CN103495967A - Planar five-bar parallel robot experimental device with gentle and agreeable joints - Google Patents
Planar five-bar parallel robot experimental device with gentle and agreeable joints Download PDFInfo
- Publication number
- CN103495967A CN103495967A CN201310452325.9A CN201310452325A CN103495967A CN 103495967 A CN103495967 A CN 103495967A CN 201310452325 A CN201310452325 A CN 201310452325A CN 103495967 A CN103495967 A CN 103495967A
- Authority
- CN
- China
- Prior art keywords
- submissive joint
- bar parallel
- parallel robot
- lever
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to a planar five-bar parallel robot experimental device with gentle and agreeable joints. The gentle and agreeable joints are applied to a planar five-bar parallel robot and replace traditional kinematic pairs to conduct transmission, and therefore the performance of the robot is further improved. The robot experimental device is composed of a base, driving pairs, the driving bars, the gentle and agreeable joints, the driven bars, a rigid rotation pairs, speed reducers and servo motors, and the structure is quite effective for deep research on the kinematics performance and the kinetics performance of the planar five-bar parallel robot with the gentle and agreeable joints. The movement of the parallel robot is achieved through the gentle and agreeable joints instead of the traditional kinematic pairs, the weight of a robot system is reduced, the problems of gaps, friction, abrasion, impact and lubrication and the like caused by the traditional kinematic pairs are solved, the running accuracy and reliability of the robot system are improved, and meanwhile the planar five-bar parallel robot experimental device is simple in structure, easy to operate, low in cost and beneficial to practical application.
Description
Technical field
The invention discloses a kind of plane five lever apparatus with submissive joint, relate to robot experimental technique field, relate in particular to a kind of plane five submissive joint of bar parallel robot experimental provisions.
Background technology
Compliant mechanism is a kind of novel mechanism that utilizes the member self-deformation to realize transmission and the conversion of motion, power and energy.From conventional rigid, mechanism is different, and structurally compliant mechanism has reduced has not even had kinematic pair, and its superiority is mainly reflected in and reduces costs and improve performance two aspects.
The compliant mechanism theory is applied in the design of kinematic pair, has produced this novel kinematic pair form in submissive joint, this kinematic pair transmits the motion between adjacent members by the strain of self.Use submissive joint to replace the secondary novel robot formed of conventional motion, can fundamentally solve gap that the conventional motion pair brings, friction, wearing and tearing, impact and the problem such as lubricated.
Parallel micro-manipulator is along with the parallel robot technology, the development of nanometer technique and submissive joint technology and an emerging research field forming, this type of robot has compact conformation, kinematic chain is short, the characteristics such as rigidity is high, and bearing capacity is strong, simultaneously because used submissive joint to replace the conventional motion pair, eliminate the secondary adverse effect of conventional motion, improved the overall performance of robot system.
Plane five bar parallel robots are a kind of common Limited-DOF Parallel Robots, and frame for movement is comprised of five connecting rods, and wherein a bar is as frame, and two bars that are connected with frame are as driving lever, and all the other two bars are follower lever.Because simple in structure, be easy to control, this type of robot has obtained application at industrial circle.In traditional design, five connecting rods transmit force and motion by the rigid motion pair.Based on above analysis, the present invention proposes a kind of plane five submissive joint of bar parallel robot experimental provisions, and it is applied to submissive joint in the five bar parallel robots of plane, replaces the conventional motion pair and carries out transmission, has further improved the performance of robot.
Summary of the invention
The object of the present invention is to provide a kind of plane five submissive joint of bar parallel robot experimental provisions, this robot experimental provision is comprised of pedestal, driving pair, driving lever, submissive joint, follower lever, rigidity rotation pair, decelerator and servomotor, and this kinematics and dynamic performance for the further investigation plane five submissive joint of bar parallel robots is very effective.
For achieving the above object, the technical solution used in the present invention is a kind of plane five submissive joint of bar parallel robot experimental provisions, and its driving lever and follower lever are rigid bar; Pedestal is connected with secondary movement branched chain and two groups of identical drive parts of structure identical with two-strip structure of rigidity rotation; In movement branched chain, driving lever one end is connected with driving pair, and the other end is connected with follower lever by submissive joint, and the follower lever of two movement branched chain connects by rigidity rotation is secondary; Wherein driving lever with drive secondaryly, submissive joint and driving lever and follower lever, be connected for bolt between follower lever and rigidity rotation pair; In drive part, servomotor one end is bolted and is fixed on pedestal, and the other end is connected with decelerator, and the other end of decelerator is connected with driving pair.
Compared with prior art, the present invention has the following advantages:
1, utilize submissive joint to replace the motion that the conventional motion pair realizes parallel robot, alleviated the quality of robot system;
2, apparatus of the present invention have reduced gap that the conventional motion subband comes, friction, wearing and tearing, impact and the problem such as lubricated;
3, improved running precision and the reliability of robot system, simultaneously simple in structure, processing ease, cost low, be conducive to practical application.
The accompanying drawing explanation
Fig. 1 is the plane five submissive joint of bar parallel robot machinery structure top views.
Fig. 2 is the plane five submissive joint of bar parallel robot machinery structural front view.
In figure: 1, pedestal 2, driving pair 3, driving lever 4, submissive joint 5, follower lever 6, rigidity rotation pair 7, decelerator 8, servomotor.
The specific embodiment
Below with reference to drawings and Examples, the present invention will be further described.
Be illustrated in figure 1 the plane five submissive joint of bar parallel robot machinery structure top views, Fig. 2 is the plane five submissive joint of bar parallel robot machinery structural front view, and this device is comprised of pedestal 1, driving pair 2, driving lever 3, submissive joint 4, follower lever 5, rigidity rotation pair 6, decelerator 7, servomotor 8; Wherein pedestal 1 is connected with secondary 6 movement branched chain and two groups of identical drive parts of structure identical with two-strip structure of rigidity rotation; In movement branched chain, driving lever 3 one ends are connected with driving pair 2, and the other end is connected with follower lever 5 by submissive joint 4, and the follower lever 5 of two movement branched chain connects by rigidity rotation secondary 6; Wherein driving lever 3 with drive secondaryly 2, submissive joint 4 and driving lever 3 and follower lever 5, be connected for bolt between follower lever 5 and rigidity rotation pair 6; In drive part, servomotor 8 one ends are bolted and are fixed on pedestal 1, and the other end is connected with decelerator 7, and the other end of decelerator 7 is connected with driving pair 2.
During this experimental provision work, each servomotor of organizing in drive part passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
The material of driving lever and follower lever is aluminium, and size is 400mm * 23mm * 10mm; The material in submissive joint is spring steel, R=20mm, and thickness is 0.5mm, structural parameters are not unique, can change the submissive joint of Different structural parameters and be tested.
The plane disclosed by the invention five submissive joint of bar parallel robots, use submissive joint to replace the motion that the conventional motion pair realizes robot, the gap that the conventional motion pair is brought, friction, wearing and tearing, impact and the problem such as lubricated have been reduced, operation accuracy and the reliability of robot system have been improved, simultaneously simple in structure, processing ease, cost is low, for the performance of the plane five submissive joint of bar parallel robots improves and practical application provides guarantee.
Claims (3)
1. the plane five submissive joint of bar parallel robot experimental provisions is characterized in that: this device by pedestal (1), drive secondary (2), driving lever (3), submissive joint (4), follower lever (5), rigidity rotation secondary (6), decelerator (7), servomotor (8) to form; Wherein pedestal (1) is connected with secondary (6) movement branched chain and two groups of identical drive parts of structure identical with two-strip structure of rigidity rotation; In movement branched chain, driving lever (3) one ends are connected with driving secondary (2), and the other end is connected with follower lever (5) by submissive joint (4), and the follower lever of two movement branched chain (5) connects by rigidity rotation secondary (6); Wherein driving lever (3) with drive secondary (2), submissive joint (4) and driving lever (3) and follower lever (5), be connected for bolt between follower lever (5) and rigidity rotation pair (6); In drive part, servomotor (8) one ends are bolted and are fixed on pedestal (1) above, and the other end is connected with decelerator (7), and the other end of decelerator (7) is connected with driving secondary (2).
2. a kind of plane according to claim 1 five submissive joint of bar parallel robot experimental provisions, it is characterized in that: during experimental provision work, each servomotor of organizing in drive part passes to control moment to drive pair through decelerator, drive the moving driving lever of subband, driving lever drives follower lever by submissive joint, and the rigidity rotation pair of follower lever end can complete given task.
3. a kind of plane according to claim 1 and 2 five submissive joint of bar parallel robot experimental provisions, it is characterized in that: the structural parameters in submissive joint are not unique, can change the submissive joint of Different structural parameters and be tested; The scantling of driving lever and follower lever is all identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310452325.9A CN103495967B (en) | 2013-09-28 | 2013-09-28 | The submissive joint parallel robot experiment device of a kind of plane five bar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310452325.9A CN103495967B (en) | 2013-09-28 | 2013-09-28 | The submissive joint parallel robot experiment device of a kind of plane five bar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103495967A true CN103495967A (en) | 2014-01-08 |
| CN103495967B CN103495967B (en) | 2015-12-09 |
Family
ID=49861276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310452325.9A Expired - Fee Related CN103495967B (en) | 2013-09-28 | 2013-09-28 | The submissive joint parallel robot experiment device of a kind of plane five bar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103495967B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819838A (en) * | 2015-05-14 | 2015-08-05 | 中北大学 | Combination-drive reconfigurable five-rod mechanism experiment table |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5642469A (en) * | 1994-11-03 | 1997-06-24 | University Of Washington | Direct-drive manipulator for pen-based force display |
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| WO2004104814A1 (en) * | 2003-05-21 | 2004-12-02 | Korea Institute Of Science And Technology | Parallel haptic joystick system |
| CN2745181Y (en) * | 2004-10-14 | 2005-12-07 | 华南理工大学 | Redundancy three-freedom flat compliance precision positioning platform |
| CN101149979A (en) * | 2007-10-26 | 2008-03-26 | 华南理工大学 | Precision rotation positioning platform based on compliant mechanism |
| DE102007010067B3 (en) * | 2007-02-28 | 2008-07-03 | Technische Universität Braunschweig Carolo-Wilhelmina | Accuracy testing or parallel kinematics machine e.g. robot, calibrating method, involves determining error parameters so that difference between singularity positions is minimized or outputting signal when difference exceeds preset value |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN102873683A (en) * | 2012-09-28 | 2013-01-16 | 北京工业大学 | Experimental apparatus with three flexible hinges and planar parallel mechanism |
| CN103030103A (en) * | 2012-12-10 | 2013-04-10 | 山东理工大学 | 3-PRR micro-displacement platform based on symmetrical variable cross-section compliant mechanism |
| CN103111999A (en) * | 2013-02-23 | 2013-05-22 | 北京工业大学 | Flexible-joint parallel robot device |
| CN103192363A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot |
-
2013
- 2013-09-28 CN CN201310452325.9A patent/CN103495967B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5642469A (en) * | 1994-11-03 | 1997-06-24 | University Of Washington | Direct-drive manipulator for pen-based force display |
| US6675671B1 (en) * | 2002-05-22 | 2004-01-13 | Sandia Corporation | Planar-constructed spatial micro-stage |
| WO2004104814A1 (en) * | 2003-05-21 | 2004-12-02 | Korea Institute Of Science And Technology | Parallel haptic joystick system |
| CN2745181Y (en) * | 2004-10-14 | 2005-12-07 | 华南理工大学 | Redundancy three-freedom flat compliance precision positioning platform |
| DE102007010067B3 (en) * | 2007-02-28 | 2008-07-03 | Technische Universität Braunschweig Carolo-Wilhelmina | Accuracy testing or parallel kinematics machine e.g. robot, calibrating method, involves determining error parameters so that difference between singularity positions is minimized or outputting signal when difference exceeds preset value |
| CN101149979A (en) * | 2007-10-26 | 2008-03-26 | 华南理工大学 | Precision rotation positioning platform based on compliant mechanism |
| CN202318318U (en) * | 2011-09-30 | 2012-07-11 | 北京工业大学 | Planar 3-degree-of-freedom parallel robot comprising supple joints |
| CN102873683A (en) * | 2012-09-28 | 2013-01-16 | 北京工业大学 | Experimental apparatus with three flexible hinges and planar parallel mechanism |
| CN103030103A (en) * | 2012-12-10 | 2013-04-10 | 山东理工大学 | 3-PRR micro-displacement platform based on symmetrical variable cross-section compliant mechanism |
| CN103111999A (en) * | 2013-02-23 | 2013-05-22 | 北京工业大学 | Flexible-joint parallel robot device |
| CN103192363A (en) * | 2013-03-27 | 2013-07-10 | 北京工业大学 | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104819838A (en) * | 2015-05-14 | 2015-08-05 | 中北大学 | Combination-drive reconfigurable five-rod mechanism experiment table |
| CN104819838B (en) * | 2015-05-14 | 2016-05-25 | 中北大学 | A kind of combination drive restructural five-rod experimental bench |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103495967B (en) | 2015-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104723334B (en) | A kind of double-shaft two-way parallel track robot | |
| CN105522741A (en) | Precise support rod type three-directional punching machine tool | |
| CN202318318U (en) | Planar 3-degree-of-freedom parallel robot comprising supple joints | |
| CN102602708A (en) | Robot palletizer for carrying | |
| CN101788043A (en) | Toggle lever pressure transmission mechanism | |
| CN103480764A (en) | Swing telescoping electromagnetic servo direct drive feed device for covering part stamping production line | |
| CN203356931U (en) | Positioning-pin driving structure and manual telescopic positioning-pin structure | |
| CN102513491A (en) | Booster for servo press | |
| CN204658438U (en) | The traversing swing mechanism of a kind of sucker manipulator | |
| CN207273246U (en) | A kind of low speed movement grasp handling robot | |
| CN105015005A (en) | Multi-motor, multi-screw and independently-driven servo screw press | |
| CN103495967A (en) | Planar five-bar parallel robot experimental device with gentle and agreeable joints | |
| CN102990955A (en) | Arbitrary adjustment mechanism of reciprocating motion stroke of slider | |
| CN104129087B (en) | A kind of square linear electric motors down-push type double swing-bar reinforcement high-speed blanking press | |
| CN103507065A (en) | Flexible joint parallel robot experiment device utilizing plane two-degree-of-freedom redundant drive | |
| CN105479451A (en) | Planar redundant robot | |
| CN206154294U (en) | Gentle and agreeable parallel mechanism of three degrees of freedom on plane of big stroke high accuracy | |
| CN202683822U (en) | Manipulator device | |
| CN204525469U (en) | A kind of biaxial parallel track robot | |
| CN204525474U (en) | A kind of double-shaft two-way parallel track robot | |
| CN104791443B (en) | Preloaded bearing sine crank mechanism | |
| CN103480763A (en) | Rotation linear composite electromagnetic servo direct drive feed device for covering part stamping production line | |
| CN204525456U (en) | A kind of single armed transfer robot | |
| CN203265355U (en) | Worm gear pressurizing type punch press | |
| CN203427032U (en) | Conveying mechanical hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151209 Termination date: 20190928 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |