CN103381602B - A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure - Google Patents

A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure Download PDF

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Publication number
CN103381602B
CN103381602B CN201310287927.3A CN201310287927A CN103381602B CN 103381602 B CN103381602 B CN 103381602B CN 201310287927 A CN201310287927 A CN 201310287927A CN 103381602 B CN103381602 B CN 103381602B
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China
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rod
revolute pair
branch
platform
moving
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CN201310287927.3A
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Chinese (zh)
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CN103381602A (en
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曾达幸
苏永林
胡志涛
张超
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燕山大学
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Abstract

Full decoupled two move one turn of three-freedom degree spatial parallel structure, they three branches comprising fixed platform, moving platform and connect fixed platform and moving platform, and wherein, branch one is made up of a moving sets and three revolute pairs and three connecting rods being connected them; Branch two is made up of with three connecting rods being connected them four revolute pairs; Branch three is made up of with four connecting rods being connected them five revolute pairs, and branch one is connected with fixed platform and moving platform with revolute pair respectively by moving sets; Branch two is connected with fixed platform and moving platform respectively by two revolute pairs; Branch three is connected with fixed platform and moving platform respectively by two revolute pairs.Structure of the present invention is simple, low cost of manufacture, moving platform two movements can be realized and a rotation is full decoupled, there is the advantage being easy to control, reaction speed is fast and bearing capacity is strong, can be used in rapid sorting machine, medicine equipment, vibrating screen classifier, spray robot and imaginary axis Digit Control Machine Tool.

Description

A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure
Technical field
The invention belongs to robot field, particularly a kind of space parallel mechanism.
Background technology
On stuctures and properties, the parallel institution of complementary relationship is formed with serial mechanism, there is the advantages such as bearing capacity is large, rigidity is high, movement velocity is fast, accumulated error is little, dynamic performance is good, therefore it is widely applied in motion simulator, force snesor, satellite antenna, medicine equipment and packaging for foodstuff.
Due to the restriction of structure, the problems such as parallel institution has a lot of problem all not solve very well, as strong in sports coupling, working space is little, forward kinematics solution is complicated, drive characteristic is poor.With regard to current 3-freedom parallel mechanism, much all there is the outstanding feature of this parallel institution strong coupling.The strong coupling existence of parallel institution makes mechanism there are problems in mechanism design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of parallel institution, the decoupling improving parallel institution has become the hot issue of theory of mechanisms research field.
In 3-freedom parallel mechanism research, some progress are obtained for the two decoupling researchs moving one turn of 3-freedom parallel mechanism, such as, Chinese patent literature CN1651188A proposes a kind of Two-Translation-One-Rotation NC Machine Tool And Parallel Connection Robot Organization, this mechanism has positive and negative solution and solves easily, and input-output controls the advantage of decoupling zero; Chinese patent literature CN102688853A proposes a kind of 3-freedom parallel mechanism tea finishing machine, and three Vibration Chains of this mechanism are non-interference, full decoupled, improve the screening efficiency of tealeaves.In addition, Chinese patent literature CN102922310A it is also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Although foregoing invention mechanism can realize two move a transhipment move, decoupling does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, fast full decoupled two move one turn of three-freedom degree spatial parallel structure.
The present invention includes fixed platform, moving platform and connect three branches of these two platforms, the structure of each branch is different: branch one is made up of a moving sets and three revolute pairs and three connecting rods being connected them; Branch two is made up of with three connecting rods being connected them four revolute pairs; Branch three is made up of with four connecting rods being connected them five revolute pairs.
Wherein, one end of first connecting rod in branch one is connected with fixed platform by moving sets, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch two is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; One end of first connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, the other end of this third connecting rod is connected by revolute pair one end with double leval jib, and the other end of this double leval jib is connected with moving platform by revolute pair.
In branch one, the axis being parallel of the moving direction of moving sets and three revolute pairs; In branch two, except the revolute pair be connected with fixed platform, the axis being parallel of other three revolute pairs, and the axes normal of the revolute pair be connected with fixed platform; In branch three, the axis being parallel of two revolute pairs be connected with fixed platform and moving platform respectively, the axis being parallel of three revolute pairs in addition, and the axes normal of two revolute pairs be connected with fixed platform and moving platform.
The moving sets that above-mentioned three branches are connected with fixed platform respectively and two revolute pairs are that the input motion of each branch is secondary, the axis being parallel of the moving direction of moving sets and two revolute pairs, and are all parallel to fixed platform.The axis of the revolute pair that branch one is connected with moving platform with branch three, parallel with moving platform all the time, the axes normal of the revolute pair that branch two is connected with moving platform is in moving platform.
In above-mentioned branch one, first connecting rod is moved under the driving of moving sets, and drives second connecting rod to be moved, and second connecting rod drives again third connecting rod to be moved, and the mobile moving platform that drives finally through third connecting rod is moved; In branch two, first connecting rod rotates under the first revolute pair drives, and drives second connecting rod to rotate, and second connecting rod drives again third connecting rod to rotate, and the rotation finally through third connecting rod drives moving platform to rotate; In branch three, first connecting rod rotates under the driving of the first revolute pair, and drives second connecting rod to rotate, and the final double leval jib that drives rotates, and moving platform is moved under the drive of double leval jib; And two of these three directions movements and a rotational motion are unconditional decoupling zeros, non-interference.
The moving sets be connected with fixed platform in above-mentioned branch one and nearest first revolute pair can replace with a cylindrical pair with turns auxiliary shaft line parallel; Be connected two nearest revolute pairs in above-mentioned branch two to replace with Hooke's hinge with fixed platform; Be connected two nearest revolute pairs in above-mentioned branch three with fixed platform and be connected two nearest revolute pairs with moving platform, can replace with two Hooke's hinges respectively.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, and kinematic pair is lower pair, can reduce manufacturing cost;
2, achieve two, space one-movement-freedom-degree and a rotational freedom is full decoupled, not only make the control of mechanism and positive and negative solution very easy, and reduce the difficulty of trajectory planning of mechanism;
3, all input motion pairs are all connected with fixed platform, which reduce the load of rod member, have good motility and higher reaction speed.The present invention can be widely used in rapid sorting machine, medicine equipment, vibrating screen classifier, spray robot and imaginary axis Digit Control Machine Tool.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
Move in one turn of three-freedom degree spatial parallel structure schematic diagram at full decoupled two shown in Fig. 1, one end of first connecting rod 3 in branch 1 is connected with fixed platform 10 by moving sets 2, the other end of this first connecting rod is connected with one end of second connecting rod 5 by revolute pair 4, the other end of this second connecting rod is connected with one end of third connecting rod 7 by revolute pair 6, and the other end of this third connecting rod is connected with moving platform 9 by revolute pair 8; First connecting rod 13 in branch 2 11 is connected with fixed platform by revolute pair 12, the other end of this first connecting rod is connected with one end of second connecting rod 15 by revolute pair 14, the other end of this second connecting rod is connected with one end of third connecting rod 17 by revolute pair 16, and the other end of this third connecting rod is connected with moving platform by revolute pair 18; One end of first connecting rod 21 in branch 3 19 is connected with fixed platform by revolute pair 20, the other end of this first connecting rod is connected with one end of second connecting rod 23 by revolute pair 22, the other end of this second connecting rod is connected with one end of third connecting rod 25 by revolute pair 24, the other end of this third connecting rod is connected with one end of double leval jib 27 by revolute pair 26, and the other end of this double leval jib is connected with moving platform by revolute pair 28.
In branch one, the axis being parallel of the moving direction of moving sets 2 and the first revolute pair 4, second revolute pair 6, the 3rd revolute pair 8, and with the axes normal of first connecting rod 3, second connecting rod 5 and third connecting rod 7; In branch two, the axis being parallel of the second revolute pair 14, the 3rd revolute pair 16 and the 4th revolute pair 18, and with the axes normal of the first revolute pair 12.Axis one end of first connecting rod 13 and the axes normal of the first revolute pair 12, the dead in line of the other end and the second revolute pair 14.Second connecting rod 15 and third connecting rod 17 are all right angle connecting rod, one end of their connecting rod axis respectively with the axes normal of the second revolute pair 14 and the 3rd revolute pair 16, the other end respectively with the dead in line of the 3rd revolute pair 16 and the 4th revolute pair 18; In branch three, the axis being parallel of the first revolute pair 20 and the 5th revolute pair 28, the axis being parallel of the second revolute pair 22, the 3rd revolute pair 24 and the 4th revolute pair 26, and with the axes normal of the first revolute pair 20 and the 5th revolute pair 28.The axes normal of revolute pair in the axis of first connecting rod 21, second connecting rod 23, third connecting rod 25 and double leval jib 27 and this branch in addition.First kinematic pair in three branches for input secondary, and the moving direction that in three input pairs, mobile input is secondary and two rotate input secondary axis being parallel.

Claims (2)

1. one kind full decoupled two is moved one turn of three-freedom degree spatial parallel structure, they three branches comprising fixed platform, moving platform and connect these two platforms, it is characterized in that: one end of the first connecting rod in its branch one is connected with fixed platform by moving sets, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch two is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with moving platform by revolute pair; One end of first connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, the other end of this third connecting rod is connected by revolute pair one end with double leval jib, and the other end of this double leval jib is connected with moving platform by revolute pair; In branch one, the axis being parallel of the moving direction of moving sets and three revolute pairs; In branch two, except the revolute pair be connected with fixed platform, the axis being parallel of other three revolute pairs, and the axes normal of the revolute pair be connected with fixed platform, wherein parallel with fixed platform place plane with the revolute pair that fixed platform connects, the revolute pair be connected with moving platform and moving platform place plane orthogonal; In branch three, the axis being parallel of two revolute pairs be connected with fixed platform and moving platform respectively, the axis being parallel of three revolute pairs in addition, and the axes normal of two revolute pairs be connected with fixed platform and moving platform, wherein parallel with fixed platform place plane with the revolute pair that fixed platform connects, also parallel with moving platform place plane with the revolute pair that moving platform connects; In three kinematic pairs that three branches are connected with fixed platform respectively, the axis being parallel of the moving direction of moving sets and two revolute pairs; In three kinematic pairs that three branches are connected with moving platform respectively, the turns auxiliary shaft line parallel that branch one and branch three are connected with moving platform, and the axes normal of the revolute pair be all connected with moving platform with branch two.
2. according to claim 1 a kind of full decoupled two move one turn of three-freedom degree spatial parallel structure, it is characterized in that: the moving sets be connected with fixed platform in above-mentioned branch one and nearest first revolute pair can replace with a cylindrical pair with turns auxiliary shaft line parallel; Be connected two nearest revolute pairs in above-mentioned branch two to replace with Hooke's hinge with fixed platform; Be connected two nearest revolute pairs in above-mentioned branch three with fixed platform and be connected two nearest revolute pairs with moving platform and can replace with two Hooke's hinges respectively.
CN201310287927.3A 2013-07-10 2013-07-10 A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure CN103381602B (en)

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CN103722547B (en) * 2013-12-11 2016-08-17 燕山大学 There is the decoupling space parallel mechanism of two one turn of Three Degree Of Freedom of shifting
CN103862462B (en) * 2014-02-18 2016-01-27 燕山大学 A kind of two move one turn of full decoupled space parallel mechanism of Three Degree Of Freedom
CN104002298B (en) * 2014-05-12 2016-01-27 燕山大学 A kind of two move a rotating decoupling parallel robot mechanism
CN104875185A (en) * 2015-05-19 2015-09-02 江南大学 Completely-decoupled 3T1R parallel robot mechanism
CN104874541B (en) * 2015-05-26 2017-05-03 江苏大学 2T1R parallel vibrating screen for fly maggot separating
CN104942795B (en) * 2015-07-02 2016-08-31 上海交通大学 One moves two rotation Three Degree Of Freedoms rotates mobile full decoupled parallel institution
CN105689260A (en) * 2016-04-26 2016-06-22 吴明洋 Vibratory screening device
CN105945912A (en) * 2016-05-18 2016-09-21 燕山大学 Translational parallel mechanism
CN107696014A (en) * 2017-10-12 2018-02-16 长沙展朔轩兴信息科技有限公司 Spherical surface two-freedom symmetrical parallel robot mechanism with redundant drive
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