CN103448059B - Containing planar six-rod closed loop side chain 6DOF parallel institution - Google Patents

Containing planar six-rod closed loop side chain 6DOF parallel institution Download PDF

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Publication number
CN103448059B
CN103448059B CN201310362424.8A CN201310362424A CN103448059B CN 103448059 B CN103448059 B CN 103448059B CN 201310362424 A CN201310362424 A CN 201310362424A CN 103448059 B CN103448059 B CN 103448059B
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closed loop
planar
chain
moving platform
rod closed
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CN103448059A (en
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路懿
李雪鹏
路扬
叶妮佳
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Yanshan University
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Yanshan University
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Abstract

A kind of containing planar six-rod closed loop side chain 6DOF parallel institution, it mainly comprises support, moving platform, connect 3 structure identical planar six-rod closed loop side chains of support and moving platform, 3 dynamic posts and 3 fixed columns, wherein 3 fixed columns are vertically fixed on support, 3 dynamic posts connect with moving platform vertical rotation, above-mentioned fixed column all connects with vertical rotation in the middle part of the underbeam in planar six-rod closed loop side chain, above-mentioned dynamic post all connects with vertical rotation in the middle part of the upper beam in planar six-rod closed loop side chain, in planar six-rod closed loop side chain, the upper end of 2 identical Linear-electric-cylinders is rotated with upper beam two ends respectively and is connected, its lower end is rotated with underbeam two ends respectively and is connected, upper and lower four turning cylinders are parallel to each other.The present invention has simple, the easy manufacture of structure, bearing capacity is large, rigidity is high, working space is large, flexibility is good and precision advantages of higher.

Description

Containing planar six-rod closed loop side chain 6DOF parallel institution
Technical field
The present invention relates to robot field, particularly a kind of parallel robot.
Background technology
It is large that parallel robot has mechanism's rigidity relatively, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as not to accumulate at the feature, in application and serial manipulator have complementary advantages.For many years, six-degree-of-freedom parallel connection mechanism has become the principal organ of the multiple parallel robot/lathe of structure, weight equipment.The Stewart platform that nineteen sixty-five Stewart proposes is typical six-degree-of-freedom parallel connection mechanism, is used widely.Stewart platform comprises 1 moving platform, 1 support and 6 SPU(ball pair-moving sets-universal pairs) type linear drives branch.Guaranteeing, under six-degree-of-freedom parallel robot advantage prerequisite, how to simplify structure further, increasing moving platform position working space and automaticity, increasing bearing capacity, become the direction of robot research domain experts unremitting effort.At present progressively from theoretical and experimental investigations, practical application is transferred to the research of parallel robot, become robot and high-end equipment manufacturing area research focus and forward position.
Parallel robot disclosed in Liu Xin armies of Tsing-Hua University in 2004 connects branched structure and six-degree-of-freedom parallel robot mechanism CN1472046.It comprises moving platform, support and is connected to 3 parallelogram side chains of support and moving platform, and on each side chain, end link rotates with moving platform and connects, and lower end link connects with the ideational form of the non-specific structure of 2 one-movement-freedom-degrees with support.
Xi'an University of Architecture and Technology in 2008 congratulates Tetrapack and discloses a kind of combination drive 6DOF parallel institution CN201009243 containing five bar closed chains, it comprises moving platform, support and is connected to 3 five bar closed loop side chains of support and moving platform, each side chain is connected with moving platform by compound spherical joint, is connected with support by revolute pair; Each side chain lower end is provided with 4 rotary pairs, and 2 rotary pairs form 1 group of mixing revolution and drive.
2010 Harbin Institute of Technology Li Bing etc. disclose a kind of large-inclination six-degree-of-freedom parallel robot CN101712151A, comprise pedestal, moving platform and are connected to 5 6DOF movement branched chain compositions between moving platform and pedestal.Being connected to moving platform has 4 be distributed in the periphery of moving platform and be connected with pedestal with 5 side chains of pedestal, be referred to as periphery side chain, periphery side chain only has a joint to be driving joint, 5th side chain is placed in moving platform centre and is connected with pedestal, central authorities' side chain is made up of 2 moving sets and 2 Hooke's hinges, 2 moving sets are driving joint, and the effect of central side chain drives input by controlling it, central side chain can be promoted pitch motion that robot moving platform realizes wide-angle.
Guangxi University Cai in 2011 dares to disclose a kind of 5R closed-loop subchain six-degree-of-freedom parallel connection mechanism 201110283400.4 for waiting, and it comprises 1 moving platform, 1 support, 3 plane 5 rods close loop mechanisms and 3 sub-turntables.Each 5 linkages comprise support, 2 driving forks and 2 connecting rods.Every sub-turntable upper end connects with moving platform ball pivot, lower end connects with a connecting rod ball pivot of 5 bar close loop mechanisms.Because 3 plane 5 rods close loop mechanisms are parallel with support, bear vertical support direction Main Load limited in one's ability.Within 2012, disclose again a kind of controllable mechanism type parallel robot platform with six degrees of freedom CN202399270U, its similar Stewart platform, difference is in replacing SPU type linear drives branch with RSS type rotating drive branch.
Open a kind of few branch chain six-freedom degree parallel robot C N102350699A such as University Of Shantou Zhao Yong outstanding persons in 2012, it is made up of moving platform, support and 4 active branched chain, and every bar side chain is connected between moving platform and support.Article 4, side chain, has 3 branched structures identical, is outside active movement side chain, distributes axisymmetricly in space, and another side chain is middle active movement side chain, and 4 side chains cooperate mutually, realizes the space six-freedom motion of moving platform.
Said mechanism differs from one another, but also has following technical problems:
1, the secondary self structure of ball limits its slewing area and bears the ability of pulling force, gap ability is eliminated in restriction, universal secondary self structure limits its slewing area, so moving platform effective working space with the parallel institution of universal pair secondary containing ball and bearing capacity are extremely restricted, will gap be produced after short-term wearing and tearing, reduce transmission accuracy.
2, side chain and support 2 one-movement-freedom-degrees connect complex forms, be difficult to guarantee that overall structure is simple, transmission accuracy is high with good stability.
3, under avoiding side chain mutually to interfere prerequisite, 2 movements of parallelogram side chain and height change scope less, be difficult to enlarging mechanism working space, three group of 5 bar closed loop side chain is easily mutually dry and astringent, and rotating drive bearing capacity is lower, and working space is limited.
4, compound spherical joint complex structure, is difficult to manufacture, has the shortcoming secondary more serious than common ball.
Summary of the invention
The object of the present invention is to provide a kind of high rigidity, bearing capacity is large, working space is large, structure is simple, kinematic accuracy is high, control to be easy to containing planar six-rod closed loop branch chain six-freedom degree parallel mechanism.
The present invention mainly comprises support, moving platform, connect 3 structure identical planar six-rod closed loop side chains of support and moving platform, 3 dynamic posts and 3 fixed columns, wherein, 3 fixed columns are vertically fixed on support, circumferentially uniform, 3 dynamic posts connect with moving platform vertical rotation, and it is circumferentially uniform, above-mentioned fixed column all connects with vertical rotation in the middle part of the underbeam in planar six-rod closed loop side chain, above-mentioned dynamic post all connects with vertical rotation in the middle part of the upper beam in planar six-rod closed loop side chain, in planar six-rod closed loop side chain, the upper end of 2 identical Linear-electric-cylinders is rotated with upper beam two ends respectively and is connected, the lower end of this Linear-electric-cylinder is rotated with underbeam two ends respectively and is connected, upper and lower four turning cylinders are parallel to each other, upper beam and the underbeam of above-mentioned connection 2 Linear-electric-cylinders are coplanar, form 1 plane bilinear and drive six bar closed loop side chains.Above-mentioned Linear-electric-cylinder adopts standard ball screw rod transmission mode to realize the nonrotational linear telescopic of the relatively quiet bar of lever.The upper beam of above-mentioned three planar six-rod closed loop side chains is coplanar, and parallel moving platform; The underbeam of above-mentioned three planar six-rod closed loop side chains is coplanar, and three limits of equilateral triangle on the support be parallel to respectively.
The present invention compared with prior art tool has the following advantages:
1, mechanism of the present invention belongs to redundant bondage space mechanism in six degree of freedom type in essence, decreases the connecting rod number of the equivalent connection rod set of space six-degree-of-freedom parallel connection mechanism.Theoretical according to mechanism types synthesis, the equivalent connection rod set forming mechanism of the present invention comprises 15 second mate's bars and 8 three secondary bars, and connecting rod adds up to 23.Wherein 8 three secondary bars form 1 moving platform, 1 support, 3 upper beams and 3 underbeams, and 15 second mate's bars form 3 upper props and 6 Linear-electric-cylinders, and wherein every 2 second mate's bars can form 1 Linear-electric-cylinder.And the equivalent connection rod set forming Stewart platform comprises 2 six secondary bars and 30 second mate's bars, connecting rod adds up to 32.Wherein 2 six secondary bars can form moving platform and support respectively, and 30 second mate's bars can form 6 SPU type linear drives branches, and wherein the series connection of every 5 second mate's bars can form 1 SPU type linear drives branch.
2, each planar six-rod closed loop side chain only has the revolute pair of 4 axis being parallel and 2 coplanar driving moving sets, kinematic pair and general structure is simple, easily manufacture and install.
3, revolute pair rotational angle is greatly and large by structure restriction, moving sets stroke range, overcomes the restriction that the secondary and universal secondary finite angle of actual ball moves to moving platform, expands moving platform position and locus orientation-workspace, make flexibility better.
4, the revolute pair under the identical prerequisite of volume is that bearing capacity is large than other kinematic pair, can eliminate gap after pretension, and gained mechanism rigidity is larger, precision is higher, the life-span increases.
Therefore to have structure simple in this invention, working space is large, flexibility is good, the advantages such as bearing capacity is high, easy control, all have wide application prospects in high-end numerical control manufacture and heavy parallel connection equipment, Aero-Space simulation and detection equipment, military equipment, biologic medical and bionical operating means, multi-dimension force sensor, micro-nano operating means, human body recovery device and corresponding field.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is planar six-rod closed loop side chain upper end formation simplified schematic diagram of the present invention.
Fig. 3 is planar six-rod closed loop side chain lower end structure simplified schematic diagram of the present invention.
In figure: 1-support, 2-fixed column, 3-underbeam, 4-1-Linear-electric-cylinder, 4-2-Linear-electric-cylinder, 5-moves post, 6-upper beam, 7-moving platform
Detailed description of the invention
At Fig. 1, shown in Fig. 2 and Fig. 3 containing in planar six-rod closed loop side chain 6DOF parallel institution simplified schematic diagram, 3 fixed columns 2 are vertically fixed on support 1, circumferentially uniform, 3 dynamic posts 5 connect with moving platform 7 vertical rotation, and it is circumferentially uniform, above-mentioned fixed column all connects with vertical rotation in the middle part of the underbeam 3 in planar six-rod closed loop side chain, above-mentioned dynamic post all connects with vertical rotation in the middle part of the upper beam 6 in planar six-rod closed loop side chain, 2 identical Linear-electric-cylinder 4-1 in planar six-rod closed loop side chain, the upper end of 4-2 is rotated with upper beam two ends respectively and is connected, the lower end of this Linear-electric-cylinder is rotated with underbeam two ends respectively and is connected, upper and lower four turning cylinders are parallel to each other, above-mentioned connection 2 Linear-electric-cylinder upper beams and underbeam coplanar, form 1 plane bilinear and drive six bar closed loop side chains.The upper beam of above-mentioned three planar six-rod closed loop side chains is coplanar, and parallel moving platform; The underbeam of above-mentioned three planar six-rod closed loop side chains is coplanar, and three limits of equilateral triangle on the support be parallel to respectively.

Claims (1)

1. one kind contains planar six-rod closed loop side chain 6DOF parallel institution, it mainly comprises support, moving platform, connect 3 structure identical planar six-rod closed loop side chains of support and moving platform, 3 dynamic posts and 3 fixed columns, it is characterized in that: its 3 fixed columns are vertically fixed on support, circumferentially uniform, 3 dynamic posts connect with moving platform vertical rotation, and it is circumferentially uniform, above-mentioned fixed column all connects with vertical rotation in the middle part of the underbeam in planar six-rod closed loop side chain, above-mentioned dynamic post all connects with vertical rotation in the middle part of the upper beam in planar six-rod closed loop side chain, in planar six-rod closed loop side chain, the upper end of 2 identical Linear-electric-cylinders is rotated with upper beam two ends respectively and is connected, the lower end of this Linear-electric-cylinder is rotated with underbeam two ends respectively and is connected, upper and lower four turning cylinders are parallel to each other, upper beam and the underbeam of above-mentioned connection 2 Linear-electric-cylinders are coplanar, form 1 plane bilinear and drive six bar closed loop side chains, above-mentioned Linear-electric-cylinder adopts standard ball screw rod transmission mode to realize the nonrotational linear telescopic of the relatively quiet bar of lever, the upper beam of above-mentioned three planar six-rod closed loop side chains is coplanar, and parallel moving platform, the underbeam of above-mentioned three planar six-rod closed loop side chains is coplanar, and three limits of equilateral triangle on the support be parallel to respectively.
CN201310362424.8A 2013-08-19 2013-08-19 Containing planar six-rod closed loop side chain 6DOF parallel institution Expired - Fee Related CN103448059B (en)

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CN104690721B (en) * 2015-01-24 2016-09-28 江西省机械科学研究所 Band drives electric cylinder heavy duty two translation mechanical hands
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CN108890627A (en) * 2018-08-02 2018-11-27 北京交通大学 A kind of five-freedom parallel structure of the branch containing closed loop
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