CN104526687A - Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism - Google Patents
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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并联机构。其包括定平台、动平台、以及连接定平台和动平台的四个分支。所述定平台为长方形，两相邻底边圆柱导轨，所述圆柱导轨的轴线与定平台平行，另两相邻边布置有一个圆柱和一个方形导轨其轴线和中心线垂直于定平台，动定平台为长方形。分支一是由一个圆柱副和一个平行四边形铰链和两个轴线相互垂直转动副，以及连接它们的三个连杆组成；分支二是由一个圆柱副和一个平行四边形铰链和两个轴线相互垂直转动副，以及连接它们的三个连杆组成；分支三是由三个中心线相互垂直的移动副和一个转动副以及连接它们的三个连杆组成；分支四是由一个圆柱副和两个转动副其三个运动副轴线相互平行及连接它们的两个连杆组成。本发明结构稳定，能够实现动平台沿平行于定平台方向及垂直于定平台的三个移动和绕垂直于定平台轴线的转动，各运动解耦、易于控制、刚性好、速度快，承载力强。
The invention belongs to the field of robots, in particular to a space decoupling parallel mechanism. It includes a fixed platform, a moving platform, and four branches connecting the fixed platform and the moving platform. The fixed platform is rectangular, two adjacent bottom cylindrical guide rails, the axis of the cylindrical guide rails are parallel to the fixed platform, and a cylinder and a square guide rail are arranged on the other two adjacent sides, the axis and center line of which are perpendicular to the fixed platform, and the moving Set the platform as a rectangle. Branch one is composed of a cylindrical pair, a parallelogram hinge, two axes of rotation perpendicular to each other, and three connecting rods connecting them; branch two is composed of a cylinder pair, a parallelogram hinge and two axes of rotation perpendicular to each other pair, and three connecting rods connecting them; branch three is composed of three moving pairs whose centerlines are perpendicular to each other, a rotating pair and three connecting rods connecting them; branch four is composed of a cylindrical pair and two rotating Its three motion secondary axes are parallel to each other and two connecting rods connecting them form. The invention has a stable structure, can realize the three movements of the moving platform along the direction parallel to the fixed platform and perpendicular to the fixed platform, and the rotation around the axis perpendicular to the fixed platform, each movement is decoupled, easy to control, good in rigidity, fast in speed, and high in bearing capacity. powerful.
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并联机构。The invention belongs to the field of robots, in particular to a space decoupling parallel mechanism.
背景技术Background technique
并联机构一般由动平台和定平台通过至少两个独立的运动链相连接，使机构具有两个或两个以上的自由度，且以并联方式驱动的一种闭环机构。与串联机构相比，并联机构具有承载力大、刚度高、运动速度快、累积误差小、动力学性能好等优点。A parallel mechanism is generally connected by a moving platform and a fixed platform through at least two independent kinematic chains, so that the mechanism has two or more degrees of freedom and is a closed-loop mechanism driven in parallel. Compared with the series mechanism, the parallel mechanism has the advantages of large bearing capacity, high rigidity, fast movement speed, small cumulative error, and good dynamic performance.
三自由度并联机器人机构得到了较多的研究，国际上已有多种三自由度并联机器人机构得到了实际应用，如Delta机构。随着并联机器人在工业领域的不断普及，并联机构存在的强耦合性特点却在制约着并联机器人的发展。并联机构强耦合性的存在使得机构存在着诸多问题，比如导致运动学有多组解和工作空间减小，且使得机构轨迹规划和精度控制困难。因此如何实现并联机构的解耦，已成为一个机构学研究领域的挑战性课题。The three-degree-of-freedom parallel robot mechanism has been studied more, and a variety of three-degree-of-freedom parallel robot mechanisms have been practically applied in the world, such as the Delta mechanism. With the continuous popularization of parallel robots in the industrial field, the strong coupling characteristics of parallel mechanisms are restricting the development of parallel robots. The existence of strong coupling in parallel mechanisms causes many problems in the mechanism, such as causing multiple kinematics solutions and reducing the working space, and making trajectory planning and precision control of the mechanism difficult. Therefore, how to realize the decoupling of parallel mechanisms has become a challenging topic in the field of mechanism studies.
我国不少机构学者已设计出诸多四、五自由度新型并联机器人机构，并申请了相关专利，如中国专利：CN201380496，CN104029196A，CN104015186A，CN104102170A，CN103707281A，CN102601793A。目前对于四、五自由度并联机器人机构解耦性研究则相对较少。中国专利CN 102896628A，CN 103624778 A分别提出一种四自由度解耦并联机器人机构上述发明机构虽然机构动平台能实现四自由度运动，但是能实现三移一转四自由度的解耦的并联机构十分稀少，大部分并联机构的解耦性并没有很好解决。Many institutional scholars in my country have designed many new parallel robot mechanisms with four and five degrees of freedom, and applied for related patents, such as Chinese patents: CN201380496, CN104029196A, CN104015186A, CN104102170A, CN103707281A, CN102601793A. At present, there are relatively few studies on the mechanism decoupling of four and five degrees of freedom parallel robots. Chinese patents CN 102896628A and CN 103624778 A respectively propose a four-degree-of-freedom decoupling parallel robot mechanism. Although the above-mentioned invention mechanism can realize four-degree-of-freedom movement, it can realize three-movement, one-rotation and four-degree-of-freedom decoupling parallel mechanism Very rare, the decoupling of most parallel mechanisms 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稳定、易于控制、运动解耦的三移一转四自由度并联机构。本发明包括定平台、动平台、以及连接定平台和动平台的四个分支。四个分支中，分支一和分支二的结构完全相同均由一个圆柱副和一个平行四边形铰链和两个轴线相互垂直转动副，以及连接它们的连杆组成；分支三由三个中心线相互垂直的移动副和一个转动副以及连接它们的连杆组成；分支四是由一个圆柱副和两个转动副其三个运动副轴线相互平行及连接它们的连杆组成。The purpose of the present invention is to provide a three-shift-one-rotation four-degree-of-freedom parallel mechanism with stable structure, easy control, and motion decoupling. The invention includes a fixed platform, a moving platform, and four branches connecting the fixed platform and the moving platform. Among the four branches, the structure of branch one and branch two is exactly the same, and they are composed of a cylindrical pair, a parallelogram hinge, two rotating pairs with axes perpendicular to each other, and connecting rods connecting them; branch three is composed of three centerlines perpendicular to each other The moving pair and a rotating pair and the connecting rods connecting them are composed; the branch four is composed of a cylindrical pair and two rotating pairs whose axes of the three moving pairs are parallel to each other and the connecting rods connecting them.
分支一和分支二中第一连杆的一端通过圆柱副与定平台圆柱导轨连接，另一端与平行四边形铰链连接，该平行四边形铰链另一端通过转动副与第二个连杆连接，连杆另一端通过转动副动平台连接；分支三第一连杆的一端通过移动副与定平台连接，另一端通过移动副与第二连杆连接，第二连杆另一端通过移动副与第三个连杆连接，第三个连杆另一端通过转动副与动平台连接；分支四中第一连杆的一端通过圆柱副与定平台圆柱导轨连接，第一连杆另一端通过转动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。One end of the first connecting rod in branch 1 and branch 2 is connected to the cylindrical guide rail of the fixed platform through a cylindrical pair, and the other end is connected to a parallelogram hinge. The other end of the parallelogram hinge is connected to the second connecting rod through a rotating pair. One end is connected through the rotating auxiliary moving platform; one end of the first connecting rod of branch three is connected with the fixed platform through the moving pair, the other end is connected with the second connecting rod through the moving pair, and the other end of the second connecting rod is connected with the third connecting rod through the moving pair. The other end of the third connecting rod is connected with the moving platform through the rotating joint; one end of the first connecting rod in branch 4 is connected with the cylindrical guide rail of the fixed platform through the cylindrical pair, and the other end of the first connecting rod is connected with the second moving platform through the rotating joint. The connecting rod is connected, and the other end of the second connecting rod is connected with the moving platform through the rotating joint.
上述四个分支中，分支一、二中圆柱副轴线、平行四边形铰链轴线及与之连接的一个转动副轴线平行，与动平台连接的转动副轴线垂直于动平台；分支三中与动平台相连一个转动副其轴线垂直于动平台，三个移动副轴线相互垂直；分支四中圆柱副及两个转动副轴线相互平行且垂直于定平台。Among the four branches mentioned above, the secondary axis of the cylinder in branch 1 and 2, the axis of the parallelogram hinge and the axis of a rotating pair connected to it are parallel, and the axis of the rotating pair connected to the moving platform is perpendicular to the moving platform; the branch 3 is connected to the moving platform The axis of one rotating pair is perpendicular to the moving platform, and the axes of the three moving pairs are perpendicular to each other; the axes of the cylindrical pair in the branch four and the two rotating pairs are parallel to each other and perpendicular to the fixed platform.
上述四个分支中，结构完全相同的分支一、二分别与定平台连接的圆柱副为各分支的输入运动副，第一连杆在圆柱副的驱动下发生移动，并带动第二连杆发生移动，第二连杆的移动带动动平台发生移动；分支三中，与动平台连接的转动副为输入运动副，在转动副的驱动下带动动平台转动；分支四中，与定平台连接的圆柱副为输入运动副，第一连杆在圆柱副的驱动下发生上下移动，并带动第二连杆发生上下移动，第二连杆的移动带动动平台发生上下移动；且这三个方向的三个移动和一个转动运动是解耦的，互不干涉。Among the four branches mentioned above, the cylinder pairs connected to the fixed platform in branches 1 and 2 with identical structures are the input kinematic pairs of each branch. The first connecting rod moves under the drive of the cylindrical pair, and drives the second connecting rod to generate The movement of the second connecting rod drives the moving platform to move; in the third branch, the rotating pair connected with the moving platform is an input kinematic pair, which drives the moving platform to rotate under the drive of the rotating pair; in the fourth branch, the rotating pair connected to the fixed platform The cylindrical pair is the input motion pair, the first connecting rod moves up and down under the drive of the cylindrical pair, and drives the second connecting rod to move up and down, and the movement of the second connecting rod drives the moving platform to move up and down; and the three directions The three movements and one rotation 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、结构稳定，运动副有低副也有复合运动副，装配简单；1. The structure is stable, the kinematic pair has low-level and compound kinematic pairs, and the assembly is simple;
2、实现了空间三个移动自由度和一个转动自由度运动解耦；2. Realized the motion decoupling of three degrees of freedom of movement and one degree of freedom of rotation in space;
3、所有输入驱动全部与平台相连，这样减少了杆件的负载，具有良好的运动性和稳定性及较大的反应速度。3. All input drives are connected to the platform, which reduces the load on the rod, and has good mobility, stability and high response speed.
附图说明Description of drawings
图1是本发明的立体示意简图；Fig. 1 is the three-dimensional schematic diagram of the present invention;
图2整体示意结构简图；Fig. 2 overall schematic structural diagram;
图3整体结构左视图。Figure 3 left view of the overall structure.
具体实施方式Detailed ways
在图2、3所示的一种三移一转四自由度解耦空间并联机构示意图中，定平台1动平台10为长方形结构，该定平台的相邻两边布置有圆柱导轨2、11，导轨的轴线与定平台1平行。该定平台另相邻两边布置有一个圆柱26和一个方形导轨19其轴线和中心线垂直于定平台；分支一中的第一连杆4的一端通过圆柱副3与圆柱导轨2连接，该连杆3的另一端与平行四边形铰链5连接，平行四边形铰链5另一端通过转动副7与连杆8连接，8的另一端通过转动副9动平台10连接；分支二中的第一连杆13的一端通过圆柱副12与圆柱导轨11连接，该连杆13的另一端与平行四边形铰链14连接，平行四边形铰链14另一端通过转动副16与连杆17连接，17的另一端通过转动副18与动平台10连接；分支三中的第一连杆20的一端通过移动副19与定平台连接，该第一连杆20的另一端通过移动副21与第二连杆的22一端连接，该第二连杆22的另一端通过移动副23与第三连杆24连接，连杆24另一端通过转动副25与动平台10连接；分支四中第一个连杆28通过圆柱副27与圆柱导轨26连接，第一个连杆28另一端通过转动副29与第二个连杆30连接，连杆30的另一端通过转动副31与动平台10连接。In the schematic diagram of a three-shift-one-rotation four-degree-of-freedom decoupling space parallel mechanism shown in Figures 2 and 3, the fixed platform 1 and the movable platform 10 have a rectangular structure, and cylindrical guide rails 2 and 11 are arranged on the adjacent two sides of the fixed platform. The axis of guide rail is parallel with fixed platform 1. The other adjacent two sides of this fixed platform are arranged with a cylinder 26 and a square guide rail 19 whose axis and centerline are perpendicular to the fixed platform; The other end of the bar 3 is connected with the parallelogram hinge 5, the other end of the parallelogram hinge 5 is connected with the connecting rod 8 through the rotating pair 7, and the other end of the 8 is connected with the moving platform 10 through the rotating pair 9; the first connecting rod 13 in the branch two One end of the connecting rod 13 is connected with the cylindrical guide rail 11 through the cylindrical pair 12, the other end of the connecting rod 13 is connected with the parallelogram hinge 14, the other end of the parallelogram hinge 14 is connected with the connecting rod 17 through the rotating pair 16, and the other end of the connecting rod 17 is connected through the rotating pair 18 It is connected with the moving platform 10; one end of the first connecting rod 20 in the branch three is connected with the fixed platform through the moving pair 19, and the other end of the first connecting rod 20 is connected with the 22 end of the second connecting rod through the moving pair 21. The other end of the second connecting rod 22 is connected with the third connecting rod 24 through the moving pair 23, and the other end of the connecting rod 24 is connected with the moving platform 10 through the rotating pair 25; The guide rail 26 is connected, the other end of the first connecting rod 28 is connected with the second connecting rod 30 through the rotating pair 29 , and the other end of the connecting rod 30 is connected with the moving platform 10 through the rotating pair 31 .
分支一中的圆柱副3的轴线平行定平台所在的边，平行四边形铰链4、及与铰链连接的一个转动副7的轴线相互平行，与动平台连接的转动副9轴线垂直于动平台10且垂直于3、5、7、轴线；分支二中圆柱副12的轴线平行定平台所在的边，垂直于分支一中圆柱副3轴线，平行四边形铰链14、及与铰链连接的一个转动副16，与动平台连接的转动副18轴线垂直于动平台10且垂直于12、14、16轴线平行于转动副轴线9；分支三中与定平台连接的移动副20中心线垂直于定平台，移动副19、21、23中心线两两相互垂直，与动平台连接的转动副25轴线平行与转动副9、18，垂直于定平台1；分支四中，第一个连杆通过圆柱副27移动副与18中心线垂直与动平台，转动副29、31轴线相互平行且平行于圆柱副27轴线。The axis of the cylinder pair 3 in the branch one is parallel to the side where the platform is located, the axes of the parallelogram hinge 4 and a rotating pair 7 connected with the hinge are parallel to each other, and the axis of the rotating pair 9 connected with the moving platform is perpendicular to the moving platform 10 and Perpendicular to axis 3, 5, 7; the axis of the cylinder pair 12 in the branch two is parallel to the side where the platform is located, perpendicular to the axis of the cylinder pair 3 in the branch one, the parallelogram hinge 14 and a rotating pair 16 connected with the hinge, The axis of the rotating pair 18 connected with the moving platform is perpendicular to the moving platform 10 and perpendicular to the 12, 14, 16 axes and parallel to the rotating pair axis 9; The centerlines of 19, 21, and 23 are perpendicular to each other, and the axes of the rotating pair 25 connected to the moving platform are parallel to the rotating pairs 9 and 18, and perpendicular to the fixed platform 1; in the fourth branch, the first connecting rod passes through the moving pair of the cylindrical pair 27 Perpendicular to the moving platform with the 18 center line, the axes of the revolving pairs 29 and 31 are parallel to each other and parallel to the axis of the cylinder pair 27.
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| CN104942800A (en) * | 2015-07-02 | 2015-09-30 | 上海交通大学 | Three-translation one-rotation four-freedom rotation and translation complete decoupling parallel mechanism |
| CN108110424A (en) * | 2018-02-13 | 2018-06-01 | 河南科技大学 | A kind of parallel satellite antenna device for adjusting posture |
| CN108110424B (en) * | 2018-02-13 | 2023-10-10 | 河南科技大学 | A parallel satellite antenna attitude adjustment device |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | A four-degree-of-freedom parallel mechanism with three 3T1R motion modes |
| CN109746895B (en) * | 2018-12-11 | 2021-02-05 | 西安工程大学 | A four-degree-of-freedom parallel mechanism with three 3T1R motion modes |
| CN110480604A (en) * | 2019-08-08 | 2019-11-22 | 中国民航大学 | A kind of 3-freedom parallel mechanism with three direction guiding rails |
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