CN102922513A - Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) - Google Patents
Four-freedom-degree single-action platform parallel mechanism capable of achieving motion of selective compliance assembly robot arm (SCARA) Download PDFInfo
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- CN102922513A CN102922513A CN2012104353751A CN201210435375A CN102922513A CN 102922513 A CN102922513 A CN 102922513A CN 2012104353751 A CN2012104353751 A CN 2012104353751A CN 201210435375 A CN201210435375 A CN 201210435375A CN 102922513 A CN102922513 A CN 102922513A
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Abstract
The invention relates to a four-freedom-degree single-action platform parallel mechanism capable of achieving motion of a selective compliance assembly robot arm (SCARA) and belongs to the technical field of parallel robots. The four-freedom-degree single-action platform parallel mechanism comprises a movable platform, a fixed platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein an actuator is installed on the movable platform, and the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected between the movable platform and the fixed platform and have the same structure. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain all contain movement pairs in active driving. The first branched chain, the second branched chain, the third branched chain and the fourth branched chain are respectively connected with the movable platform and the fixed platform to form a space parallel closed-loop mechanism, the space parallel closed-loop mechanism drives the movable platform to move through four input moving parts, and three-dimensional translational motion and one-dimensional rotation motion in a space are achieved. The parallel mechanism has the advantages of being simple in structure and relatively simple in kinematics, and the structural characteristics of a single platform are favorable for achieving high-speed and high-accelerating dynamic response characteristics.
Description
Technical field
The invention belongs to the parallel robot field, particularly a kind ofly be applied to pack, make, the four-degree-of-freedom list platform parallel institution that can realize high-speed motion of the production line such as assembling and material pick up.
Background technology
SCARA (Selective Compliance Assembly Robot Arm) means has the human arm that puts together machines of selecting compliance, this robot arm is realized by serial mechanism the earliest, is widely used in the industrial circles such as automatic transporting, spraying, welding and assembling.Parallel institution is relative with the serial mechanism close loop mechanism that is made of a plurality of side chains, and the structure that it is unique more easily realizes the high speed High acceleration motion so that such mechanism has higher dynamic response performance.In the field, Clavel has proposed the Delta parallel institution of the three-dimensional translating realized that is made of three symmetrical side chains, has the high-speed motion characteristic, the rear rapid sorting operation of being promoted and be applied to replace in the production line such as packaging for foodstuff manually finish food etc. by ABB AB.In order further to increase the flexible of picking action and to raise the efficiency, the demand of flexibility is rotated in the disorderly and unsystematic arrangement that solves simultaneously sorting production line conveying products to manipulator, Pierrot etc. have proposed to have four side chains, the H4 type parallel institution of the realized SCARA of two moving platform architectural features motion, and with its successful commercialization, typical representative products such as Adept Quattro
TMS650H etc.The rotation output movement of H4 type parallel institution is to be produced by the relative motion of its pair moving platform, has satisfied the demand of sorting production line for the manipulator turning power.H4 type parallel institution has satisfied the application demand that realizes the SCARA motion on the production line for manipulator, but two moving platform structures of such mechanism have increased its structural complexity, and then caused complicated kinematics characteristic, kinetic characteristic to the high speed high dynamic response has a negative impact, and is unfavorable for the raising of production efficiency.
Summary of the invention
The objective of the invention is for the structural complexity of simplifying H4 type parallel institution and overcome its pair moving platform structure to the adverse effect of manipulator high-speed high dynamic response, propose a kind of four-degree-of-freedom single action platform parallel institution of realizing the SCARA motion, have relatively succinct kinematics and better high speed high dynamic response characteristic.
A kind of four-degree-of-freedom list platform parallel institution of realizing the SCARA motion that the present invention proposes is characterized in that: comprise moving platform and a fixed platform that actuator is installed, connect four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: actuating arm, left connecting rod, right connecting rod, support bar, connector and kinematic pair; Described kinematic pair has eight, one is the revolute pair (R) that is connected between fixed platform and the actuating arm, one is the ball pivot (S) that is connected between actuating arm and the left connecting rod, one is the ball pivot (S) that is connected between actuating arm and the right connecting rod, one is the revolute pair (R) that is connected between support bar and the left connecting rod, one is the revolute pair (R) that is connected between support bar and the right connecting rod, one is the ball pivot (S) that is connected between connector and the left connecting rod, one is the ball pivot (S) that is connected between connector and the right connecting rod, and one is the revolute pair (R) that is connected between connector and the moving platform; Wherein, the revolute pair (R) that is connected between fixed platform and the actuating arm is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
The present invention also proposes the four-degree-of-freedom list platform parallel institution that another kind can be realized the SCARA motion, it is characterized in that: comprise moving platform and a fixed platform that actuator is installed, connect four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: slide block, left connecting rod, right connecting rod, support bar, connector and kinematic pair; Described kinematic pair has eight, one is the moving sets (P) that is connected between fixed platform and the slide block, one is the ball pivot (S) that is connected between slide block and the left connecting rod, one is the ball pivot (S) that is connected between slide block and the right connecting rod, one is the revolute pair (R) that is connected between support bar and the left connecting rod, one is the revolute pair (R) that is connected between support bar and the right connecting rod, one is the ball pivot (S) that is connected between connector and the left connecting rod, one is the ball pivot (S) that is connected between connector and the right connecting rod, and one is the revolute pair (R) that is connected between connector and the moving platform; Wherein, the moving sets (P) that is connected between fixed platform and the slide block is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
Characteristics of the present invention and technique effect
The present invention proposes a kind of single platform parallel institution of the SCARA of realization motion, has three translational degree of freedom and a rotational freedom.
A kind of single platform parallel institution of SCARA motion of realizing of the present invention is by the kinematic pair driving moving platform motion of four active drive, three-dimensional translating motion and one dimension in the implementation space rotatablely move, simple for structure, the relatively simple characteristics of kinematics that this mechanism has, the architectural feature of its single platform is conducive to realize the at a high speed high dynamic response characteristic that accelerates, be easy to realize high-speed motion when being applied to sort production line, but and then Effective Raise production efficiency.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention one.
Fig. 2 is the structural representation of the embodiment of the invention two.
The specific embodiment
The four-degree-of-freedom list platform parallel institution of a kind of SCARA of realization motion of the present invention reaches by reference to the accompanying drawings embodiment and is described in detail as follows:
A kind of four-degree-of-freedom list platform parallel institution of realizing the SCARA motion that the present invention proposes, comprise moving platform and a fixed platform that actuator is installed, connect the first, second, third and the 4th side chain with same structure between described moving platform and the fixed platform, this first, second, third and the 4th side chain all contains the kinematic pair of an active drive; It is characterized in that: the described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
A kind of four-degree-of-freedom list platform parallel institution of realizing the SCARA motion of the present invention, first, second, third is identical with the 4th branched structure.Be described as follows:
The first, second, third and the 4th side chain includes: actuating arm, left connecting rod, right connecting rod, support bar, connector and kinematic pair.Described kinematic pair has eight, one is the revolute pair R that is connected between fixed platform and the actuating arm, one is the ball pivot S that is connected between actuating arm and the left connecting rod, one is the ball pivot S that is connected between actuating arm and the right connecting rod, one is the revolute pair R that is connected between support bar and the left connecting rod, one is the revolute pair R that is connected between support bar and the right connecting rod, one is the ball pivot S that is connected between connector and the left connecting rod, one is the ball pivot S that is connected between connector and the right connecting rod, and one is the revolute pair R that is connected between connector and the moving platform.Wherein, the revolute pair R that is connected between fixed platform and the actuating arm is active drive.
The first, second, third and the 4th side chain also can comprise: slide block, left connecting rod, right connecting rod, support bar, connector and kinematic pair.Described kinematic pair has eight, one is the moving sets P that is connected between fixed platform and the slide block, one is the ball pivot S that is connected between slide block and the left connecting rod, one is the ball pivot S that is connected between slide block and the right connecting rod, one is the revolute pair R that is connected between support bar and the left connecting rod, one is the revolute pair R that is connected between support bar and the right connecting rod, one is the ball pivot S that is connected between connector and the left connecting rod, one is the ball pivot S that is connected between connector and the right connecting rod, and one is the revolute pair R that is connected between connector and the moving platform.Wherein, the moving sets P that is connected between fixed platform and the slide block is active drive.
Embodiment one:
The present embodiment a kind of realize the SCARA motion four-degree-of-freedom list platform parallel institution structure as shown in Figure 1, comprise fixed platform 17, moving platform 11 and the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV, described four side chains are connected between fixed platform 17 and the moving platform 11, and with fixed platform 17 and moving platform 11 Special composition close loop mechanisms.
Described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV structure are identical, take the 4th side chain IV as example, comprising among the figure: actuating arm 16, left connecting rod 14, right connecting rod 15, support bar 13, connector 12 and kinematic pair.Described kinematic pair has seven, one is the revolute pair R that is connected between fixed platform 17 and the actuating arm 16, one is the ball pivot S that is connected between actuating arm 16 and the left connecting rod 14, one is the ball pivot S that is connected between actuating arm 16 and the right connecting rod 15, one is the revolute pair R that is connected between support bar 13 and the left connecting rod 14, one is the revolute pair R that is connected between support bar 13 and the right connecting rod 15, one is the ball pivot S that is connected between connector 12 and the left connecting rod 14, one is the ball pivot S that is connected between connector 12 and the right connecting rod 15, and one is the revolute pair R that is connected between connector 12 and the moving platform 11.Wherein, the revolute pair R that is connected between fixed platform 17 and the actuating arm 16 is active drive.
Be connected in that four revolute pairs between described moving platform 11 and described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV are parallel to each other and be non-square at described moving platform 11 arranges, mechanism occurs unusually when being arranged in squares, and this moment, mechanism was invalid.Therefore, all are non-square layout situation and all belong to protection domain of the present invention.
Embodiment two:
The present embodiment a kind of realize the SCARA motion four-degree-of-freedom list platform parallel institution structure as shown in Figure 2, similar with embodiment one, comprise equally identical the first side chain I of structure, the second side chain II, the 3rd side chain III and the 4th side chain IV.What the present embodiment and embodiment one were different is: described the first side chain I, the second side chain II, the 3rd side chain III and the 4th side chain IV have all adopted the drive form of moving sets active drive.Be embodied on the concrete structure and be: the slide block 23 of its 4th side chain IV and described left connecting rod 21 are connected by ball pivot, and slide block 23 and described right connecting rod 22 are connected by ball pivot, and slide block 23 is connected by moving sets with fixed platform 24 and this moving sets is active drive.In the present embodiment, fixed platform is comprised of the fixed flat planar (24,25,26 and 27) of four separation, and the fixed flat planar of these four separation is all vertically placed and is symmetrically layout at circumference.
Claims (4)
1. the four-degree-of-freedom list platform parallel institution that can realize the SCARA motion is characterized in that: comprise moving platform and a fixed platform that actuator is installed, connect four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: actuating arm, left connecting rod, right connecting rod, support bar, connector and kinematic pair; Described kinematic pair has eight, one is the revolute pair (R) that is connected between fixed platform and the actuating arm, one is the ball pivot (S) that is connected between actuating arm and the left connecting rod, one is the ball pivot (S) that is connected between actuating arm and the right connecting rod, one is the revolute pair (R) that is connected between support bar and the left connecting rod, one is the revolute pair (R) that is connected between support bar and the right connecting rod, one is the ball pivot (S) that is connected between connector and the left connecting rod, one is the ball pivot (S) that is connected between connector and the right connecting rod, and one is the revolute pair (R) that is connected between connector and the moving platform; Wherein, the revolute pair (R) that is connected between fixed platform and the actuating arm is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
2. mechanism as claimed in claim 1 is characterized in that, is connected in that four revolute pairs between described moving platform and described the first side chain, the second side chain, the 3rd side chain and the 4th side chain are parallel to each other and be non-square at described moving platform arranges.
3. the four-degree-of-freedom list platform parallel institution that can realize the SCARA motion is characterized in that: comprise moving platform and a fixed platform that actuator is installed, connect four side chains between described moving platform and the fixed platform; The first, second, third and the 4th side chain includes: slide block, left connecting rod, right connecting rod, support bar, connector and kinematic pair; Described kinematic pair has eight, one is the moving sets (P) that is connected between fixed platform and the slide block, one is the ball pivot (S) that is connected between slide block and the left connecting rod, one is the ball pivot (S) that is connected between slide block and the right connecting rod, one is the revolute pair (R) that is connected between support bar and the left connecting rod, one is the revolute pair (R) that is connected between support bar and the right connecting rod, one is the ball pivot (S) that is connected between connector and the left connecting rod, one is the ball pivot (S) that is connected between connector and the right connecting rod, and one is the revolute pair (R) that is connected between connector and the moving platform; Wherein, the moving sets (P) that is connected between fixed platform and the slide block is active drive; The described first, second, third and the 4th side chain is connected to form a Spatial Parallel close loop mechanism with fixed platform and moving platform respectively, this Spatial Parallel close loop mechanism drives the moving platform motion by four input motions, realizes three translational degree of freedom and a rotational freedom.
4. mechanism as claimed in claim 3 is characterized in that, fixed platform is comprised of four fixed flat planars that separate, and the fixed flat planar of these four separation is all vertically placed and is symmetrically layout at circumference.
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| CN103231364A (en) * | 2013-05-07 | 2013-08-07 | 林发明 | Three-freedom-degree and four-freedom-degree parallel mechanism |
| CN103586864A (en) * | 2013-11-21 | 2014-02-19 | 北华航天工业学院 | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains |
| CN105127983A (en) * | 2015-10-09 | 2015-12-09 | 常州大学 | Three-translation and one-rotation parallel mechanism manipulator |
| CN105127978A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot |
| CN105127998A (en) * | 2015-09-08 | 2015-12-09 | 常州大学 | Three-horizontal movement one-rotation parallel robot platform |
| CN105234927A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-freedom-degree all-symmetric parallel mechanism with three supporting chains |
| CN105234924A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism |
| CN105234929A (en) * | 2015-11-16 | 2016-01-13 | 南京理工大学 | Four-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and one-dimensional rotation |
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| CN105643602A (en) * | 2016-03-12 | 2016-06-08 | 常州大学 | Three-translation and one-rotation parallel robot device of low-coupling-degree two-kinematic-pair movable platform |
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| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
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| CN109079761A (en) * | 2018-09-30 | 2018-12-25 | 上海工程技术大学 | A kind of New Parallel Manipulator of two turn of one shifting of the branch containing closed loop |
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| CN107225559A (en) * | 2017-05-25 | 2017-10-03 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA motions |
| CN106976070B (en) * | 2017-05-25 | 2019-06-18 | 清华大学 | A kind of high speed shunting means of achievable three-dimensional translating and one-dimensional rotation |
| CN107225559B (en) * | 2017-05-25 | 2019-07-26 | 清华大学 | A kind of four-degree-of-freedom high speed parallel robot of achievable SCARA movement |
| CN107498547A (en) * | 2017-09-26 | 2017-12-22 | 麦格瑞（北京）智能科技有限公司 | A kind of SCARA robots |
| CN109079761A (en) * | 2018-09-30 | 2018-12-25 | 上海工程技术大学 | A kind of New Parallel Manipulator of two turn of one shifting of the branch containing closed loop |
| CN109079761B (en) * | 2018-09-30 | 2021-03-26 | 上海工程技术大学 | Two-rotation one-movement parallel robot with closed-loop branched chain |
| CN115070712A (en) * | 2022-05-13 | 2022-09-20 | 安徽理工大学 | Single-degree-of-freedom tail end constant force mechanism |
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