The axis direction of these two revolute pairs is parallel to each other; The parallel subchain of three rotations that other three revolute pairs constitute, the axis direction of these three revolute pairs is also parallel to each other; The revolute pair that links to each other with fixed platform and the axis direction of the revolute pair that is connected second and the 3rd connecting rod keep orthogonal.
CN201210303492.2A 2012-08-24 2012-08-24 Input-output complete decoupling three-freedom-degree moving parallel robot mechanism Expired - Fee Related CN102825595B (en)

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CN103568004A (en) * 2013-11-08 2014-02-12 燕山大学 Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism
CN103736617A (en) * 2013-12-07 2014-04-23 广西大学 Coating machine with five-degree-of-freedom controllable mechanisms
CN104439813A (en) * 2014-12-16 2015-03-25 广西大学 Large-space multi-DOF (degree of freedom) controlled mechanism type robot
CN104526687A (en) * 2015-01-20 2015-04-22 江南大学 Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism
CN104626125A (en) * 2015-01-21 2015-05-20 江南大学 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN104690714A (en) * 2015-01-20 2015-06-10 江南大学 (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism
CN104760037A (en) * 2015-01-20 2015-07-08 江南大学 (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism
CN105215973A (en) * 2015-09-30 2016-01-06 河南科技大学 Asymmetric two-dimensional rotary one-dimensional movement parallel institution
CN105215977A (en) * 2015-09-30 2016-01-06 河南科技大学 Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism
CN107116538A (en) * 2017-06-30 2017-09-01 燕山大学 One kind three rotates one and moves broad sense decoupling parallel robot mechanism
CN107116539A (en) * 2017-06-30 2017-09-01 燕山大学 The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism
CN107139166A (en) * 2017-06-30 2017-09-08 燕山大学 Broad sense decoupling parallel mechanism with three turn of one shifting property
CN107336216A (en) * 2017-06-30 2017-11-10 燕山大学 One kind three rotates broad sense decoupling parallel robot mechanism
CN107344359A (en) * 2017-06-30 2017-11-14 燕山大学 A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103568004A (en) * 2013-11-08 2014-02-12 燕山大学 Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism
CN103736617A (en) * 2013-12-07 2014-04-23 广西大学 Coating machine with five-degree-of-freedom controllable mechanisms
CN103736617B (en) * 2013-12-07 2016-03-30 广西大学 A kind of five degree of freedom controllable-mechanism type flush coater
CN104439813A (en) * 2014-12-16 2015-03-25 广西大学 Large-space multi-DOF (degree of freedom) controlled mechanism type robot
CN104690714A (en) * 2015-01-20 2015-06-10 江南大学 (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism
CN104760037A (en) * 2015-01-20 2015-07-08 江南大学 (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism
CN104526687A (en) * 2015-01-20 2015-04-22 江南大学 Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism
CN104626125A (en) * 2015-01-21 2015-05-20 江南大学 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN105215973A (en) * 2015-09-30 2016-01-06 河南科技大学 Asymmetric two-dimensional rotary one-dimensional movement parallel institution
CN105215977A (en) * 2015-09-30 2016-01-06 河南科技大学 Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism
CN105215977B (en) * 2015-09-30 2017-04-12 河南科技大学 Non-coupled one-dimensional movement and two-dimensional rotation three-degree-of-freedom parallel mechanism
CN107116538A (en) * 2017-06-30 2017-09-01 燕山大学 One kind three rotates one and moves broad sense decoupling parallel robot mechanism
CN107116539A (en) * 2017-06-30 2017-09-01 燕山大学 The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism
CN107139166A (en) * 2017-06-30 2017-09-08 燕山大学 Broad sense decoupling parallel mechanism with three turn of one shifting property
CN107336216A (en) * 2017-06-30 2017-11-10 燕山大学 One kind three rotates broad sense decoupling parallel robot mechanism
CN107344359A (en) * 2017-06-30 2017-11-14 燕山大学 A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions
CN107344359B (en) * 2017-06-30 2020-01-07 燕山大学 Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting
CN107116538B (en) * 2017-06-30 2020-02-04 燕山大学 Three-rotation one-movement generalized decoupling parallel robot mechanism
CN107336216B (en) * 2017-06-30 2020-03-31 燕山大学 Three-rotation generalized decoupling parallel robot mechanism

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