CN103624769A - Two-dimensional moving and rotating non-coupling parallel mechanism - Google Patents

Two-dimensional moving and rotating non-coupling parallel mechanism Download PDF

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Publication number
CN103624769A
CN103624769A CN201310366408.6A CN201310366408A CN103624769A CN 103624769 A CN103624769 A CN 103624769A CN 201310366408 A CN201310366408 A CN 201310366408A CN 103624769 A CN103624769 A CN 103624769A
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revolute pair
axis
sub
chain
pair
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CN201310366408.6A
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张彦斌
王文胜
张耀强
王占磊
魏豪杰
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Henan University of Science and Technology
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Henan University of Science and Technology
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Abstract

The invention relates to the technical field of robot space mechanisms, in particular to a two-dimensional moving and rotating non-coupling parallel mechanism. The two-dimensional moving and rotating non-coupling parallel mechanism comprises a fixed platform, a movable platform, a first sub branch moving chain and a second sub branch moving chain, wherein the first sub branch moving chain and the second sub branch moving chain are used for being connected with the fixed platform and the movable platform, the first sub branch moving chain is a mixed chain and the second sub branch moving chain is a single-opening chain; the first sub branch moving chain comprises a space closed loop structure and a twelfth rotating pair and the space closed loop structure is composed of the first sub branch moving chain, the second sub branch moving chain and a third sub branch moving chain; the speed Jacobi matrix of the mechanism is a 4*4 diagonal matrix, a one-to-one corresponding control relationship exists between the output speed of the movable platform of the mechanism and the input speed of a driving pair, namely, only one driver is needed for controlling an output motion of the movable platform, mutual influence among the sub branch moving chains is greatly reduced, and the problems that the kinematics decoupling performance of a common parallel mechanism is poor, the operation space is small, and the control difficulty is large are solved.

Description

Two-dimensional movement two-dimensional rotary is without coupling parallel institution
Technical field
The present invention relates to space mechanism of robot technical field, especially a kind of two-dimensional movement two-dimensional rotary is without coupling parallel institution.
Background technology
With respect to serial mechanism, parallel institution has that bearing capacity is strong, precision is high, rigidity is large, speed responsive is fast and the advantage such as deadweight duty ratio is little.Therefore, parallel institution has broad application prospects in fields such as parallel machine, industrial robot, medical robot, micro-manipulating robots.Early stage parallel robot mechanism research concentrates on six-degree-of-freedom parallel connection mechanism mostly, and Steward mechanism is typical example.Lower-mobility Parallel Manipulators had become the focus of this area research in the last few years, especially 3-freedom parallel mechanism ,Ru Delta mechanism, Star mechanism, Angile Eye mechanism etc.In four-freedom parallel mechanism, two types of three-dimensional motion one-dimensional rotation and Three dimensional rotation one-dimensional movements obtain more concern, the scholar of China mechanism has designed many novel this type of mechanisms, and applied for Patents, as application number is: 201210094275,200920032890.9,201010507587,200910096797,201010225502.6 Chinese patent.And for two-dimensional movement and two-dimensional rotary parallel institution, the research obtaining is relative less with concern.
For general parallel institution, its kinematics coupling is all stronger, causes kinematic solution to have many groups and working space to reduce., also there is coupled relation between two kinds of output movements in the parallel institution for have mobile and rotational motion output characteristics simultaneously, makes mechanism path planning and control difficult design.Therefore how to design kinematic decoupling good, control simple parallel institution and become parallel institution and learn one of focus of area research.
Summary of the invention
The object of the present invention is to provide a kind of two-dimensional movement two-dimensional rotary parallel institution, to solve the problem that the kinematic decoupling of general parallel institution is poor, control difficult design.
In order to address the above problem, two-dimensional movement two-dimensional rotary parallel institution of the present invention is by the following technical solutions: two-dimensional movement two-dimensional rotary is without coupling parallel institution, it comprises fixed platform, moving platform and the first sub-chain and the second sub-chain that connect fixed platform and moving platform, the first sub-chain is combination chain, and the second sub-chain is single open chain;
Described the first sub-chain comprises space loop circuit structure and the 12 revolute pair, and loop circuit, described space structure is comprised of first sub-branch's kinematic chain, second sub-branch's kinematic chain and San sub-branch kinematic chain;
First sub-branch's kinematic chain comprises the first moving sets, the second moving sets and the 3rd revolute pair connecting successively from fixed platform to moving platform, and the axis of the axis of described the first moving sets, the second axis moving and the 3rd revolute pair is mutually vertical between two; Between the first moving sets and the second moving sets, be connected by second connecting rod, third connecting rod respectively between the second moving sets and the 3rd revolute pair;
Second sub-branch's kinematic chain comprises the 4th cylindrical pair, the 5th revolute pair, the 6th revolute pair and the 7th revolute pair connecting successively from fixed platform to moving platform, the axis of the axis of the axis of described the 4th cylindrical pair, the 5th revolute pair and the 6th revolute pair is parallel to each other and is all vertical with the axis of described the 7th revolute pair, between described the 4th cylindrical pair and the 5th revolute pair, between the 5th revolute pair and the 6th revolute pair, be connected by the 4th connecting rod, the 5th connecting rod, the 6th connecting rod respectively between the 6th revolute pair and the 7th revolute pair;
San sub-branch kinematic chain comprises the 8th revolute pair connecting successively from fixed platform to moving platform, the 9th universal hinge, the tenth revolute pair and the 11 universal hinge, described the 9th universal hinge and the 11 universal hinge have respectively the first revolute pair and the second revolute pair separately, the first revolute pair of the 9th universal hinge and the first revolute pair axis of the 11 universal hinge are parallel to each other, described the tenth revolute pair, the axis of the second revolute pair of the 9th universal hinge and the second revolute pair of the 11 universal hinge is parallel to each other, between the 8th revolute pair and the 9th universal hinge, between the 9th universal hinge and the tenth revolute pair, between the tenth revolute pair and the 11 universal hinge, pass through respectively seven-link assembly, the 8th connecting rod, the 9th connecting rod connects, wherein the first revolute pair of the 9th universal hinge is connected with seven-link assembly, the second revolute pair is connected with the 8th connecting rod, the first revolute pair of the 11 universal hinge is connected with the 9th connecting rod, the second revolute pair is connected with the tenth connecting rod,
The 3rd revolute pair of described first sub-branch's kinematic chain, the 7th revolute pair of second sub-branch's kinematic chain are all connected with the 12 revolute pair by the tenth connecting rod with the 11 universal hinge of San sub-branch kinematic chain, the axis conllinear of described the 3rd revolute pair and the 7th revolute pair and vertical with the axis of the 12 revolute pair, described the 12 revolute pair is connected with described moving platform and its axis is parallel to the plane of described moving platform;
Described the second sub-chain comprises the tenth three moving sets, the 14 revolute pair, the 15 revolute pair and the 16 ball pivot, the axis of described the tenth three moving sets, the 14 axis of revolute pair and the axis of the 15 revolute pair are parallel to each other, described the 16 ball pivot is connected with described moving platform, between described the tenth three moving sets and the 14 revolute pair, between the 14 revolute pair and the 15 revolute pair, connect by the 11 connecting rod, the 12 connecting rod and the 13 connecting rod respectively between the 15 revolute pair and the 16 ball pivot;
The axis axis orthogonal and the respectively with eight revolute pair of the axis of described the first moving sets, the 4th cylindrical pair is mutually vertical, the axis of the axis of described the 8th revolute pair and the tenth three moving sets is parallel to each other, and described the first moving sets, the 4th cylindrical pair, the 8th revolute pair and the tenth three moving sets are driving pair.
Parallel institution moving platform of the present invention can be realized two-dimensional movement two-dimensional rotary output movement; The velocity Jacobian matrix of mechanism is 4 * 4 diagonal matrixs, therefore there is the relation of controlling one to one between the output speed of described mechanism moving platform and the input speed of driving pair, an output movement that is moving platform only needs a driver control, reduced widely influencing each other between each sub-chain, the kinematic decoupling that solved general parallel institution is poor, working space is little, control the large problem of difficulty.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of two-dimensional movement two-dimensional rotary parallel institution.
The specific embodiment
The embodiment of two-dimensional movement two-dimensional rotary parallel institution, ,Gai mechanism comprises fixed platform 1, moving platform 14 and the first sub-chain and the second sub-chain that connect fixed platform 1 and moving platform 14 as shown in Figure 1.Moving platform 14 adopts deck plate, and the first sub-chain is that combination chain, the second sub-chain are single open chain.
The first sub-chain comprises space loop circuit structure and the 12 revolute pair R12, described loop circuit structure is by first sub-branch's kinematic chain, second sub-branch's kinematic chain and San sub-branch kinematic chain form, first sub-branch's kinematic chain comprises the first moving sets P1 connecting successively to loop circuit, space structure output member the tenth connecting rod 10 from fixed platform 1, the second moving sets P2 and the 3rd revolute pair R3, between each kinematic pair successively by second connecting rod 2, third connecting rod 3 connects, described the first moving sets P1, the axis of the second moving sets P2 and the 3rd revolute pair R3 is mutually vertical between two, wherein the first moving sets P1 is driving pair,
Second sub-branch's kinematic chain of loop circuit, space structure comprises that from fixed platform 1, to loop circuit structure output member 10, connecting is successively the 4th cylindrical pair C4, the 5th revolute pair R5, the 6th revolute pair R6 and the 7th revolute pair R7, between each kinematic pair, by the 4th connecting rod 4, the 5th connecting rod 5, the 6th connecting rod 6, connected successively, the axis of the 4th cylindrical pair C4, the 5th revolute pair R5 and the 6th revolute pair R6 is parallel to each other and is all vertical with the pivot center of the 7th revolute pair R7, wherein the 4th cylindrical pair C4 is driving pair, and take its one-movement-freedom-degree as initiatively input;
The San sub-branch kinematic chain of loop circuit, space structure comprises the 8th revolute pair R8 connecting successively to loop circuit structure output member 10 from fixed platform 1, the 9th universal hinge U9, the tenth revolute pair R10 and the 11 universal hinge U11, in the present embodiment, the 9th universal hinge U9 and the 11 universal hinge U11 all adopt Hooke's hinge, above between each kinematic pair successively respectively by seven-link assembly 7, the 8th connecting rod 8, the 9th connecting rod 9 connects, the 8th revolute pair R8 axis is vertical with the axis of the first revolute pair U9-I of the 9th universal hinge U9, the axis of the first revolute pair U9-I of the 9th universal hinge U9 is parallel with the axis of the first revolute pair U11-I of the 11 universal hinge U11, the axis of the second revolute pair U9-II of the 9th universal hinge U9, the axis of the second revolute pair U11-II of the axis of the tenth revolute pair R10 and the 11 universal hinge U11 is parallel, wherein the 8th revolute pair R8 is driving pair,
The 11 universal hinge U11 of the 3rd revolute pair R3 of first sub-branch's kinematic chain, the 7th revolute pair R7 of second sub-branch's kinematic chain, San sub-branch kinematic chain is all connected with the 12 revolute pair R12 by the tenth connecting rod 10; The axis conllinear of the 3rd revolute pair R3 and the 7th revolute pair R7 and vertical with the axis of the 12 revolute pair R12; The 12 revolute pair R12 is connected with moving platform 14;
The second sub-chain comprises the tenth three moving sets P13 connecting successively from fixed platform 1 to moving platform 14, the 14 revolute pair R14, the 15 revolute pair R15 and the 16 ball pivot S16, between each kinematic pair successively by the 11 connecting rod 11, the 12 connecting rod 12 and the 13 connecting rod 13 connect, the tenth three moving sets P13, the axis of the 14 revolute pair R14 and the 15 revolute pair R15 is parallel to each other, wherein the first revolute pair U9-I of the 9th universal hinge U9 is connected with seven-link assembly 7, the second revolute pair U9-II is connected with the 8th connecting rod 8, the first revolute pair U11-I of the 11 universal hinge U11 is connected with the 9th connecting rod 9, the second revolute pair U11-II is connected with the tenth connecting rod 10, the 14 moving sets P14 is driving pair,
The axis of the first moving sets P1, the 4th cylindrical pair C4 and the 8th revolute pair R8 is mutually vertical between two, and the axis of the tenth three moving sets P13 and the 8th revolute pair R8 is parallel to each other.
The axis of described the 12 revolute pair R12 is parallel to the plane of moving platform;
In the course of the work, when driving driving pair the first moving sets, the 4th cylindrical pair, the 8th revolute pair and the tenth three moving sets, described moving platform can implementation space two-dimensional movement two-dimensional rotary output for a kind of two-dimensional movement two-dimensional rotary parallel institution of the present invention.Mechanism speed Jacobian matrix is 4 * 4 unit matrix, therefore there are mapping relations one to one between the output speed of described mechanism moving platform and main diarthrodial input speed, a movement output of moving platform only needs a driver input control, be that kinematics of mechanism does not exist coupling, the problems such as general parallel institution kinematic decoupling is poor, control difficulty that this has solved.Described mechanism can be used as the end effector mechanism of industrial robot, medical robot and micro-manipulating robot.

Claims (1)

1. two-dimensional movement two-dimensional rotary is without coupling parallel institution, it comprises fixed platform, moving platform and the first sub-chain and the second sub-chain that connect fixed platform and moving platform, it is characterized in that, the first sub-chain is combination chain, and the second sub-chain is single open chain;
Described the first sub-chain comprises space loop circuit structure and the 12 revolute pair, and loop circuit, described space structure is comprised of first sub-branch's kinematic chain, second sub-branch's kinematic chain and San sub-branch kinematic chain;
First sub-branch's kinematic chain comprises the first moving sets, the second moving sets and the 3rd revolute pair connecting successively from fixed platform to moving platform, and the axis of the axis of described the first moving sets, the second axis moving and the 3rd revolute pair is mutually vertical between two; Between the first moving sets and the second moving sets, be connected by second connecting rod, third connecting rod respectively between the second moving sets and the 3rd revolute pair;
Second sub-branch's kinematic chain comprises the 4th cylindrical pair, the 5th revolute pair, the 6th revolute pair and the 7th revolute pair connecting successively from fixed platform to moving platform, the axis of the axis of the axis of described the 4th cylindrical pair, the 5th revolute pair and the 6th revolute pair is parallel to each other and is all vertical with the axis of described the 7th revolute pair, between described the 4th cylindrical pair and the 5th revolute pair, between the 5th revolute pair and the 6th revolute pair, be connected by the 4th connecting rod, the 5th connecting rod, the 6th connecting rod respectively between the 6th revolute pair and the 7th revolute pair;
San sub-branch kinematic chain comprises the 8th revolute pair connecting successively from fixed platform to moving platform, the 9th universal hinge, the tenth revolute pair and the 11 universal hinge, described the 9th universal hinge and the 11 universal hinge have respectively the first revolute pair and the second revolute pair separately, the first revolute pair of the 9th universal hinge and the first revolute pair axis of the 11 universal hinge are parallel to each other, described the tenth revolute pair, the axis of the second revolute pair of the 9th universal hinge and the second revolute pair of the 11 universal hinge is parallel to each other, between the 8th revolute pair and the 9th universal hinge, between the 9th universal hinge and the tenth revolute pair, between the tenth revolute pair and the 11 universal hinge, pass through respectively seven-link assembly, the 8th connecting rod, the 9th connecting rod connects, wherein the first revolute pair of the 9th universal hinge is connected with seven-link assembly, the second revolute pair is connected with the 8th connecting rod, the first revolute pair of the 11 universal hinge is connected with the 9th connecting rod, the second revolute pair is connected with the tenth connecting rod,
The 3rd revolute pair of described first sub-branch's kinematic chain, the 7th revolute pair of second sub-branch's kinematic chain are all connected with the 12 revolute pair by the tenth connecting rod with the 11 universal hinge of San sub-branch kinematic chain, the axis conllinear of described the 3rd revolute pair and the 7th revolute pair and vertical with the axis of the 12 revolute pair, described the 12 revolute pair is connected with described moving platform and its axis is parallel to the plane of described moving platform;
Described the second sub-chain comprises the tenth three moving sets, the 14 revolute pair, the 15 revolute pair and the 16 ball pivot, the axis of described the tenth three moving sets, the 14 axis of revolute pair and the axis of the 15 revolute pair are parallel to each other, described the 16 ball pivot is connected with described moving platform, between described the tenth three moving sets and the 14 revolute pair, between the 14 revolute pair and the 15 revolute pair, connect by the 11 connecting rod, the 12 connecting rod and the 13 connecting rod respectively between the 15 revolute pair and the 16 ball pivot;
The axis axis orthogonal and the respectively with eight revolute pair of the axis of described the first moving sets, the 4th cylindrical pair is mutually vertical, the axis of the axis of described the 8th revolute pair and the tenth three moving sets is parallel to each other, and described the first moving sets, the 4th cylindrical pair, the 8th revolute pair and the tenth three moving sets are driving pair.
CN201310366408.6A 2013-08-21 2013-08-21 Two-dimensional moving and rotating non-coupling parallel mechanism Pending CN103624769A (en)

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CN105215974A (en) * 2015-09-30 2016-01-06 河南科技大学 There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism
CN105234932A (en) * 2015-09-29 2016-01-13 江苏金源锻造股份有限公司 Non-completely-symmetrical parallel connection mechanism with two-dimensional movement and two-dimensional rotation freedom degrees
CN106426086A (en) * 2015-08-05 2017-02-22 江苏金源锻造股份有限公司 Robot for forging system

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Publication number Priority date Publication date Assignee Title
CN106426086A (en) * 2015-08-05 2017-02-22 江苏金源锻造股份有限公司 Robot for forging system
CN105234932A (en) * 2015-09-29 2016-01-13 江苏金源锻造股份有限公司 Non-completely-symmetrical parallel connection mechanism with two-dimensional movement and two-dimensional rotation freedom degrees
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