CN104526687A - Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism - Google Patents
Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism Download PDFInfo
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- CN104526687A CN104526687A CN201510032629.9A CN201510032629A CN104526687A CN 104526687 A CN104526687 A CN 104526687A CN 201510032629 A CN201510032629 A CN 201510032629A CN 104526687 A CN104526687 A CN 104526687A
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Abstract
The invention belongs to the field of robots and particularly relates to a space decoupling parallel-connected mechanism. The mechanism comprises a fixed platform, a moving platform and four branches for connecting the fixed platform and the moving platform. The fixed platform is rectangular, cylindrical guide tracks are arranged on two adjacent bottom edges, the axial lines of the cylindrical guide tracks are parallel to the fixed platform, a cylindrical guide track and a square guide track are arranged on the other adjacent edges, the axial lines and the central lines of the cylindrical guide track and the square guide track are vertical to the fixed platform, and the moving platform is rectangular. The branch I comprises a cylindrical pair, a parallelogram-shaped hinge and two rotating pairs with mutually vertical axial lines, as well as three connecting rods for connecting the parts; the branch II comprises a cylindrical pair, a parallelogram-shaped hinge and two rotating pairs with mutually vertical axial lines, as well as three connecting rods for connecting the parts; the branch III comprises three moving pairs with mutually vertical central lines, a rotating pair and three connecting rods for connecting the kinematic pairs; and the branch IV comprises a cylindrical pair, two rotating pairs and two connecting rods connecting the kinematic pairs, wherein the axial lines of the three kinematic pairs are parallel to each other. The mechanism provided by the invention has a stable structure and can realize three-movement functions of the moving platform along the direction which is parallel to the fixed platform and along the direction which is vertical to the fixed platform and the rotation around the axial line which is vertical to the fixed platform, and the mechanism has the advantages of motion decoupling, easiness in control, good rigidity, high speed and strong bearing force.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled parallel institution of one.
Background technology
Parallel institution generally by moving platform and fixed platform by least two independently kinematic chain be connected, make mechanism have two or more free degree, and with a kind of close loop mechanism that parallel way drives.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.
Three-freedom parallel robot mechanism obtains more research, and existing multiple three-freedom parallel robot mechanism is applied, as Delta mechanism in the world.Along with parallel robot constantly popularizing at industrial circle, the strong coupling feature that parallel institution exists but is govern parallel manipulator man-based development.The strong coupling existence of parallel institution makes mechanism there are problems, such as causes kinematics to have many groups to separate and working space reduces, and mechanism path is planned and precision controlling difficult.Therefore how to realize the decoupling zero of parallel institution, become the challenge subjects of a theory of mechanisms research field.
Many mechanisms of China scholar has designed many four, five degree of freedom New Parallel Manipulator mechanism, and has applied for Patents, as Chinese patent: CN201380496, CN104029196A, CN104015186A, CN104102170A, CN103707281A, CN102601793A.At present for four, the research of 5-DOF (degree of freedom) parallel robot mechanism decoupling is then relatively less.Chinese patent CN 102896628A, although CN 103624778 A proposes mechanism of a kind of four degree of freedom decoupling parallel robot mechanism foregoing invention mechanism moving platform respectively can realize four-degree-of-freedom motion, but realizing three, to move the parallel institution of the decoupling zero of one turn of four-degree-of-freedom very rare, and the decoupling of most of parallel institution does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of Stability Analysis of Structures, be easy to control, mobile decoupling three move one turn of four-freedom parallel mechanism.The present invention includes fixed platform, moving platform and connect four branches of fixed platform and moving platform.In four branches, branch one identical with the structure of branch two by a cylindrical pair and a parallelogram hinge and two mutual vertical rotation of axis secondary, and connect their connecting rod composition; Branch three is made up of three orthogonal moving sets of center line and a revolute pair and the connecting rod that is connected them; Branch four is parallel to each other by its three kinematic pair axis of a cylindrical pair and two revolute pairs and the connecting rod that is connected them forms.
Branch one is connected with fixed platform cylindrical guide by cylindrical pair with one end of first connecting rod in branch two, the other end and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod by revolute pair, and the connecting rod other end is connected by revolute pair moving platform; One end of branch three first connecting rod is connected with fixed platform by moving sets, and the other end is connected with second connecting rod by moving sets, and the second connecting rod other end is connected with the 3rd connecting rod by moving sets, and the 3rd the connecting rod other end is connected with moving platform by revolute pair; In branch four, one end of first connecting rod is connected with fixed platform cylindrical guide by cylindrical pair, and the first connecting rod other end is connected with second connecting rod by revolute pair, and the other end of second connecting rod is connected with moving platform by revolute pair.
In above-mentioned four branches, cylindrical pair axis, parallelogram hinge axes and a turns auxiliary shaft line parallel being attached thereto in branch one, two, the revolute pair axis be connected with moving platform is perpendicular to moving platform; Be connected its axes normal of revolute pair in branch three with moving platform in moving platform, three moving sets axis are mutually vertical; In branch four, cylindrical pair and two revolute pair axis are parallel to each other and perpendicular to fixed platform.
In above-mentioned four branches, the cylindrical pair that the identical branch of structure one, two is connected with fixed platform is respectively that the input motion of each branch is secondary, 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 branch three, the revolute pair be connected with moving platform is that input motion is secondary, under the driving of revolute pair, drive moving platform to rotate; In branch four, the cylindrical pair be connected with fixed platform is that input motion is secondary, and first connecting rod moves up and down under the driving of cylindrical pair, and drives second connecting rod to move up and down, and the mobile moving platform that drives of second connecting rod moves up and down; And three of these three directions movements and a rotational motion are decoupling zeros, non-interference.
The present invention compared with prior art tool has the following advantages:
1, Stability Analysis of Structures, kinematic pair has lower pair also to have compound motion secondary, and assembling is simple;
2, three, space one-movement-freedom-degree and a rotational freedom mobile decoupling is achieved;
3, all input queued switches are all connected with platform, which reduce the load of rod member, have good motility and stability and larger reaction speed.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention;
The overall schematic construction sketch of Fig. 2;
Fig. 3 overall structure left view.
Detailed description of the invention
Move in one turn of four degree of freedom decoupling space parallel mechanism schematic diagram in the one three shown in Fig. 2,3, fixed platform 1 moving platform 10 is rectangle structure, and the adjacent both sides of this fixed platform are furnished with cylindrical guide 2,11, and the axis of guide rail is parallel with fixed platform 1.The another adjacent both sides of this fixed platform are furnished with a cylinder 26 and its axis of square rail 19 and central axis in fixed platform; One end of first connecting rod 4 in branch one is connected with cylindrical guide 2 by cylindrical pair 3, the other end of this connecting rod 3 is connected with parallelogram hinge 5, parallelogram hinge 5 other end is connected with connecting rod 8 by revolute pair 7, and the other end of 8 is connected by revolute pair 9 moving platform 10; One end of first connecting rod 13 in branch two is connected with cylindrical guide 11 by cylindrical pair 12, the other end of this connecting rod 13 is connected with parallelogram hinge 14, parallelogram hinge 14 other end is connected with connecting rod 17 by revolute pair 16, and the other end of 17 is connected with moving platform 10 by revolute pair 18; One end of first connecting rod 20 in branch three is connected with fixed platform by moving sets 19, the other end of this first connecting rod 20 is connected with 22 one end of second connecting rod by moving sets 21, the other end of this second connecting rod 22 is connected with third connecting rod 24 by moving sets 23, and connecting rod 24 other end is connected with moving platform 10 by revolute pair 25; In branch four, first connecting rod 28 is connected with cylindrical guide 26 by cylindrical pair 27, and first connecting rod 28 other end is connected with second connecting rod 30 by revolute pair 29, and the other end of connecting rod 30 is connected with moving platform 10 by revolute pair 31.
The limit at the axis being parallel fixed platform place of the cylindrical pair 3 in branch one, parallelogram hinge 4 and being parallel to each other with the axis of a hinged revolute pair 7, revolute pair 9 axes normal be connected with moving platform in moving platform 10 and perpendicular to 3,5,7, axis; The limit at the axis being parallel fixed platform place of cylindrical pair 12 in branch two, perpendicular to cylindrical pair 3 axis in branch one, parallelogram hinge 14 and with a hinged revolute pair 16, revolute pair 18 axes normal be connected with moving platform is in moving platform 10 and perpendicular to 12,14,16 axis being parallel in revolute pair axis 9; Moving sets 20 central axis be connected with fixed platform in branch three is in fixed platform, and moving sets 19,21,23 center line is mutually vertical between two, and revolute pair 25 axis being parallel be connected with moving platform and revolute pair 9,18, perpendicular to fixed platform 1; In branch four, first connecting rod is by cylindrical pair 27 moving sets and 18 central axis and moving platform, and revolute pair 29,31 axis is parallel to each other and is parallel to cylindrical pair 27 axis.
Claims (3)
1. three move one turn of four degree of freedom decoupling parallel mechanism, they four branches comprising fixed platform, moving platform and connect fixed platform and moving platform.It is characterized in that: in branch one, one end of first connecting rod is connected with fixed platform cylindrical guide by cylindrical pair, the other end and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod by revolute pair, and the connecting rod other end is connected by revolute pair moving platform; In branch two, one end of first connecting rod is connected with fixed platform cylindrical guide by cylindrical pair, the other end and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod by revolute pair, and the connecting rod other end is connected by revolute pair moving platform; One end of branch three first connecting rod is connected with fixed platform by moving sets, and the other end is connected with second connecting rod by moving sets, and the second connecting rod other end is connected with the 3rd connecting rod by moving sets, and the 3rd the connecting rod other end is connected with moving platform by revolute pair; In branch four, one end of first connecting rod is connected with fixed platform cylindrical guide by cylindrical pair, and the first connecting rod other end is connected with second connecting rod by revolute pair, and the other end of second connecting rod is connected with moving platform by revolute pair.
2. three of a kind of decoupling zero according to claim 1 move one turn of four-freedom parallel mechanism, it is characterized in that: cylindrical pair axis, parallelogram hinge axes and a turns auxiliary shaft line parallel being attached thereto in above-mentioned branch one, the revolute pair axis be connected with moving platform is perpendicular to moving platform; Cylindrical pair axis, parallelogram hinge axes and a turns auxiliary shaft line parallel being attached thereto in above-mentioned branch two, the revolute pair axis be connected with moving platform is perpendicular to moving platform; Be connected its axes normal of revolute pair in above-mentioned branch three with moving platform in moving platform, three moving sets axis are mutually vertical; In above-mentioned branch four, cylindrical pair and two revolute pair axis are parallel to each other and perpendicular to fixed platform.
3. three of a kind of decoupling zero according to claim 1 move one turn of four-freedom parallel mechanism, it is characterized in that: the cylindrical pair be connected with fixed platform in above-mentioned branch one is active drive; Be active drive with fixed platform connecting cylinder pair in above-mentioned branch two; The revolute pair be connected with moving platform in above-mentioned branch three is active drive; The cylindrical pair be connected with fixed platform in branch four is active drive.
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| CN201510032629.9A CN104526687A (en) | 2015-01-20 | 2015-01-20 | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN104875191A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (3T)&(2R) Completely decoupling parallel serial robot mechanism |
| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R parallel robot mechanism |
| CN104875207A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) spatial parallel robot mechanism |
| 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 |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104875192A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism |
| CN104875191A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (3T)&(2R) Completely decoupling parallel serial robot mechanism |
| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R parallel robot mechanism |
| CN104875207A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R (three-transfer one-rotate) spatial parallel robot mechanism |
| 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 |
| CN109746895A (en) * | 2018-12-11 | 2019-05-14 | 西安工程大学 | There are three types of the four-freedom parallel mechanisms of 3T1R dynamic model formula for a kind of tool |
| CN109746895B (en) * | 2018-12-11 | 2021-02-05 | 西安工程大学 | Four-degree-of-freedom parallel mechanism with three 3T1R dynamic modes |
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Application publication date: 20150422 |