CN102825595B - 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
CN102825595B
CN102825595B CN201210303492.2A CN201210303492A CN102825595B CN 102825595 B CN102825595 B CN 102825595B CN 201210303492 A CN201210303492 A CN 201210303492A CN 102825595 B CN102825595 B CN 102825595B
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branch
moving
parallel
rod
platform
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CN201210303492.2A
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CN102825595A (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 robot field, particularly a kind of parallel robot mechanism.
Background technology
Relative to serial mechanism, parallel institution has the features such as rigidity is large, bearing capacity is large, accumulated error is little, dynamic characteristic is good, compact conformation.Owing to possessing these good characteristics, parallel institution is widely used in the aspects such as parallel machine, medicine equipment, inching operation platform, various motion simulator, sensor, parallel institution forcing press.
But compare with serial machine robot mechanism, parallel robot mechanism have working space little, motion between have strong coupling, control difficulty etc. shortcoming.It is very complicated that parallel institution normal solution kinematics problem becomes due to the close coupling between its pose usually, and corresponding kinetic model is more complicated, and then limits the application of control algolithm, and mechanism's manufacturing cost is also relatively high.
In commercial Application, often use minority carrier generation lifetime.And the Decoupling Characteristics that the 3-freedom parallel mechanism of decoupling zero has due to it also more and more comes into one's own.At present, some achievements are had in three freedom degrees decoupling sphere parallel mechanism research, such as, Chinese patent literature CN102085660A proposes a kind of three freedom decoupling parallel robot mechanism, achieve the operation of space three-freedom, but this mechanism will increase working space by the length extending guide rail, and this mechanism is hybrid mechanism, the decoupling zero being movement and rotating of realization.
Summary of the invention
The object of the present invention is to provide the three free degree moving parallel connected robot mechanism that the input-output that is simple, full decoupled, that be easy to control of a kind of structure is full decoupled.The present invention mainly comprises three branches of fixed platform, moving platform and connection fixed platform and moving platform.First branch and second branch are all made up of three moving sets and two connecting rods, one end of one of them connecting rod is connected with fixed platform by moving sets, one end of another connecting rod is connected with moving platform by moving sets, and the other end of above-mentioned two connecting rods is connected by moving sets; In above-mentioned Liang Ge branch, the normal direction being connected the moving sets of two connecting rods in the moving sets be connected with fixed platform in first branch and the second branch is parallel to each other, the moving sets connecting two connecting rods in first branch is parallel to each other with the normal direction of the moving sets be connected with fixed platform in the second branch, and the first branch is parallel to each other with the normal direction of two moving sets be connected with moving platform in the second branch.3rd branch is made up of five revolute pairs and four connecting rods, one end of first connecting rod is connected with fixed platform by revolute pair, its other end is connected by revolute pair one end with second connecting rod, the other end of this second connecting rod is connected by revolute pair one end with the 3rd connecting rod, 3rd the connecting rod other end is connected by revolute pair one end with the 4th connecting rod, and the 4th the connecting rod other end is connected with moving platform by revolute pair.The revolute pair be connected with fixed platform in this branch forms two with the revolute pair connecting the 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 are formed, the axis direction of these three revolute pairs is also parallel to each other.The revolute pair be connected with fixed platform keeps orthogonal with the axis direction of the revolute pair being connected second and the 3rd connecting rod.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, process and assemble is convenient, low cost of manufacture.
2, motor can be arranged on fixed platform, decreases the load of rod member, makes that mechanism has good kinematics performance, flexibility is high, accumulated error is little, reaction speed is fast, working space is large and bearing capacity is strong.
3, three moving movements due to moving platform are full decoupled, make control very easy, and the positive and negative solution of its kinematics is also very simple, 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, packaging and medical treatment.
Accompanying drawing explanation
Fig. 1 is structural representation sketch of the present invention.
Detailed description of the invention
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 Fig. 1, first branch and second branch are located at the both sides of fixed platform respectively, all be made up of three moving sets and two connecting rods, wherein one end of a connecting rod 3 of the first branch is connected with fixed platform 1 by moving sets 2, one end of another connecting rod 5 is connected with moving platform 7 by moving sets 6, and the other end of above-mentioned two connecting rods is connected by moving sets 4.One end of a connecting rod 11 of the second branch is connected with fixed platform by moving sets 13, and one end of another connecting rod 10 is connected with moving platform by moving sets 9, and the other end of above-mentioned two connecting rods is connected by moving sets 12.The normal direction of the moving sets 2 and 12 in above-mentioned Liang Ge branch is parallel to each other, and the normal direction of moving sets 4 and 13 is parallel to each other, and the normal direction of moving sets 6 and 9 is parallel to each other.3rd branch is located at the centre of fixed platform, be made up of five revolute pairs and four connecting rods, one end of first connecting rod 15 is connected with fixed platform by revolute pair 14, its other end is connected with one end of second connecting rod 17 by revolute pair 16, the other end of this second connecting rod is connected with one end of the 3rd connecting rod 19 by revolute pair 18,3rd the connecting rod other end is connected with one end of the 4th connecting rod 21 by revolute pair 20, and the 4th the connecting rod other end is connected with moving platform by revolute pair 8.The parallel subchain of two rotations that revolute pair 14 in this branch and revolute pair 16 are formed, 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 are formed, the axis direction of these three revolute pairs is also parallel to each other.The revolute pair be connected with fixed platform keeps orthogonal with the axis direction of the revolute pair being connected second and the 3rd connecting rod.
All have an input component in above-mentioned three branches, and be all positioned at the position close with fixed platform, described input component is respectively rod member 3,11,15, and input pair is respectively moving sets 2,13 and revolute pair 14.The movable of moving sets 2 in above-mentioned first and second branches controls the movable of moving platform 7 by rod member 3 and 5, and moving sets 13 moves up and down relative to fixed platform 1 and drives moving platform 7 to move up and down by rod member 10 and 11; Above-mentioned 3rd branch is moved in a circle by revolute pair 14 and drives rod member 15 rotate and then drive moving platform 7 to move left and right motion.Just can realize three moving movements of moving platform 7 in space by three branches of mechanism like this, and these three moving movements are full decoupled.

Claims (1)

1. the three free degree moving parallel connected robot mechanism that an input-output is full decoupled, be made up of three branches of moving platform, fixed platform and connection moving platform and fixed platform, it is characterized in that: its first branch and second branch are all made up of three moving sets and two connecting rods, one end of one of them connecting rod is connected with fixed platform by moving sets, one end of another connecting rod is connected with moving platform by moving sets, and the other end of above-mentioned two connecting rods is connected by moving sets; In above-mentioned first and second branches, the normal direction being connected the moving sets of two connecting rods in the moving sets be connected with fixed platform in first branch and the second branch is parallel to each other, the moving sets connecting two connecting rods in first branch is parallel to each other with the normal direction of the moving sets be connected with fixed platform in the second branch, and the first branch is parallel to each other with the normal direction of two moving sets be connected with moving platform in the second branch; 3rd branch is made up of five revolute pairs and four connecting rods, one end of first connecting rod is connected with fixed platform by revolute pair, its other end is connected by revolute pair one end with second connecting rod, the other end of this second connecting rod is connected by revolute pair one end with the 3rd connecting rod, 3rd the connecting rod other end is connected by revolute pair one end with the 4th connecting rod, and the 4th the connecting rod other end is connected with moving platform by revolute pair; The revolute pair be connected with fixed platform in above-mentioned 3rd branch forms two with the revolute pair connecting the 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 are formed, the axis direction of these three revolute pairs is also parallel to each other; The revolute pair be connected with fixed platform keeps orthogonal with the axis direction of the revolute pair being connected second and the 3rd connecting rod.
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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CN103568004B (en) * 2013-11-08 2015-10-14 燕山大学 Two move a rotation three-dimensional space decoupling parallel mechanism
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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
CN104626125A (en) * 2015-01-21 2015-05-20 江南大学 1T, (1T1R) and 1T four-degree-of-freedom decoupling series-parallel mechanism
CN105215973B (en) * 2015-09-30 2017-09-22 河南科技大学 Asymmetric two-dimensional rotary one-dimensional movement parallel institution
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
CN107139166B (en) * 2017-06-30 2019-11-22 燕山大学 The broad sense decoupling parallel mechanism of property is moved with three turn one
CN107336216B (en) * 2017-06-30 2020-03-31 燕山大学 Three-rotation generalized decoupling parallel robot mechanism
CN107116538B (en) * 2017-06-30 2020-02-04 燕山大学 Three-rotation one-movement generalized decoupling parallel robot mechanism
CN107116539B (en) * 2017-06-30 2019-11-22 燕山大学 A kind of mobile broad sense decoupling parallel robot mechanism of three rotation two of shaft junction
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

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