CN103722552B - A kind of controllable multi-degree-of-freedom manipulator - Google Patents

A kind of controllable multi-degree-of-freedom manipulator Download PDF

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Publication number
CN103722552B
CN103722552B CN201310692771.7A CN201310692771A CN103722552B CN 103722552 B CN103722552 B CN 103722552B CN 201310692771 A CN201310692771 A CN 201310692771A CN 103722552 B CN103722552 B CN 103722552B
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China
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rod
revolute pair
link
fuselage
driven
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CN201310692771.7A
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Chinese (zh)
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CN103722552A (en
Inventor
蔡敢为
胥刚
张�林
高德中
于腾
吕姗姗
丁侃
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广西大学
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Publication of CN103722552A publication Critical patent/CN103722552A/en
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Abstract

A kind of controllable multi-degree-of-freedom manipulator, comprises executing agency's main chain of four controlled four-bar mechanism closed loop executing agency's subchains in parallel and a series connection.Described four-bar mechanism closed-loop subchain can control main chain connecting rod at four-bar mechanism closed-loop subchain place move in plane, and the motion of first connecting rod and fuselage can realize the spatial movement of moving platform.The present invention realizes controlling by the resultant motion of four closed-loop subchain and fuselage, by the connection of multiple connecting rod and fuselage, thus realizes the spatial movement of end effector, end effector movement inertia is little, dynamic performance is good, and reliability is high, and mechanism has compact conformation, control simple advantage, rod member can make lighter bar, and the working space of mechanism is large, moves after making mechanism's center of gravity, maintaining body balances, and can act on more occasion.

Description

A kind of controllable multi-degree-of-freedom manipulator
Technical field
The present invention relates to robot field, particularly a kind of controllable multi-degree-of-freedom manipulator.
Background technology
Traditional serial manipulator has the advantages such as structure is simple, cost is low, working space is large, and serial manipulator rigidity is low comparatively speaking, can not be applied at a high speed, the occasion of large carrying; Parallel robot is compared with traditional serial manipulator, have without accumulated error, precision compared with high, compact conformation, bearing capacity is large, rigidity is high and end effector inertia is little etc. feature, drive unit can be placed on fixed platform or close to the position of fixed platform, such motion parts is lightweight, speed is high, and dynamic response is good; But the distinct disadvantage of the parallel robot little and complex structure that is working space.In engineering, existing manipulator such as the MOTOMAN-K10 with local closed chain does not solve industrial robot Problems existing, and the general parallel institution of the Performance Ratio of parallel robot of closed-loop subchain containing symmetrical mechanism formula is more superior, have that working space is large, rigidity is high, bearing capacity is strong, inertia is little and end effector precision advantages of higher, can be applied in the complex jobs such as welding, spraying, carrying, handling, assembling, piling, effective raises labour efficiency, and improves a lot in product quality and stability.The manipulator of circular cylindrical coordinate type and joint coordinates type is adopted effectively and efficiently to control tail house, and this mechanism structure good rigidity, machine driving precision are high, working space large, machine driving loss is little, can export larger power without accumulated error, have and have good controlling functions.This robot containing parallel closed loop subchain adopts indirect drive manner, effectively can also reduce the moment required for driving joint.
Summary of the invention
The object of the present invention is to provide a kind of controllable multi-degree-of-freedom manipulator, solve conventional serial robot large about required moment, the shortcoming that rigidity is low and working space is little.
The present invention achieves the above object by the following technical programs: a kind of controllable multi-degree-of-freedom manipulator, and its structure and connected mode are:
Described executing agency chain is by fuselage 2, first connecting rod 3, second connecting rod 6, third connecting rod 21, double leval jib 18, 5th connecting rod 16, six-bar linkage 9, seven-link assembly 15, 8th connecting rod 11, 9th connecting rod 12, tenth connecting rod 19, 11 connecting rod 22, 12 connecting rod 24, end effector 25 and frame 1 are formed by connecting, fuselage 2 first links 26 are connected in frame 1 by the first revolute pair 26, fuselage 2 is driven by the first revolute pair 26, first revolute pair 26 is driven by motor, fuselage 2 second links 27 are connected with first connecting rod 3 one end by the second revolute pair 27, first connecting rod 3 is driven by the second revolute pair 27, first connecting rod 3 other end is connected by the 3rd revolute pair 4 and second connecting rod 6 first links 4, second connecting rod 6 second links 5 are connected with third connecting rod 21 one end by the 4th revolute pair 5, third connecting rod 21 other end is connected with double leval jib 18 one end by the 5th revolute pair 20, double leval jib 18 other end is connected by the 6th revolute pair 17 and the 5th connecting rod 16 the 3rd link 17, second connecting rod 6 the 3rd link 7 is connected by the 7th revolute pair 7 and the 5th connecting rod 16 first links 7, fuselage 2 the 3rd link 19 is connected by the 8th revolute pair 19 and the 5th connecting rod 16 second links 19, 5th the 4th, connecting rod 16 link 30 is connected by the 9th revolute pair 30 and six-bar linkage 9 first links 30, six-bar linkage 9 second links 8 are connected with the 8th connecting rod 11 by the tenth revolute pair 8, 8th connecting rod 11 other end is connected by the 11 revolute pair 13 and seven-link assembly 15 second links 13, six-bar linkage 9 the 3rd link 10 is connected with the 9th connecting rod 12 one end by the 12 revolute pair 10, 9th connecting rod 12 other end is connected 14 by the 13 revolute pair 14 with seven-link assembly 15 the 3rd and connects, seven-link assembly 15 first links 32 are connected by the 14 revolute pair 32 and the 5th connecting rod 16 the 5th link 32, seven-link assembly 17 the 4th link 19 to be connected with the tenth connecting rod 19 one end by being rigidly connected, tenth connecting rod 19 other end is connected with the 11 connecting rod 22 one end by the 15 revolute pair 33, 11 connecting rod 22 is driven by the 15 revolute pair 33, 15 revolute pair 33 is driven by motor, 11 connecting rod 22 other end is connected with the 12 connecting rod 24 one end by the 16 revolute pair 23, 12 connecting rod 24 is driven by the 16 revolute pair 23, 16 revolute pair 23 is driven by motor, 12 connecting rod 24 other end is connected with end effector 25 by the 17 revolute pair 34, end effector 25 is driven by the 17 revolute pair 34, 17 revolute pair 34 is driven by motor,
Described first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
Outstanding advantages of the present invention is:
1, by two parallel closed loop subchains, improve the rigidity of robot mechanism, and the design of closed-loop subchain mechanism type improves the working space of robot greatly, the dead-centre position of mechanism can be avoided, the sphere of action of micromatic setting Neng Shi robot is larger, and Neng Shi mechanism better keeps balance;
2, compared with the industrial robot being mounted in each joint with traditional motor, the motor of the robot that mechanism is connected by two parallel closed loop subchains is mounted on four-bar mechanism joint, closed loop chain movement is driven by the kinematic pair on four-bar mechanism, thus indirectly drive tail end connecting rod, make the mobility of end effector and activity space larger, can active moment be reduced;
3, compared with robot mechanism of the same type, under equal-wattage, work is more;
4, motor is arranged on after the 5th connecting rod, reduces the center of gravity of whole mechanism, and can the larger motor of installation power in mechanism, make end effector can adapt in the complex jobs such as welding, spraying, carrying, handling, assembling, piling;
5, robot mechanism is controlled by mechanism type at end effector, and precision can be made higher;
6, mechanism type mechanism is connected with a with gemel connecting rod and end effector between performing with end, make actuator flexibility ratio higher, working space is larger than robot in the past, and lighter bar made by with gemel connecting rod, whole mechanism power performance can be made better and be easy to control, end effector can be made among a small circle to rotate 360 degree of round angles, make mechanism can be applicable to more occasions;
7, in two parallel closed loop subchains, lighter bar made by rod member, and mechanism kinematic inertia is little, and dynamic performance is good;
8, the micromatic setting in mechanism is compared with traditional manipulator with local closed chain, and center of gravity concentrates on micromatic setting, and balance of mechanism is good, and robot mechanism can be made to bear larger force and moment;
9, six-freedom degree makes mechanism can be applied to more occasions;
Accompanying drawing explanation
Fig. 1 is the first structural representation of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 2 is the airframe structure schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 3 is the second connecting rod schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 4 is the 5th connecting rod schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 5 is the six-bar linkage schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 6 is the seven-link assembly schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 7 is the 11 connecting rod schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 8 is the 12 connecting rod schematic diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Fig. 9 is the first operating diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Figure 10 is the second operating diagram of a kind of controllable multi-degree-of-freedom manipulator of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of controllable multi-degree-of-freedom manipulator, its structure and connected mode are:
Described executing agency chain is by fuselage 2, first connecting rod 3, second connecting rod 6, third connecting rod 21, double leval jib 18, 5th connecting rod 16, six-bar linkage 9, seven-link assembly 15, 8th connecting rod 11, 9th connecting rod 12, tenth connecting rod 19, 11 connecting rod 22, 12 connecting rod 24, end effector 25 and frame 1 are formed by connecting, fuselage 2 first links 26 are connected in frame 1 by the first revolute pair 26, fuselage 2 is driven by the first revolute pair 26, first revolute pair 26 is driven by motor, fuselage 2 second links 27 are connected with first connecting rod 3 one end by the second revolute pair 27, first connecting rod 3 is driven by the second revolute pair 27, first connecting rod 3 other end is connected by the 3rd revolute pair 4 and second connecting rod 6 first links 4, second connecting rod 6 second links 5 are connected with third connecting rod 21 one end by the 4th revolute pair 5, third connecting rod 21 other end is connected with double leval jib 18 one end by the 5th revolute pair 20, double leval jib 18 other end is connected by the 6th revolute pair 17 and the 5th connecting rod 16 the 3rd link 17, second connecting rod 6 the 3rd link 7 is connected by the 7th revolute pair 7 and the 5th connecting rod 16 first links 7, fuselage 2 the 3rd link 19 is connected by the 8th revolute pair 19 and the 5th connecting rod 16 second links 19, 5th the 4th, connecting rod 16 link 30 is connected by the 9th revolute pair 30 and six-bar linkage 9 first links 30, six-bar linkage 9 second links 8 are connected with the 8th connecting rod 11 by the tenth revolute pair 8, 8th connecting rod 11 other end is connected by the 11 revolute pair 13 and seven-link assembly 15 second links 13, six-bar linkage 9 the 3rd link 10 is connected with the 9th connecting rod 12 one end by the 12 revolute pair 10, 9th connecting rod 12 other end is connected 14 by the 13 revolute pair 14 with seven-link assembly 15 the 3rd and connects, seven-link assembly 15 first links 32 are connected by the 14 revolute pair 32 and the 5th connecting rod 16 the 5th link 32, seven-link assembly 17 the 4th link 19 to be connected with the tenth connecting rod 19 one end by being rigidly connected, tenth connecting rod 19 other end is connected with the 11 connecting rod 22 one end by the 15 revolute pair 33, 11 connecting rod 22 is driven by the 15 revolute pair 33, 15 revolute pair 33 is driven by motor, 11 connecting rod 22 other end is connected with the 12 connecting rod 24 one end by the 16 revolute pair 23, 12 connecting rod 24 is driven by the 16 revolute pair 23, 16 revolute pair 23 is driven by motor, 12 connecting rod 24 other end is connected with end effector 25 by the 17 revolute pair 34, end effector 25 is driven by the 17 revolute pair 34, 17 revolute pair 34 is driven by motor,
Described first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
Contrast Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, fuselage and connecting rod in parallel motion planar can realize the spatial movement of end effector.

Claims (1)

1. a controllable multi-degree-of-freedom manipulator, its structure and connected mode are:
Described a kind of controllable multi-degree-of-freedom manipulator is by fuselage, first connecting rod, second connecting rod, third connecting rod, double leval jib, 5th connecting rod, six-bar linkage, seven-link assembly, 8th connecting rod, 9th connecting rod, tenth connecting rod, 11 connecting rod, 12 connecting rod, end effector and frame are formed by connecting, fuselage first link is connected in frame by the first revolute pair, fuselage is driven by the first revolute pair, first revolute pair is driven by motor, fuselage second link is connected with first connecting rod one end by the second revolute pair, first connecting rod is driven by the second revolute pair, the first connecting rod other end is connected by the 3rd revolute pair and second connecting rod first link, second connecting rod second link is connected with third connecting rod one end by the 4th revolute pair, the third connecting rod other end is connected with double leval jib one end by the 5th revolute pair, the double leval jib other end is connected by the 6th revolute pair and the 5th connecting rod the 3rd link, second connecting rod the 3rd link is connected by the 7th revolute pair and the 5th connecting rod first link, fuselage the 3rd link is connected by the 8th revolute pair and the 5th connecting rod second link, 5th the 4th, connecting rod link is connected by the 9th revolute pair and six-bar linkage first link, six-bar linkage second link is connected with the 8th connecting rod by the tenth revolute pair, the 8th connecting rod other end is connected by the 11 revolute pair and seven-link assembly second link, six-bar linkage the 3rd link is connected with the 9th connecting rod one end by the 12 revolute pair, the 9th connecting rod other end is connected by the 13 revolute pair and seven-link assembly the 3rd link, seven-link assembly first link is connected by the 14 revolute pair and the 5th connecting rod the 5th link, seven-link assembly the 4th link to be connected with the tenth connecting rod one end by being rigidly connected, the tenth connecting rod other end is connected with the 11 connecting rod one end by the 15 revolute pair, 11 connecting rod is driven by the 15 revolute pair, 15 revolute pair is driven by motor, the 11 connecting rod other end is connected with the 12 connecting rod one end by the 16 revolute pair, 12 connecting rod is driven by the 16 revolute pair, 16 revolute pair is driven by motor, the 12 connecting rod other end is connected with end effector by the 17 revolute pair, end effector is driven by the 17 revolute pair, 17 revolute pair is driven by motor,
Described first revolute pair is perpendicular to frame, and the second revolute pair, the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair, the 6th revolute pair, the 7th revolute pair, the 8th revolute pair, the 9th revolute pair, the tenth revolute pair, the 11 revolute pair, the 12 revolute pair and the 13 revolute pair rotation are parallel to each other.
CN201310692771.7A 2013-12-17 2013-12-17 A kind of controllable multi-degree-of-freedom manipulator CN103722552B (en)

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CN104096998A (en) * 2014-06-27 2014-10-15 广西大学 Multi-degree of freedom parallel mechanism type spot welding robot
CN104476536A (en) * 2014-12-10 2015-04-01 广西大学 Multi-degree-of-freedom controllable parallel type mobile robot
CN104552244A (en) * 2014-12-12 2015-04-29 广西大学 Parallel controllable mechanism type multi-degree-of-freedom mobile welding robot
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CN104552258A (en) * 2014-12-23 2015-04-29 广西大学 Six-freedom-degree rocker arm type movable welding robot
CN104440890A (en) * 2014-12-23 2015-03-25 广西大学 Multi-degree-of-freedom rocker arm type moving connecting rod mechanism
CN104440889A (en) * 2014-12-23 2015-03-25 广西大学 Multi-degree-of-freedom controlled mechanism type moving connecting rod mechanism
CN104552260A (en) * 2014-12-23 2015-04-29 广西大学 Six-freedom-degree rocker arm type movable connection rod mechanism
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CN104493818A (en) * 2014-12-25 2015-04-08 广西大学 Controllable multi-connecting rod stacking robot
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