CN104002298A - Two-moving and one-rotating decoupling parallel robot mechanism - Google Patents
Two-moving and one-rotating decoupling parallel robot mechanism Download PDFInfo
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- CN104002298A CN104002298A CN201410197867.0A CN201410197867A CN104002298A CN 104002298 A CN104002298 A CN 104002298A CN 201410197867 A CN201410197867 A CN 201410197867A CN 104002298 A CN104002298 A CN 104002298A
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Abstract
A two-moving and one-rotating decoupling parallel robot mechanism comprises a fixed platform, a movable platform and three branches connected with the fixed platform and the movable platform. Two branches of the identical structure are respectively composed of a cylindrical pair, two rotating pairs and two connecting rods connected with the cylindrical pair and the rotating pairs, the other branch is composed of four rotating pairs and three connecting rods connected with the four rotating pairs, the two identical branches are connected with the fixed platform and the movable platform respectively through one cylindrical pair and one rotating pair, and the other branch is respectively connected with the fixed platform and the movable platform through two rotating pairs. The mechanism is simple in structure, few in driving elements, low in manufacturing cost, capable of achieving two-moving and one-rotating motion complete decoupling of the movable platform, easy to control, high in reaction speed and high in bearing capacity.
Description
Technical field
The invention belongs to robot field, particularly a kind of space parallel mechanism.
Background technology
Parallel institution generally by moving platform and fixed platform by least two independently kinematic chain be connected, make mechanism there are two or more frees degree, and a kind of close loop mechanism driving with parallel way.Compared with serial mechanism, parallel institution has the advantages such as bearing capacity is large, rigidity is high, movement velocity is fast, accumulated error is little, dynamic performance is good.
Due to the restriction of structure, parallel institution also has the feature of close coupling simultaneously.The existence of parallel institution close coupling makes mechanism exist problems at aspects such as mechanism design, computational analysis and motion controls, as normal solution kinematics problem becomes very difficult, corresponding kinetic model is also very complicated, thereby has limited the application of some control methods.Therefore,, for simplifying the control procedure of parallel institution, the decoupling that improves parallel institution has become the hot issue of theory of mechanisms research field.
Domestic scholars is moved one two and is obtained some progress in turning the research of 3-freedom parallel mechanism decoupling, for example, Chinese patent literature CN102688853A has proposed a kind of 3-freedom parallel mechanism tea finishing machine, three Vibration Chains of this mechanism are non-interference, full decoupled, improve the screening efficiency of tealeaves; China Patent Publication No. is that CN102431027A proposes a kind of two and moves one and turn three freedom decoupling space parallel mechanism, the three degree of freedom motion of this mechanism is full decoupled, and the direction of two one-movement-freedom-degrees and fixed platform plane parallel, and the axis of rotational freedom is vertical with fixed platform plane.In addition, Chinese patent literature CN102922310A has also proposed a kind of 2T1R three-freedom degree spatial parallel structure.Foregoing invention mechanism decoupling or obtain part and solve, or in mechanism, contain ball pair and moving sets more etc.
Summary of the invention
The object of the present invention is to provide a kind of move full decoupled, simple in structure, be easy to control two move a rotating decoupling parallel robot mechanism.
The present invention includes fixed platform, moving platform and connect three branches of these two platforms, the opposite side of fixed platform is respectively provided with a cylindrical pair, and the center line of two cylindrical pairs is parallel and all parallel with fixed platform bottom surface, and moving platform is triangular structure; In three branches, two branched structures are identical, by a cylindrical pair and two revolute pairs and be connected their two connecting rods compositions; Another branch is made up of with three connecting rods that are connected them four revolute pairs.
Wherein, one end of the first connecting rod in the identical Liang Ge of structure branch is connected with fixed platform by cylindrical pair, and the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, and the other end of this second connecting rod is connected with moving platform by revolute pair; First connecting rod in another branch 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.
The axis of three kinematic pairs in the identical Liang Ge of structure branch is parallel, and all parallel with moving platform with fixed platform; The revolute pair being connected with fixed platform in another branch is vertical with the axis of other three revolute pairs, and all parallel with moving platform with fixed platform.
In above-mentioned three branches, the input motion pair that two kinematic pairs that the identical Liang Ge of structure branch is connected with fixed platform are respectively each branch, wherein, one is mobile input, another is for rotating input; The revolute pair being connected with fixed platform in another branch is the input motion pair of this branch.The axis of three input motion pairs is parallel, and the input cylindrical pair of the identical Liang Ge of structure branch is symmetrically distributed in the input revolute pair both sides of another branch; Two same branches are parallel with the axis of two revolute pairs of moving platform connection, and the revolute pair axis being connected with moving platform with another branch is vertical.
In the identical Liang Ge of said structure branch, first connecting rod is moved under the driving of cylindrical pair, and drives second connecting rod to be moved, and the mobile moving platform that drives of second connecting rod is moved; In another branch, 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 finally drives moving platform to rotate through the rotation of third connecting rod; And two movements and a rotational motion of these three directions are decoupling zeros, non-interference.
The cylindrical pair connecting with fixed platform in the identical Liang Ge of said structure branch can replace with a revolute pair and a moving direction moving sets identical with revolute pair axis; In another branch, being connected two nearest revolute pairs can replace with Hooke's hinge with fixed platform.
The present invention compared with prior art tool has the following advantages:
1, simple in structure, driving element is few, low cost of manufacture;
2, realized two, space one-movement-freedom-degree and a rotational freedom is full decoupled;
3, all input motion pairs are all connected with fixed platform, have reduced like this load of rod member, have good motility and higher reaction speed.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
Move in a rotating decoupling parallel robot mechanism schematic diagram in the one two shown in Fig. 1, the opposite side of fixed platform 1 respectively has the center line of cylindrical pair 2,15, two cylindrical pairs parallel and all parallel with fixed platform bottom surface, and moving platform 7 is triangular structure; One end of first connecting rod 3,16 in two same branches is connected with fixed platform by cylindrical pair 2,15, the other end of this first connecting rod is connected with one end of second connecting rod 5,18 by revolute pair 4,17, and the other end of this second connecting rod is connected with moving platform by revolute pair 6,19; The first connecting rod 9 of another branch is connected with fixed platform by revolute pair 8, the other end of this first connecting rod is connected with one end of second connecting rod 11 by revolute pair 10, the other end of this second connecting rod is connected with one end of third connecting rod 13 by revolute pair 12, and the other end of this third connecting rod is connected with moving platform by revolute pair 14.
Cylindrical pair 2 in two same branches is parallel with the axis direction of cylindrical pair 15, and parallel with the axis of the revolute pair 8 in another branch, all parallel with fixed platform all the time.
The revolute pair 6 connecting with moving platform in two same branches is parallel with the axis of revolute pair 19, all parallel with moving platform all the time, the axis of the revolute pair 14 being connected with moving platform in another branch is vertical with the axis of revolute pair 19 with another two revolute pairs that are connected with moving platform 6, and parallel with moving platform all the time.
In two same branches, the axis direction of cylindrical pair 2,15 is parallel with the axis of the second revolute pair 6,19 with the first revolute pair 4,17, and vertical with the axis of second connecting rod 5,18 with first connecting rod 3,16; In another branch, the second revolute pair 10, the 3rd revolute pair 12 are parallel with the axis of the 4th revolute pair 14, and vertical with the axis of the first revolute pair 8.Four revolute pair axis are all vertical with the axis of first connecting rod 9, second connecting rod 11, third connecting rod 13.
Claims (2)
1. one kind two is moved a rotating decoupling parallel robot mechanism, three branches that it comprises fixed platform, moving platform and connects these two platforms, it is characterized in that: the opposite side of fixed platform is respectively provided with a cylindrical pair, the center line of two cylindrical pairs is parallel and all parallel with fixed platform bottom surface, moving platform is triangular structure, wherein, two branched structures are identical; One end of first connecting rod in two same branches is connected with fixed platform by cylindrical pair, and the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, and the other end of this second connecting rod is connected with moving platform by revolute pair; First connecting rod in another branch 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; In two same branches, the axis direction of cylindrical pair is parallel with the axis of two revolute pairs; In another branch, except the revolute pair being connected with fixed platform, the axis of other three revolute pairs is parallel, and vertical with the axis of the revolute pair being connected with fixed platform.
2. according to claim 1 a kind of two move a rotating decoupling parallel robot mechanism, it is characterized in that: the cylindrical pair connecting with fixed platform in described two same branches can replace with a revolute pair and a moving direction moving sets identical with revolute pair axis; In another branch, being connected two nearest revolute pairs can replace with Hooke's hinge with fixed platform.
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| CN201410197867.0A CN104002298B (en) | 2014-05-12 | 2014-05-12 | A kind of two move a rotating decoupling parallel robot mechanism |
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| CN201410197867.0A CN104002298B (en) | 2014-05-12 | 2014-05-12 | A kind of two move a rotating decoupling parallel robot mechanism |
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| CN104002298B CN104002298B (en) | 2016-01-27 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589308A (en) * | 2014-11-21 | 2015-05-06 | 广西智通节能环保科技有限公司 | Multi-rotating-pair mechanism |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN107511817A (en) * | 2017-09-12 | 2017-12-26 | 北京工业大学 | A kind of two turn one is moved asymmetric coupling mechanism |
| CN108748109A (en) * | 2018-07-11 | 2018-11-06 | 燕山大学 | Two translation of one kind, one rotation 2RRR-CRR parallel institutions |
| CN109015602A (en) * | 2018-08-29 | 2018-12-18 | 燕山大学 | Three translation 2CPR-URU parallel institutions |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109499867A (en) * | 2018-10-30 | 2019-03-22 | 江苏大学 | A kind of feed classification vibrating screen in parallel |
| CN109571444A (en) * | 2019-01-17 | 2019-04-05 | 燕山大学 | A kind of partly decoupled parallel institution of two translations, one rotation |
| CN109940589A (en) * | 2019-04-01 | 2019-06-28 | 燕山大学 | Symmetrical two turn one is moved full decoupled parallel institution |
| CN111113384A (en) * | 2020-01-09 | 2020-05-08 | 天津理工大学 | Two-movement one-rotation three-freedom-degree parallel mechanism |
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| CN102431027A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Parallel robot mechanism with spatial three degrees of freedom and complete movement decoupling effect |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104589308A (en) * | 2014-11-21 | 2015-05-06 | 广西智通节能环保科技有限公司 | Multi-rotating-pair mechanism |
| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN105500350A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Three-translation high-speed sorting parallel manipulator |
| CN105500349A (en) * | 2016-02-02 | 2016-04-20 | 常州大学 | Parallel robot with twice translation and once rotation |
| CN105945912A (en) * | 2016-05-18 | 2016-09-21 | 燕山大学 | Translational parallel mechanism |
| CN105936044A (en) * | 2016-06-02 | 2016-09-14 | 燕山大学 | Complete decoupling type two-rotating, one-moving and 3-DOF (degree-of-freedom) parallel mechanism |
| CN106002956B (en) * | 2016-07-14 | 2018-04-03 | 燕山大学 | A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform |
| CN106002956A (en) * | 2016-07-14 | 2016-10-12 | 燕山大学 | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform |
| CN107511817A (en) * | 2017-09-12 | 2017-12-26 | 北京工业大学 | A kind of two turn one is moved asymmetric coupling mechanism |
| CN108748109A (en) * | 2018-07-11 | 2018-11-06 | 燕山大学 | Two translation of one kind, one rotation 2RRR-CRR parallel institutions |
| CN109015602A (en) * | 2018-08-29 | 2018-12-18 | 燕山大学 | Three translation 2CPR-URU parallel institutions |
| CN109015604A (en) * | 2018-09-13 | 2018-12-18 | 西安工程大学 | A kind of 3-freedom parallel mechanism of a two mobile rotations |
| CN109499867A (en) * | 2018-10-30 | 2019-03-22 | 江苏大学 | A kind of feed classification vibrating screen in parallel |
| CN109499867B (en) * | 2018-10-30 | 2021-12-21 | 江苏大学 | Feed grading parallel vibrating screen |
| CN109571444A (en) * | 2019-01-17 | 2019-04-05 | 燕山大学 | A kind of partly decoupled parallel institution of two translations, one rotation |
| CN109571444B (en) * | 2019-01-17 | 2020-06-23 | 燕山大学 | Two-translation one-rotation partial decoupling parallel mechanism |
| CN109940589A (en) * | 2019-04-01 | 2019-06-28 | 燕山大学 | Symmetrical two turn one is moved full decoupled parallel institution |
| CN109940589B (en) * | 2019-04-01 | 2020-12-18 | 燕山大学 | Symmetrical two-rotation one-movement complete decoupling parallel mechanism |
| CN111113384A (en) * | 2020-01-09 | 2020-05-08 | 天津理工大学 | Two-movement one-rotation three-freedom-degree parallel mechanism |
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| CN104002298B (en) | 2016-01-27 |
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Effective date of registration: 20190904 Address after: 066004 No. 277-1 Cultural Road, Haigang District, Qinhuangdao City, Hebei Province Patentee after: Qinhuangdao Guansheng Technology Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |
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