CN103101049B - Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain - Google Patents

Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain Download PDF

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Publication number
CN103101049B
CN103101049B CN201310069674.2A CN201310069674A CN103101049B CN 103101049 B CN103101049 B CN 103101049B CN 201310069674 A CN201310069674 A CN 201310069674A CN 103101049 B CN103101049 B CN 103101049B
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China
Prior art keywords
chain
decelerator
rod
redundant drive
servomotor
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CN201310069674.2A
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Chinese (zh)
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CN103101049A (en
Inventor
李铁民
姜峣
吴军
关立文
唐晓强
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清华大学
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Abstract

The invention discloses a three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chains, which belongs to the technical field of machinery manufacturing. The three-degree-of-freedom plane parallel mechanism comprises a quadrangular movable platform, three identical RRR branched-chains, an extendable branched-chain, an annular guide rail and a sliding block, wherein the movement of the three identical RRR branched-chains, the extendable branched-chain and the sliding block are driven and controlled through a servo motor; and the movable platform of the mechanism has three degrees of freedom, namely two translational degrees of freedom in a plane, and a rotational degree of freedom which is vertical to the plane. Due to the redundant drive branched-chains, the parallel mechanism is high in stiffness, and simultaneously, overcomes some singular configurations in an operational process, so that the working space of the mechanism is expanded. The redundant drive branched-chains of the mechanism can simultaneously control the size and orientation of tension and pressure applied to the movable platform, and can improve the accuracy of the movable platform in an operational process better through optimizing control.

Description

A kind of three-DOF planar parallel mechanism with novel redundant drive side chain

Technical field

The invention belongs to machinery manufacturing technology field, particularly a kind of three-DOF planar parallel mechanism with novel redundant drive side chain.

Background technology

Parallel institution is as the novel mechanism occurred in recent decades, compared with traditional serial mechanism, have that rigidity is high, bearing capacity is strong, speed responsive is fast, degree of modularity high, cause the extensive concern of people, researcher makes full use of the feature of parallel institution to expand its range of application, has had in fields such as manufacturing industry, space flight and aviation, sensing measurement, engineer equipment, medical treatment at present and has applied widely.

The six-degree-of-freedom parallel connection mechanism of early stage appearance, along with going deep into of investigation and application, its relevant shortcoming also reveals, as working space is relatively limited, operating flexibility is poor, and manufacture processing difficulties etc., therefore people turn to minority carrier generation lifetime gradually research emphasis.Plane parallel mechanism is as a class minority carrier generation lifetime, compared to other types parallel institution, there is structure simple, relative working space is large, be easy to the features such as operation, but also there are some problems, mainly contain the unusual working space that result in and reduce, side chain deformation vibration reduces running precision simultaneously.In order to address these problems the performance improving mechanism, the basis of original mechanism introduces redundant drive side chain, by rational ACTIVE CONTROL with reduce mechanism unusual, improve the rigidity of mechanism and dynamic property.

The redundant drive side chain that current plane parallel mechanism is introduced is generally the side chain adopting version identical with existing side chain, and uses single driving.Loading force needed for this redundant drive side chain generally cannot directly apply motion platform, need indirectly to be controlled loading force by side chain, this just greatly reduces the precision of loading, too increases the complexity of control simultaneously; The direction of loading force cannot change in addition, and this is just difficult to realize optimal control results.

Summary of the invention

In order to solve the problem, the present invention proposes a kind of three-DOF planar parallel mechanism with novel redundant drive side chain, described redundant drive side chain can control to put on the redundancy force direction on moving platform and size simultaneously, can improve the performance of mechanism better.

The three-DOF planar parallel mechanism with novel redundant drive side chain of the present invention is made up of three identical RRR side chains (having the series connection side chain of three revolutes) and a novel redundant drive side chain.Described three identical RRR side chains are arranged in the circumferentially same of circular bottom plate 1 every 90 °.

Wherein, the structure of Article 1 side chain is as follows:

The first decelerator 3 is connected with at the axle head of the first servomotor 2; The first described decelerator 3 is fixedly connected on the below of described base plate 1; One end of first connecting rod 4 is connected by the axle head of the first shaft coupling 5 with the first described decelerator 3, and the other end is connected with hinge format with second connecting rod 6; The other end of described second connecting rod 6 is articulated with the bottom surface of moving platform 17;

The structure of Article 2 side chain is as follows:

The second decelerator 8 is connected with at the axle head of the second servomotor 7; The second described decelerator 8 is fixedly connected on the below of described base plate 1; One end of third connecting rod 9 is connected by the axle head of the second shaft coupling 10 with the second described decelerator 8, and the other end is connected with hinge format with double leval jib 11; The other end of described double leval jib 11 is articulated with the bottom surface of moving platform 17;

The structure of Article 3 side chain is as follows:

The 3rd decelerator 13 is connected with at the axle head of the 3rd servomotor 12; The 3rd described decelerator 13 is fixedly connected on the below of described base plate 1; One end of 5th connecting rod 14 is connected by the axle head of the 3rd shaft coupling 15 with the 3rd described decelerator 13, and the other end is connected with hinge format with six-bar linkage 16; The other end of described six-bar linkage 16 is articulated with the bottom surface of moving platform 17;

Under the constraint of described three side chains, described moving platform 17 has two translation freedoms in plane and a rotational freedom perpendicular to this plane;

The structure of described novel redundant drive side chain is:

Between the hinge point that described Article 1 side chain and Article 3 side chain are connected with described base plate 1, the ring-shaped guide rail 18 that central angle is 150 ° is installed; Described ring-shaped guide rail 18 is mounted with ring slider 19; One end of connecting plate 20 is fixedly connected with the inner side of described ring slider 19, and opposite side and central angle are that the annular rack 21 of 135 ° is fixedly connected with; Gear 22 is meshed with described annular rack 21; Described gear 22 key is connected in the rotating shaft of the 4th decelerator 23; The 4th described decelerator 23 is fixed on the below of described base plate 1; 4th servomotor 24 is connected with the input of the 4th described decelerator 23;

Supporting plate 25 is fixed on described ring slider 19, and is connected with gripper shoe 26 by hinge format; Motor supporting base 27 is fixed with in one end of described gripper shoe 26; 5th servomotor 28 is fixed on described motor supporting base 27; Ball-screw 29 is connected by the rotating shaft of the 4th shaft coupling 30 with the 5th described servomotor 28; Described ball-screw 29 is in the one end near the 4th described shaft coupling 30, carry out support rotating by the ball-screw stiff end 31 be fixed on described motor supporting base 27, the other end carries out support rotating by the ball-screw support end 32 be fixed in described gripper shoe 26; Described ball-screw 29 is socketed without flanged feed screw nut 33; Parallel and be equidistantly furnished with the first line slideway 34 and the second line slideway 35 respectively in the both sides of described ball-screw 29; The first slide block 36 and the second slide block 37 is mounted with respectively in the same lateral attitude of the first described line slideway 34 and the second line slideway 35; Described feed screw nut 33 has been fixedly connected with sliding shoe 38 by key type of attachment, and described sliding shoe 38 is fixed on the first described slide block 36 and the second slide block 37 simultaneously;

One end of seven-link assembly 39 is fixedly connected on described sliding shoe 38, and the other end is fixedly connected with tension-compression sensor 40; One end of 8th connecting rod 41 is connected with described tension-compression sensor 40, the other end being connected above by articulated form and described moving platform 17; Described seven-link assembly 39, the 8th connecting rod 41 and tension-compression sensor 40 are on same axis, apply predetermined pressure to described moving platform 17 by the 5th described servomotor 28 along this axial direction.

Beneficial effect of the present invention is:

Parallel institution provided by the invention introduces redundant drive side chain, adds the rigidity of mechanism, can overcome some Singularities in running simultaneously, expand the working space of mechanism; Redundant drive side chain is realized by two driving mechanisms, can control the pressure size and Orientation put on moving platform simultaneously, better can improve the precision of moving platform in running; Redundant drive side chain is provided with tension-compression sensor, therefore can by the accurate control of closed-loop control realization to loading force size; The circumference of redundant drive side chain moves and drives ring slider to realize in ring-shaped guide rail motion by rack-and-pinion, compact conformation, and Angle ambiguity is flexible.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of parallel institution of the present invention;

Fig. 2 is parallel institution side chain drives structure schematic diagram of the present invention;

Fig. 3 is the axial drives structure schematic diagram of redundant drive side chain of the present invention;

Fig. 4 is the circumferential moving structure schematic diagram of redundant drive side chain of the present invention.

Detailed description of the invention

Below in conjunction with accompanying drawing and specific embodiment, the present invention will be further described in detail:

Embodiment 1:

Details are as follows for the course of work with the three-DOF planar parallel mechanism of novel redundant drive side chain of the present invention:

As shown in Figure 1, required what control is position and the corner of moving platform 17 to this parallel institution.Behind its position given and corner, according to the assembly mode shown in Fig. 1, by the position-based routing of mechanism, the corner of first connecting rod 4, third connecting rod 9 and the 5th connecting rod 14 can be obtained respectively, corresponding servomotor is utilized to control, thus the pose of moving platform 17 needed for obtaining.Redundant drive side chain is the dynamic operation precision of rigidity in order to improve mechanism further and moving platform; By putting on the optimum loading force size and Orientation on moving platform 17 to the dynamic analysis acquisition redundant drive side chain of mechanism, thus determine the position of ring slider 19 on ring-shaped guide rail 18 and along seven-link assembly 39 axial direction needed for the pressure size that applies, thus can be controlled by the 4th servomotor 24 and the 5th servomotor 28, to improve the dynamic operation performance of mechanism.

As illustrated in fig. 1 and 2, the corner of first connecting rod 4, third connecting rod 9 and the 5th connecting rod 14 is controlled by corresponding driving mechanism, its course of work is all the same, here for the Angle ambiguity of first connecting rod 4, its course of work is described: separate by mechanism position is inverse the angle obtaining first connecting rod 4, the position control instruction of the first servomotor 2 is obtained after being multiplied by the speed reducing ratio of the first decelerator 3, first servomotor 2 rotates according to this command value drive motors axle, drives first connecting rod 4 to rotate to required angle through the first decelerator 3 by the first shaft coupling 5; First servomotor 2 can realize the half-closed loop control of the anglec of rotation by the encoder of self, or realizes full closed loop control by the rotating angle measurement apparatus that outside is connected with first connecting rod 4.

As shown in Figure 2 and Figure 4, the loading direction of redundant drive side chain controls to be realized by rack and pinion drive mechanism; After obtaining required loading direction, then in conjunction with the pose of moving platform 17, utilize the position-based routing of mechanism can obtain the position of ring slider 19 on ring-shaped guide rail 18.Consider tooth bar 21 and the gearratio of gear 22 and the speed reducing ratio of the 4th decelerator 23, this positional value is converted to the position control instruction of the 4th servomotor 24,4th servomotor 24 rotates according to this command value drive motors axle, rotate through the 4th decelerator 23 driven gear 22, by the motion of the engagement band carry-over bar 21 between tooth, thus drive ring slider 19 on ring-shaped guide rail 18, move to the position of specifying, resulting in required loading direction.

As Fig. 1 and Fig. 3, redundant drive side chain is controlled by the 5th servomotor 28 the loading force size of moving platform 17; Obtain side chain along seven-link assembly 39 axial direction needed for after the pressure size that applies, its axial actuating mechanism needs the position controlling sliding shoe 38 on the one hand, also need to load moving platform 17 according to the size of this pressure simultaneously, therefore power-position Hybrid mode is adopted to the 5th servomotor 28.

The position control process of the 5th servomotor 28 is: after the distance determining the required movement of sliding shoe 38, this displacement is converted to the position control instruction of the 5th servomotor 28; 5th servomotor 28 rotates according to position control order-driven motor shaft, ball-screw 29 is driven to rotate by the 4th shaft coupling 30, the rotation of ball-screw 29 is converted to moving axially of feed screw nut 33, thus drives affixed sliding shoe 38 thereon to move to desired position.

The power control procedure of the 5th servomotor 28 for: after determining the tension and compression force value applied needed for redundant drive side chain, 5th servomotor 28 loads moving platform 17 according to this tension and compression force value, measured tension and compression force value is fed back by pressure sensor 40 simultaneously, by comparing with the loading force size of required applying, deviate is compensated, thus forms the closed-loop control to loading force.The control of servomotor is flexible, and running precision is high, therefore can apply accurate, controlled pressure load to moving platform according to demand.

Claims (5)

1. have a three-DOF planar parallel mechanism for redundant drive side chain, it is characterized in that, the described three-DOF planar parallel mechanism with redundant drive side chain is made up of three identical RRR side chains and a redundant drive side chain;
Article three, identical RRR side chain is arranged in the circumferentially same of circular bottom plate (1) every 90 °;
The structure of redundant drive side chain is:
On the base plate (1) of the side of between two RRR side chains, not interfering with three RRR side chains, ring-shaped guide rail (18) is installed; Ring-shaped guide rail (18) is mounted with ring slider (19); One end of connecting plate (20) is fixedly connected with the inner side of described ring slider (19), and the other end of connecting plate (20) is fixedly connected with annular rack (21); Gear (22) is meshed with annular rack (21); Gear (22) key is connected in the rotating shaft of the 4th decelerator (23); 4th decelerator (23) is fixed on the below of base plate (1); 4th servomotor (24) is connected with the input of the 4th decelerator (23);
Supporting plate (25) is fixed on ring slider (19), and is connected with gripper shoe (26) by hinge format; Motor supporting base (27) is fixed with in one end of gripper shoe (26); 5th servomotor (28) is fixed on motor supporting base (27); Ball-screw (29) is connected by the rotating shaft of the 4th shaft coupling (30) with the 5th servomotor (28); Ball-screw (29) is in the one end near the 4th shaft coupling (30), carry out support rotating by the ball-screw stiff end (31) be fixed on motor supporting base (27), the other end carries out support rotating by the ball-screw support end (32) be fixed in gripper shoe (26); Ball-screw (29) is socketed without flanged feed screw nut (33); Parallel and be equidistantly furnished with the first line slideway (34) and the second line slideway (35) respectively in the both sides of ball-screw (29); The first slide block (36) and the second slide block (37) is mounted with respectively in the same lateral attitude of the first line slideway (34) and the second line slideway (35); Feed screw nut (33) has been fixedly connected with sliding shoe (38) by key type of attachment, and sliding shoe (38) is fixed on described the first slide block (36) and the second slide block (37) simultaneously;
One end of seven-link assembly (39) is fixedly connected on sliding shoe (38), and the other end is fixedly connected with tension-compression sensor (40); One end of 8th connecting rod (41) is connected with tension-compression sensor (40), the other end being connected above by articulated form and moving platform (17); Seven-link assembly (39), the 8th connecting rod (41) and tension-compression sensor (40) are on same axis, apply predetermined pressure by the 5th servomotor (28) along this axial direction to moving platform (17).
2. the three-DOF planar parallel mechanism with redundant drive side chain according to claim 1, is characterized in that, the structure of described three identical RRR side chains is:
Article 1, the structure of side chain is:
The first decelerator (3) is connected with at the axle head of the first servomotor (2); Described the first decelerator (3) is fixedly connected on the below of described base plate (1); One end of first connecting rod (4) is connected by the axle head of the first shaft coupling (5) with described the first decelerator (3), and the other end of first connecting rod (4) is connected with hinge format with one end of second connecting rod (6); The other end of described second connecting rod (6) is articulated with the bottom surface of moving platform (17);
The structure of Article 2 side chain is:
The second decelerator (8) is connected with at the axle head of the second servomotor (7); Described the second decelerator (8) is fixedly connected on the below of described base plate (1); One end of third connecting rod (9) is connected by the axle head of the second shaft coupling (10) with described the second decelerator (8), and the other end of third connecting rod (9) is connected with hinge format with one end of double leval jib (11); The other end of described double leval jib (11) is articulated with the bottom surface of moving platform (17);
The structure of Article 3 side chain is:
The 3rd decelerator (13) is connected with at the axle head of the 3rd servomotor (12); The 3rd described decelerator (13) is fixedly connected on the below of described base plate (1); One end of 5th connecting rod (14) is connected by the axle head of the 3rd shaft coupling (15) with the 3rd described decelerator (13), and the other end of the 5th connecting rod (14) is connected with hinge format with one end of six-bar linkage (16); The other end of described six-bar linkage (16) is articulated with the bottom surface of moving platform (17);
Under the constraint of described three side chains, described moving platform (17) has two translation freedoms in plane and a rotational freedom perpendicular to this plane.
3. the three-DOF planar parallel mechanism with redundant drive side chain according to claim 1 and 2, is characterized in that, described moving platform (17) is square.
4. a three-DOF planar parallel mechanism with redundant drive side chain according to claim 1 and 2, is characterized in that, the central angle of described ring-shaped guide rail (18) is 150 °.
5. the three-DOF planar parallel mechanism with redundant drive side chain according to claim 1 and 2, is characterized in that, the central angle of described annular rack (21) is 135 °.
CN201310069674.2A 2013-03-05 2013-03-05 Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain CN103101049B (en)

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CN104269097B (en) * 2014-08-13 2017-08-11 天津工程机械研究院 A kind of redundant drive six-freedom motion simulation table
CN105835090A (en) * 2016-06-16 2016-08-10 湖北工业大学 Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism
CN106109199B (en) * 2016-06-23 2018-03-23 河南科技大学第一附属医院 One kind is based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine
CN106562730A (en) * 2016-11-04 2017-04-19 董昕武 Floor cleaning machine for building decoration
CN106562725A (en) * 2016-11-04 2017-04-19 黄辉 Window-cleaning robot used for municipal buildings
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