CN102873681A - Novel two-degree-of-freedom manipulator mechanism - Google Patents
Novel two-degree-of-freedom manipulator mechanism Download PDFInfo
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- CN102873681A CN102873681A CN2011101982456A CN201110198245A CN102873681A CN 102873681 A CN102873681 A CN 102873681A CN 2011101982456 A CN2011101982456 A CN 2011101982456A CN 201110198245 A CN201110198245 A CN 201110198245A CN 102873681 A CN102873681 A CN 102873681A
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Abstract
The invention discloses a novel two-degree-of-freedom manipulator mechanism. The mechanism comprises five connecting rods (1-5), five pulleys (6-10) and a steel wire rope (11), wherein a connecting rod (1) is a manipulator static platform; a pulley (8) is a movable platform; connecting rods (2 and 5) are manipulator driving arms; connecting rods (3 and 4) are driven arms; all connecting rods are connected through revolving pairs; pulleys (6 and 10) are fixedly connected with the static platform (1); pulleys (7, 8 and 9) respectively form compound hinges with connected connecting rods; the steel wire rope (11) winds the pulleys (6-10); the steel wire rope (11) and the pulley (6 and 10) do not do relative motion; and various tools can be mounted on the movable platform (8). According to the two-degree-of-freedom manipulator mechanism, two-degree-of-freedom motion of the movable platform (8) is realized through the rotation of the two driving arms (2 and 5).
Description
Technical field
The invention belongs to the robot mechanism field, relate in particular to a kind of two degrees of freedom manipulator mechanism of two-dimensional translation of suitable pick-and-place operation.
Background technology
In the existing robot of robotize operation, two class mechanisms are arranged: serial mechanism and parallel institution.Serial mechanism has the advantage that working space is large, flexibility is high, and simultaneously, part also comes with some shortcomings: exist the error accumulation of each rod member, terminal precision low; Inertia is large, rigidity is low, dynamic property is relatively poor.
Parallel institution is a kind ofly to have a plurality of freedoms of motion, and driver is distributed in the enclosed multi-loop mechanism on the different loops.The relative serial machine people of parallel robot has the series of advantages such as rigidity is large, bearing capacity strong, site error is not accumulated, precision is high, the deadweight duty ratio is little, power performance is good.Various equipments based on parallel institution become the important supplement that the tradition series connection is equipped, and play a significant role in a lot of fields.At present, parallel robot is mainly used in the fields such as medical surgical equipment, mobile robot, motion simulation, machine-building, automation assembling, Precision Machining and measurement, microelectronics manufacturing and show business, exerts oneself and torque sensor, walker and climbing robot leg and large-scale mine machinery etc. such as flight simulator, virtual-shaft machine tool, coordinate measuring machine, jiggle robot, robot.
At present, the about kind more than 100 of the methodology of novel parallel mechanism that has proposed, but binary plane parallel mechanism is still considerably less.Two-degrees-of-freedom translation parallel device people has the characteristics such as forward kinematics solution simple in structure, that closing form is arranged, control is easy, cost is low.Two-degrees-of-freedom translation parallel device people's moving platform can move as two degrees of freedom in its working face at a relatively high speed, and keeps attitude constant, is applicable to the pick-and-place operation of the light industries such as electronics, packing, has preferably application prospect.
Summary of the invention
The object of the present invention is to provide a kind of two-degree-of-freedom plane parallel robot mechanism.The moving platform of mechanism carries out two-dimensional movement in working face, and keeps attitude constant.This mechanism has that precision height, inertia are little, high dynamic performance, working space are large, forward kinematics solution and instead separate the advantages such as simple.
Two-dimensional translation two degrees of freedom manipulator mechanism of the present invention comprises five connecting rods, five pulleys and steel cable.It is characterized in that: moving platform links to each other with silent flatform by two side chains.Each side chain comprises a master arm and a slave arm.Master arm one end links to each other with silent flatform by revolute pair, and the other end links to each other with slave arm by revolute pair.Slave arm links to each other with moving platform by revolute pair.The hinged place of master arm and slave arm is equipped with a pulley, and this pulley and master arm, slave arm consist of compound hinges.Article two, slave arm links to each other by revolute pair, in the two hinged place, a pulley is installed as moving platform, and this pulley and master arm, slave arm consist of compound hinges.Two relative silent flatforms of pulley that are installed on the silent flatform are fixed.Wirerope-winding is cut steel wire rope and is fixed between two pulleys on the silent flatform without relative motion on five pulleys.Described steel wire rope can substitute with belt or other rope; Five pulleys can substitute with belt pulley.
This mechanism realizes the plane two-degree of freedom translation of moving platform by the rotation of two master arms.On moving platform, various tool can be installed, realize the operations such as pick-and-place.
Described silent flatform can move in the direction vertical with this mechanism kinematic plane by a linear drive, thereby realizes the three-dimensional translating of moving platform.
The present invention has following advantage and beneficial effect:
1. two-degree-of-freedom plane manipulator mechanism of the present invention adopts closed-loop structure, compares with traditional two degrees of freedom serial mechanism, has high accuracy, high rigidity, low inertia, high dynamic performance, site error and the advantage such as does not accumulate;
2. two-degree-of-freedom plane manipulator mechanism forward kinematics solution of the present invention, anti-solution are simply.Normal solution has analytic solutions, is conducive to the Kinematic Calibration of mechanism;
3. two-degree-of-freedom plane manipulator mechanism of the present invention has clear and definite forms of motion, i.e. two-dimensional translation; Provide constraint by steel cable and five pulleys to moving platform, the attitude of moving platform is remained unchanged, and alleviated the total quality of mechanism;
4. the present invention adopts the rotation of master arm as the active input of mechanism, can realize that the high speed two-dimension of moving platform moves;
Description of drawings
Fig. 1 is the structural representation of two-degree-of-freedom plane manipulator mechanism of the present invention.
Among the figure: 1-silent flatform 2,5-master arm 3,4, slave arm 8-moving platform (pulley)
6-10: pulley 11: steel wire rope
The specific embodiment
In order to understand better the present invention, below in conjunction with accompanying drawing the present invention is done to describe further.
As shown in Figure 1, two degrees of freedom manipulator mechanism of the present invention comprises five connecting rods (1-5), five pulleys (6-10) and steel cable (11).Connecting rod (1) is the silent flatform of manipulator; Pulley (8) is moving platform.Pulley (6,7) and connecting rod (2,3) consist of the right motion side chain of mechanism; Pulley (9,10) and connecting rod (4,5) consist of the left movement side chain of mechanism.Connecting rod (2,5) is the manipulator master arm, and connecting rod (3,4) is slave arm.Each connecting rod links to each other by revolute pair.Pulley (6,10) is connected with silent flatform (1); Pulley (7,8,9) forms compound hinges with the phase connective pole respectively.Steel wire rope (11) is wrapped on the pulley (6-10); Steel wire rope (11) and pulley (6,10) are worked between the cylindrical without relative sliding.On moving platform (8), various tool can be installed.This mechanism realizes the two-degree of freedom translation of moving platform (8) by the rotation of two master arms (2,5).
This mechanism adopts the rotation of two master arms 2 as the active input of mechanism, and moving platform is moved as two degrees of freedom with higher speed in its working face.Two-degree-of-freedom plane manipulator mechanism of the present invention adopts the rotation of steel wire rope and pulley structure constraint moving platform, thereby alleviates the oeverall quality of manipulator, promotes its dynamic property.
Claims (7)
1. the two degrees of freedom manipulator mechanism of a two-dimensional translation comprises five connecting rods (1-5), five pulleys (6-10) and steel cable (11).It is characterized in that: moving platform (8) links to each other with silent flatform (1) by two side chains.
2. the two degrees of freedom manipulator mechanism of two-dimensional translation according to claim 1 is characterized in that described side chain comprises a master arm (2 or 5) and a slave arm (3 or 4).Master arm (2 or a 5) end links to each other with silent flatform (1) by revolute pair, and the other end links to each other with slave arm (3 or 4) by revolute pair.Slave arm (3,4) links to each other with moving platform (8) by revolute pair.
3. the two degrees of freedom manipulator mechanism of two-dimensional translation according to claim 1, the hinged place that it is characterized in that described master arm (2 or 5) and slave arm (3 or 4), a pulley is installed, and this pulley and master arm, slave arm consist of compound hinges.
According to claim 1 with the two degrees of freedom manipulator mechanism of 3 described two-dimensional translations, it is characterized in that described two slave arms (3,4) link to each other by revolute pair.In the two hinged place, a pulley (being moving platform 8) is installed, this pulley and master arm, slave arm consist of compound hinges.
5. the two degrees of freedom manipulator mechanism of two-dimensional translation according to claim 1 is characterized in that described two pulleys (6 and 10) relative silent flatforms (1) are fixing.
6. the two degrees of freedom manipulator mechanism of two-dimensional translation according to claim 1 is characterized in that described steel wire rope (11) is wrapped on five pulleys (6-10); Between steel wire rope (11) and the pulley (6,10) without relative motion.
7. the two degrees of freedom manipulator mechanism of two-dimensional translation according to claim 1 is characterized in that the available belt of described steel wire rope (11) or other rope substitute; The available belt pulley of five pulleys (6-10) substitutes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101982456A CN102873681A (en) | 2011-07-15 | 2011-07-15 | Novel two-degree-of-freedom manipulator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011101982456A CN102873681A (en) | 2011-07-15 | 2011-07-15 | Novel two-degree-of-freedom manipulator mechanism |
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| CN102873681A true CN102873681A (en) | 2013-01-16 |
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| CN2011101982456A Pending CN102873681A (en) | 2011-07-15 | 2011-07-15 | Novel two-degree-of-freedom manipulator mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN105149672A (en) * | 2015-10-27 | 2015-12-16 | 北华航天工业学院 | Novel main movement mechanism of mechanical shaper |
| CN105437215A (en) * | 2015-12-21 | 2016-03-30 | 单家正 | Planar parallel robot |
| CN107337725A (en) * | 2017-06-16 | 2017-11-10 | 苏州梅赛生物技术有限公司 | A kind of concussion purifier of Recombinant Chinese cobra NGF |
| CN109699554A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
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| US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
| JPH07205061A (en) * | 1994-01-13 | 1995-08-08 | Koganei Corp | Conveyance device |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
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2011
- 2011-07-15 CN CN2011101982456A patent/CN102873681A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4712971A (en) * | 1985-02-13 | 1987-12-15 | The Charles Stark Draper Laboratory, Inc. | Control arm assembly |
| JPH07205061A (en) * | 1994-01-13 | 1995-08-08 | Koganei Corp | Conveyance device |
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN101664924A (en) * | 2009-08-05 | 2010-03-10 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924297A (en) * | 2015-06-30 | 2015-09-23 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN104924297B (en) * | 2015-06-30 | 2017-05-17 | 南京理工大学 | High-speed two-degree-of-freedom planar transverse-movement robot mechanism |
| CN105149672A (en) * | 2015-10-27 | 2015-12-16 | 北华航天工业学院 | Novel main movement mechanism of mechanical shaper |
| CN105437215A (en) * | 2015-12-21 | 2016-03-30 | 单家正 | Planar parallel robot |
| CN109699554A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
| CN109699554B (en) * | 2016-06-23 | 2021-08-17 | 合肥慧问机械设计有限公司 | Full-intelligent execution manipulator for fish pond feeding integrated machine |
| CN107337725A (en) * | 2017-06-16 | 2017-11-10 | 苏州梅赛生物技术有限公司 | A kind of concussion purifier of Recombinant Chinese cobra NGF |
| CN107337725B (en) * | 2017-06-16 | 2021-02-09 | 苏州梅赛生物技术有限公司 | Oscillation purifier for recombinant nerve growth factor |
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Application publication date: 20130116 |