CN103072132A - Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure - Google Patents
Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure Download PDFInfo
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- CN103072132A CN103072132A CN2013100123647A CN201310012364A CN103072132A CN 103072132 A CN103072132 A CN 103072132A CN 2013100123647 A CN2013100123647 A CN 2013100123647A CN 201310012364 A CN201310012364 A CN 201310012364A CN 103072132 A CN103072132 A CN 103072132A
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Abstract
The invention discloses a three-degree-of-freedom movable decoupling parallel robot mechanism with a fully-symmetrical structure. The three-degree-of-freedom movable decoupling parallel robot mechanism comprises a fixed platform, a movable platform, and three branches which connect the fixed platform with the movable platform, and is characterized in that the structures of the branches are fully the same, and the branches are symmetrically arranged on three fixed brackets which are vertical to one another of the fixed platform; the structure of each branch comprises a driving motor, a movable pair, four rotating pairs, three connecting rods and a transmission rod; the movable pairs can construct a cylindrical pair together with a first rotating pair close to the fixed platform; and the second rotating pair and the third rotating pair of which the middle axes are vertical to each other can be replaced with Hooke joints. The three-degree-of-freedom movable decoupling parallel robot mechanism is simple in structure, contributes to realizing full decoupling of three moving motions of the movable platform, has the advantages of easiness in controlling, high flexibility, high reaction speed, large working space and high bearing capability, can be applied to virtual axis coordinate measuring scribers, carving machines, high-density electronic element encapsulation, food packing and the medical industry.
Description
Technical field
The present invention relates to robot, especially relate to a kind of Three Degree Of Freedom moved decoupling parallel robot mechanism.
Background technology
Parallel robot mechanism is because the distinguishing feature on its structure and the performance all is widely used it in high density electronic package, packaging for foodstuff, engraving machinery and health care industry.
But compare with the serial machine robot mechanism, parallel robot mechanism has that working space is little, have the shortcomings such as close coupling, control difficulty between the motion.With regard to the present mobile parallel connection mechanism of studying, much all exist the outstanding feature of this parallel institution of close coupling.This close coupling so that parallel institution Configuration Design, analytical calculation with and the aspect such as control system design exist many difficulties.How to realize the decoupling zero of parallel institution, to simplify its control and demarcation, improve the challenge subjects that its operating accuracy had become a theory of mechanisms research field already.
Delta mechanism is the allusion quotation example of successfully using in industrial production, but three one-movement-freedom-degrees of this mechanism also exist close coupling.Searching has the widely concern that the full decoupled three free degree moving parallel connected robot mechanism of input-output has been subjected to people.At present, more existing achievements aspect the research of Three Degree Of Freedom moved decoupling parallel institution, for example, Chinese patent CN1715008A has proposed a kind of three freedom decoupling parallel robot mechanism, realized the space three-freedom move operation, but each branch of this mechanism has seven revolute pairs, and is stricter to manufacturing and matching requirements, and its working space is also less; Chinese patent CN101700621A has proposed a kind of space three-freedom moved decoupling parallel robot mechanism, and wherein there are two spherical pairs in this mechanism in a branch, and the connecting rod that connects two spherical pairs exists the situation of rotation.In addition, Chinese patent CN102699907A has also proposed the asymmetric space three-freedom moved decoupling of a kind of structure parallel robot mechanism.
Summary of the invention
The object of the present invention is to provide a kind of full decoupled, be easy to control, speed is high, the input-output of symmetrical configuration is full decoupled three free degree moving parallel connected robot mechanism.
The present invention is achieved through the following technical solutions: a kind of Three Degree Of Freedom moved decoupling parallel robot mechanism of structure full symmetric, comprise fixed platform, moving platform and three branches that connect fixed platform and moving platform, it is characterized in that: the structure of described three branches is identical, be arranged in symmetrically on three orthogonal fixed supports of fixed platform, wherein, the structure of each branch comprises: a side that is installed in the first revolute pair on each fixed support of fixed platform is installed with a drive motors, opposite side is installed with drive link, connecting moving sets on the drive link, an end that is connecting respectively first connecting rod on the moving sets, the other end of first connecting rod links to each other with an end of second connecting rod by the second revolute pair, the other end of second connecting rod links to each other with an end of third connecting rod by the 3rd revolute pair, and the other end of third connecting rod links to each other with moving platform by the 4th revolute pair; The axis of three drive links is vertical in twos, and respectively as branch one, two and three input bar; The moving direction of moving sets is consistent with the axis direction of drive link; The axis of the second revolute pair is parallel with the axis direction of drive link; The axis of the 3rd revolute pair is vertical with the axis of the second revolute pair, and is parallel with the axis of the drive link of another one branch again, and the axis of the 3rd revolute pair in three branches is vertical in twos; The axis of the 4th revolute pair is parallel with the axis of the 3rd revolute pair.
The first revolute pair of the present invention and moving sets can be replaced by the cylindrical pair of an axis and the first turns auxiliary shaft line parallel; The second revolute pair and the 3rd revolute pair can be replaced by Hooke's hinge.
Structure full symmetric of the present invention, kinematic pair is few, and the accumulation of error that not only can reducing mechanism also can make process and assemble convenient, and manufacturing cost reduces; The present invention has realized the full decoupled of three one-movement-freedom-degrees in space, makes the control of mechanism and positive and negative solution very easy, has reduced the difficulty of the trajectory planning of mechanism; Drive unit of the present invention all is arranged on the fixed platform, has reduced the load of rod member, has good exercise performance and higher reaction speed.
Description of drawings
Fig. 1 is structural representation sketch of the present invention.
The specific embodiment
As shown in Figure 1, parallel robot mechanism of the present invention, three branches 3 by fixed platform 1, moving platform 2 and connection fixed platform 1 and moving platform 2 consist of, the structure of three branches is identical, be arranged in symmetrically on three orthogonal fixed supports of fixed platform 1, wherein, branch one is comprised of the first revolute pair 311, drive link 312, moving sets 313, first connecting rod 314, the second revolute pair 315, second connecting rod 316, the 3rd revolute pair 317, third connecting rod 318 and the 4th revolute pair 319; Wherein the first revolute pair 311 can replace with the axis cylindrical pair parallel with the first revolute pair 311 axis with moving sets 313, and the second revolute pair 315 and the 3rd revolute pair 317 can replace with Hooke's hinge; Branch two is comprised of the first revolute pair 321, drive link 322, moving sets 323, first connecting rod 324, the second revolute pair 325, second connecting rod 326, the 3rd revolute pair 327, third connecting rod 328 and the 4th revolute pair 329; Wherein the first revolute pair 321 can replace with the axis cylindrical pair parallel with the first revolute pair 321 axis with moving sets 323, and the second revolute pair 325 and the 3rd revolute pair 327 can replace with Hooke's hinge; Branch three is comprised of the first revolute pair 331, drive link 332, moving sets 333, first connecting rod 334, the first revolute pair 335, second connecting rod 336, the second revolute pair 337, third connecting rod 338 and the 4th revolute pair 339; Wherein the first revolute pair 331 can replace with the axis cylindrical pair parallel with the first revolute pair 331 axis with moving sets 333, and the second revolute pair 335 and the 3rd revolute pair 337 can replace with Hooke's hinge.Three branches are connected with moving platform 2 with 339 by the 4th revolute pair 319,329, are connected with fixed platform 1 with 331 by the first revolute pair 311,321.Drive link 312,322 vertical in twos with 332 axis; Moving sets 313,323 consistent with drive link 312,322 and 332 axis direction respectively with 333 moving direction; The second revolute pair 315,325 with 335 also respectively with drive link 312,322 parallel with 332 axis direction; The 3rd revolute pair 317,327 with 337 axis respectively with the second revolute pair 315,325 vertical with 335 axis, and again respectively with drive link 332,312 parallel with 322 axis; The 4th revolute pair 319,329 with 339 axis respectively with the 3rd revolute pair 317,327 parallel with 337 axis.
In the above-mentioned branch one, the rotating shaft of drive motors 310 links to each other with drive link 312, and drive drive link 312 rotates, drive link 312 drives again first connecting rod 314 and rotates, finally through the transmission of second connecting rod 316 and third connecting rod 318, branch's one driving moving platform 2 is moved along the axis direction of drive link 332; In the above-mentioned branch two, the rotating shaft of drive motors 320 links to each other with drive link 322, and drive drive link 322 rotates, drive link 322 drives again first connecting rod 324 and rotates, finally through the transmission of second connecting rod 326 and third connecting rod 328, branch's two driving moving platforms 2 are moved along the axis direction of drive link 312; In the above-mentioned branch three, the rotating shaft of drive motors 330 links to each other with drive link 332, and drive drive link 332 rotates, drive link 332 drives again first connecting rod 334 and rotates, finally through the transmission of second connecting rod 336 and third connecting rod 338, branch's three driving moving platforms 2 are moved along the axis direction of drive link 322; And the moving movement of these three directions is unconditional decoupling zeros, mutually noninterfere.
The present invention can be widely used in imaginary axis measurement of coordinates pen machine, engraving machine, high density electronic package, packaging for foodstuff and the health care industry.
Claims (2)
1. the Three Degree Of Freedom moved decoupling parallel robot mechanism of a structure full symmetric, comprise fixed platform, moving platform and three branches that connect fixed platform and moving platform, it is characterized in that: the structure of described three branches is identical, be arranged in symmetrically on three orthogonal fixed supports of fixed platform, wherein, the structure of each branch comprises: a side that is installed in the first revolute pair on each fixed support of fixed platform is installed with a drive motors, opposite side is installed with drive link, connecting moving sets on the drive link, an end that is connecting respectively first connecting rod on the moving sets, the other end of first connecting rod links to each other with an end of second connecting rod by the second revolute pair, the other end of second connecting rod links to each other with an end of third connecting rod by the 3rd revolute pair, and the other end of third connecting rod links to each other with moving platform by the 4th revolute pair; The axis of three drive links is vertical in twos, and respectively as branch one, two and three input bar; The moving direction of moving sets is consistent with the axis direction of drive link; The axis of the second revolute pair is parallel with the axis direction of drive link; The axis of the 3rd revolute pair is vertical with the axis of the second revolute pair, and is parallel with the axis of the drive link of another one branch again, and the axis of the 3rd revolute pair in three branches is vertical in twos; The axis of the 4th revolute pair is parallel with the axis of the 3rd revolute pair.
2. the Three Degree Of Freedom moved decoupling parallel robot mechanism of a kind of structure full symmetric according to claim 1, it is characterized in that: the first revolute pair and moving sets can be replaced by the cylindrical pair of an axis and the first turns auxiliary shaft line parallel; The second revolute pair and the 3rd revolute pair can be replaced by Hooke's hinge.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286777A (en) * | 2013-05-23 | 2013-09-11 | 天津大学 | Novel spatial three-freedom-degree parallel connection mechanism |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN103968207A (en) * | 2014-04-30 | 2014-08-06 | 福州大学 | Singularity-free complete isotropic space three-dimensional rotating parallel mechanism |
| CN104385264A (en) * | 2014-11-21 | 2015-03-04 | 广西智通节能环保科技有限公司 | Multiple support and double platform mechanism |
| CN104439813A (en) * | 2014-12-16 | 2015-03-25 | 广西大学 | Large-space multi-DOF (degree of freedom) controlled mechanism type robot |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN104985588A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN107359532A (en) * | 2017-08-30 | 2017-11-17 | 国家电网公司 | Apparatus is dismantled and changed to transformer silica gel tank |
| CN107379522A (en) * | 2017-09-12 | 2017-11-24 | 河南科技大学 | A kind of 3D printer based on planar moving parallel structure |
| CN108858159A (en) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | A kind of two-degree of freedom translational parallel manipulator of partly decoupled |
| CN110238829A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN110238826A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot mechanism |
| CN110238828A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of novel change born of the same parents parallel robot |
| CN113843779A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | All-directional moving parallel robot |
| CN114603538A (en) * | 2022-05-16 | 2022-06-10 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical 3R rotation parallel mechanism |
| CN115476340A (en) * | 2022-09-19 | 2022-12-16 | 燕山大学 | Three-independent-spiral-motion-freedom parallel mechanism |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286777A (en) * | 2013-05-23 | 2013-09-11 | 天津大学 | Novel spatial three-freedom-degree parallel connection mechanism |
| CN103286777B (en) * | 2013-05-23 | 2015-12-09 | 天津大学 | A kind of Novel spatial three-freedom-degreeparallel parallel connection mechanism |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103481278A (en) * | 2013-10-11 | 2014-01-01 | 天津理工大学 | Three-translational spatial parallel robot mechanism |
| CN103968207B (en) * | 2014-04-30 | 2016-01-27 | 福州大学 | A kind of non-singular completely isotropic space three-dimensional one-rotation parallel mechanism |
| CN103968207A (en) * | 2014-04-30 | 2014-08-06 | 福州大学 | Singularity-free complete isotropic space three-dimensional rotating parallel mechanism |
| CN104385264A (en) * | 2014-11-21 | 2015-03-04 | 广西智通节能环保科技有限公司 | Multiple support and double platform mechanism |
| CN104385264B (en) * | 2014-11-21 | 2016-04-20 | 广西智通节能环保科技有限公司 | A kind of branched frame Double tabletop mechanism |
| CN104439813A (en) * | 2014-12-16 | 2015-03-25 | 广西大学 | Large-space multi-DOF (degree of freedom) controlled mechanism type robot |
| CN104985588B (en) * | 2015-07-02 | 2017-01-11 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN104985590A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | six-freedom-degree parallel mechanism achieving partial decoupling |
| CN104985588A (en) * | 2015-07-02 | 2015-10-21 | 上海交通大学 | Two-translation two-rotation (2T2R) four-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN106584429A (en) * | 2016-11-22 | 2017-04-26 | 浙江理工大学 | Drive fixed two rotating and one movable parallel mechanism |
| CN106584429B (en) * | 2016-11-22 | 2023-09-08 | 浙江理工大学 | Two-rotation one-movement parallel mechanism with fixed driving |
| CN107359532A (en) * | 2017-08-30 | 2017-11-17 | 国家电网公司 | Apparatus is dismantled and changed to transformer silica gel tank |
| CN107359532B (en) * | 2017-08-30 | 2023-09-01 | 国家电网公司 | Transformer silica gel tank disassembling and replacing tool |
| CN107379522B (en) * | 2017-09-12 | 2023-08-18 | 河南科技大学 | 3D printer based on plane removes parallel mechanism |
| CN107379522A (en) * | 2017-09-12 | 2017-11-24 | 河南科技大学 | A kind of 3D printer based on planar moving parallel structure |
| CN108858159A (en) * | 2018-09-17 | 2018-11-23 | 湖南水利水电职业技术学院 | A kind of two-degree of freedom translational parallel manipulator of partly decoupled |
| CN110238826A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot mechanism |
| CN110238828A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of novel change born of the same parents parallel robot |
| CN110238829A (en) * | 2019-07-19 | 2019-09-17 | 北华航天工业学院 | A kind of change born of the same parents' parallel robot |
| CN113843779A (en) * | 2021-10-20 | 2021-12-28 | 成都工业学院 | All-directional moving parallel robot |
| CN114603538A (en) * | 2022-05-16 | 2022-06-10 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical 3R rotation parallel mechanism |
| CN115476340A (en) * | 2022-09-19 | 2022-12-16 | 燕山大学 | Three-independent-spiral-motion-freedom parallel mechanism |
| CN115476340B (en) * | 2022-09-19 | 2024-04-12 | 燕山大学 | Three-independent spiral motion degree-of-freedom parallel mechanism |
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