CN104526686A - 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism - Google Patents
1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism Download PDFInfo
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Abstract
本发明属于机器人领域，特别涉及一种空间解耦混联机构。其主要包括一个三分支并联机构(1T1R)和连接在并联机构下平台上的一个移动副1T以及连接在动平台上转动副1R。三分支并联机构由下平台、动平台、以及连接动平台和下平台的三个分支组成。分支一是由一个移动副一个圆柱副和转动副，以及连接它们的两个连杆组成；分支二由一个平行于下平台的转动副和两个球面副组成；分支三由一个平行于下平台的转动副和一个平行四边形铰链及两个轴线相互平行的转动副以及连接它们之间的三个连杆组成；混联机构末端通过一个轴线垂直于动平台转动副与动平台连接。本发明能够实现沿滑槽方向和垂直于下平台方向的两个移动以及绕平行于下平台的转动副及机构末端转动副轴线的两个转动功能、结构简单、操作空间大、运动解耦，易于控制。
The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism. It mainly includes a three-branch parallel mechanism (1T1R), a moving pair 1T connected to the lower platform of the parallel mechanism, and a rotating pair 1R connected to the moving platform. The three-branch parallel mechanism consists of a lower platform, a moving platform, and three branches connecting the moving platform and the lower platform. Branch one is composed of a moving pair, a cylindrical pair and a rotating pair, and two connecting rods connecting them; branch two is composed of a rotating pair parallel to the lower platform and two spherical pairs; branch three is composed of a It is composed of a revolving pair, a parallelogram hinge, two revolving pairs whose axes are parallel to each other, and three connecting rods connecting them; the end of the hybrid mechanism is connected to the moving platform through a revolving pair whose axis is perpendicular to the moving platform. The present invention can realize two movements along the direction of the chute and the direction perpendicular to the lower platform, and two rotation functions around the rotating pair parallel to the lower platform and the axis of the rotating pair at the end of the mechanism. The structure is simple, the operation space is large, and the movement is decoupled. Easy to control.
Description
所属技术领域Technical field
本发明属于机器人领域，特别涉及一种空间解耦混联机构。The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism.
背景技术Background technique
单一的串联机器人或并联机器人在机构构型、运动性能等方面存在机器人机构体积大、机构灵活工作空间小、灵活性差等问题，不能完全满足一定工作空间的动作。因此，采用将串联和并联有机结合起来的混联机器人构型，充分发挥串、并联结构各自的优点，使其达到小巧轻便、高的灵活度以及提高机器人的性能，将更具有使用价值，也是未来机器人机构发展的新方向。A single serial robot or parallel robot has problems such as large robot mechanism, small flexible working space, and poor flexibility in terms of mechanism configuration and motion performance, and cannot fully meet the actions of a certain working space. Therefore, adopting a hybrid robot configuration that combines series and parallel organically, giving full play to the respective advantages of the series and parallel structures, making it small and light, high in flexibility and improving the performance of the robot will be more valuable in use, and also A new direction for future robot mechanism development.
目前，国内外制造业中，已设计并成功应用多种混联机器人，例如瑞典Neos Robotic公司生产的5自由度Tricept系列机器人及德国DS-Technology公司生产的5自由度Exechon机器人美国Adept Technology公司生产的5自由度Adept Quattro机器人。混联机器人耦合性的存在使得机构在机构设计、计算分析和运动控制等方面存在着诸多问题。因此，为简化混联机器人的控制过程，提高混联机构的解耦性已经成为机构学研究领域的热点问题。At present, in the manufacturing industry at home and abroad, a variety of hybrid robots have been designed and successfully applied, such as the 5-degree-of-freedom Tricept series robot produced by Neos Robotic in Sweden and the 5-degree-of-freedom Exechon robot produced by DS-Technology in Germany and Adept Technology in the United States. The 5-DOF Adept Quattro robot. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of hybrid robots, improving the decoupling of hybrid mechanisms has become a hot issue in the field of mechanism research.
在四自由度混联机器人研究中，FANUC公司最新生产的FANUC Robot MiA/6s、6A机器人，是在3平移Delta机构的动平台上，分别再串联1个或3个转动自由度的摆动头，构成的4、6自由度高速搬运(整列)机器人，用于物流、装配生产线。天津大学HUANG等发明的TriVariant系列机器人为一个2自由度并联机构和一个2自由度转动头串联构成的4自由度混联机器人，上述发明机构虽然机构动平台能实现四自由度运动，但是大部分机构的解耦性并没有很好解决。In the research of the four-degree-of-freedom hybrid robot, the latest FANUC Robot MiA/6s and 6A robots produced by FANUC are on the moving platform of the 3-translational Delta mechanism, and then connected in series with 1 or 3 swing heads with rotational degrees of freedom. The 4 and 6 degrees of freedom high-speed handling (column) robots are used for logistics and assembly lines. The TriVariant series robot invented by Tianjin University HUANG et al. is a 4-degree-of-freedom hybrid robot composed of a 2-degree-of-freedom parallel mechanism and a 2-degree-of-freedom rotating head connected in series. The decoupling of institutions has not been well resolved.
发明内容Contents of the invention
本发明的目的在于提供一种结构简单、易于控制、运动解耦的两移两转四自由度混联机构。其主要包括一个三分支并联机构(1T1R)和连接在并联机构下平台上的一个移动副1T以及连接在动平台上转动副1R。两分支并联机构由下平台、动平台、以及连接动平台和下平台的两个分支组成。所述下平台为长方形结构其上方布有一个平行于下平台的圆柱导轨，其下方布置有梯形导轨。分支一是由一个移动副一个圆柱副和转动副，以及连接它们的两个连杆组成；分支二由一个平行于下平台的转动副和两个球面副组成；分支三由一个平行于下平台的转动副和一个平行四边形铰链及两个轴线相互平行的转动副以及连接它们之间的三个连杆组成；混联机构末端通过一个轴线垂直于动平台转动副与动平台连接。The object of the present invention is to provide a two-shift, two-rotation, four-degree-of-freedom hybrid mechanism with simple structure, easy control, and motion decoupling. It mainly includes a three-branch parallel mechanism (1T1R), a moving pair 1T connected to the lower platform of the parallel mechanism, and a rotating pair 1R connected to the moving platform. The two-branch parallel mechanism consists of a lower platform, a moving platform, and two branches connecting the moving platform and the lower platform. The lower platform is a rectangular structure above which a cylindrical guide rail parallel to the lower platform is arranged, and a trapezoidal guide rail is arranged below it. Branch one is composed of a moving pair, a cylindrical pair and a rotating pair, and two connecting rods connecting them; branch two is composed of a rotating pair parallel to the lower platform and two spherical pairs; branch three is composed of a It is composed of a revolving pair, a parallelogram hinge, two revolving pairs whose axes are parallel to each other, and three connecting rods connecting them; the end of the hybrid mechanism is connected to the moving platform through a revolving pair whose axis is perpendicular to the moving platform.
分支一中第一连杆的一端通过轴线平行于下平台的移动副与下平台滑槽连接，连杆另一端通过圆柱副与第二个连杆连接，第二个连杆的另一端通过转动副与动平台连接；分支二中，第一个连杆通过转动副与下平台连接，连杆的另一端通过球面副与第二个连杆连接，第二个连杆的另一端通过球面副与动平台连接；分支三中第一个连杆通过转动副与下平台连接，另一端与平行四边形铰链连接，该平行四边形铰链另一端与第二个连杆连接，第二个连杆另一端通过转动副与第三个连杆连接，第三个连杆另一端通过转动副动平台连接，其中第一、二个连杆两端的运动副轴线相互平行；混联机构末端通过一个转动副与动平台连接其轴线垂直于动平台。One end of the first connecting rod in branch one is connected to the chute of the lower platform through a moving pair whose axis is parallel to the lower platform, the other end of the connecting rod is connected to the second connecting rod through a cylindrical pair, and the other end of the second connecting rod is rotated The pair is connected to the moving platform; in the second branch, the first connecting rod is connected to the lower platform through a rotating joint, the other end of the connecting rod is connected to the second connecting rod through a spherical pair, and the other end of the second connecting rod is connected to the lower platform through a spherical pair. It is connected with the moving platform; the first connecting rod in the third branch is connected with the lower platform through the rotating joint, and the other end is connected with the parallelogram hinge, and the other end of the parallelogram hinge is connected with the second connecting rod, and the other end of the second connecting rod It is connected with the third connecting rod through a rotating pair, and the other end of the third connecting rod is connected with the rotating auxiliary moving platform, wherein the kinematic pair axes at both ends of the first and second connecting rods are parallel to each other; the end of the hybrid mechanism is connected with a rotating pair through a rotating pair The moving platform is connected with its axis perpendicular to the moving platform.
上述分支中，与固定导轨连接的移动副为输入运动副，在移动副的驱动下底平台及并联机构将发生移动，最终带动机构末端移动。上述分支一中与第一个连杆连接圆柱副为输入驱动，在圆柱副的驱动下，机构动平台发生移动；分支三中与下平台连接的转动副为输入驱动，第一个连杆在转动副的驱动下发生转动，第一个连杆转动带动第二、三个连杆发生转动，第三个连杆的转动带动动平台转动；与动平台连接的转动副为输入驱动，在转动副的驱动下带动机构末端转动；且这两个方向的两个转动和两个移动运动是解耦的，互不干涉。Among the above branches, the mobile pair connected to the fixed guide rail is the input motion pair. Driven by the mobile pair, the bottom platform and the parallel mechanism will move, and finally drive the end of the mechanism to move. The cylinder pair connected with the first connecting rod in the above-mentioned branch one is the input drive, and under the drive of the cylinder pair, the moving platform of the mechanism moves; the rotation pair connected with the lower platform in the branch three is the input drive, and the first connecting rod is at Rotation occurs under the drive of the rotating pair, the rotation of the first connecting rod drives the second and third connecting rods to rotate, and the rotation of the third connecting rod drives the moving platform to rotate; the rotating pair connected to the moving platform is driven by input Driven by the pair, the end of the mechanism is driven to rotate; and the two rotations and two movements in the two directions are decoupled and do not interfere with each other.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、结构简单稳定，运动副含有低副和复合运动副，装配简单；1. The structure is simple and stable, the kinematic pair contains low-level and compound kinematic pairs, and the assembly is simple;
2、实现了空间两个移动自由度和两个转动自由度解耦；2. Realized the decoupling of two degrees of freedom of movement and two degrees of freedom of rotation in space;
3、具有较大的运动空间尤其是沿滑槽方向的移动。3. It has a large space for movement, especially the movement along the direction of the chute.
附图说明Description of drawings
图1是本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图2整体示意结构简图。Figure 2 is a schematic diagram of the overall structure.
具体实施方式Detailed ways
在图2所示的一种两移两转四自由度解耦空间混联机构示意图中，固定滑槽1通过移动副9与下平台2连接。分支一中第一个连杆5的一端通过移动副4与下平台2上的滑槽3连接；连杆5的另一端通过圆柱副6与第二个连杆7连接，连杆7的另一端通过转动副8与动平台22连接；分支二中，第一个连杆11通过转动副10与下平台2连接，连杆11的另一端通过球面副12与第二个连杆13连接，连杆13的另一端通过球面副14与动平台连接；分支三中，第一个连杆16通过转动副15与下平台2连接，连杆16另一端与平行四边形铰链17连接，该平行四边形铰链17另一端与第二个连杆18连接，第二个连杆18另一端通过转动副19与第三个连杆20连接，第三个连杆20另一端通过转动副22与动平台22连接；混联机构末端24通过一个转动副23与动平台22连接其轴线垂直于动平台。In a schematic diagram of a two-shift, two-rotation, four-degree-of-freedom decoupled spatial hybrid mechanism shown in FIG. 2 , the fixed chute 1 is connected to the lower platform 2 through a moving pair 9 . One end of the first connecting rod 5 in the branch one is connected with the chute 3 on the lower platform 2 through the moving pair 4; the other end of the connecting rod 5 is connected with the second connecting rod 7 through the cylindrical pair 6, and the other end of the connecting rod 7 One end is connected to the moving platform 22 through the rotating pair 8; in the second branch, the first connecting rod 11 is connected to the lower platform 2 through the rotating pair 10, and the other end of the connecting rod 11 is connected to the second connecting rod 13 through the spherical pair 12, The other end of the connecting rod 13 is connected with the moving platform through the spherical pair 14; in branch three, the first connecting rod 16 is connected with the lower platform 2 through the rotating pair 15, and the other end of the connecting rod 16 is connected with the parallelogram hinge 17, and the parallelogram The other end of the hinge 17 is connected to the second connecting rod 18, the other end of the second connecting rod 18 is connected to the third connecting rod 20 through the rotating joint 19, and the other end of the third connecting rod 20 is connected to the moving platform 22 through the rotating joint 22 Connection; the end 24 of the hybrid mechanism is connected with the moving platform 22 through a rotating pair 23, and its axis is perpendicular to the moving platform.
移动副9中心线平行于下平台。分支一中的与下平台连接的移动副4中心线垂直于移动副9的中心线且平行于下平台2，圆柱副6的轴线垂直于下平台，转动副8的轴线平行于移动副9的中心线垂直于移动副4的中心线和圆柱副6的轴线；分支二中，与下平台连接的转动副10轴线平行于分支一中的转动副8，球面副12、14球心位于连杆13两端，分支三中转动副15轴线平行于转动副8、10的轴线，平行四边形铰链17的轴线平行于移动副4的中心线，转动副19、21的轴线相互平行且平行于铰链17的轴线和移动副4的中心线；与混联机构末端相连的转动副23轴线垂直于动平台22。The center line of the movable pair 9 is parallel to the lower platform. The center line of the moving pair 4 connected to the lower platform in branch one is perpendicular to the center line of the moving pair 9 and parallel to the lower platform 2, the axis of the cylinder pair 6 is perpendicular to the lower platform, and the axis of the rotating pair 8 is parallel to that of the moving pair 9. The center line is perpendicular to the center line of the moving pair 4 and the axis of the cylindrical pair 6; in the second branch, the axis of the rotating pair 10 connected to the lower platform is parallel to the rotating pair 8 in the branch one, and the spherical centers of the spherical pairs 12 and 14 are located on the connecting rod 13 at both ends, the axes of the revolving pair 15 in the third branch are parallel to the axes of the revolving pairs 8 and 10, the axis of the parallelogram hinge 17 is parallel to the centerline of the moving pair 4, and the axes of the revolving pairs 19 and 21 are parallel to each other and to the hinge 17 The axis of the axis and the centerline of the moving pair 4;
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| CN104875183A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism |
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Application publication date: 20150422 |
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