CN104552280A - Double-displacement double-rotation four-degree-of-freedom decoupling parallel 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。所述定平台相连两边分别安装滑槽和圆柱导轨，动定平台为长方形。分支一是由两个中心线相互垂直的移动副和两个轴线相互垂直转动副及连接它们的三个连杆组成；分支二由三个轴线平行于定平台转动副和两个轴线平行于定平台且垂直前三个转动副的轴线，以及连接它们的四个连杆组成；分支三由一个移动副和一个平行四边形铰链和三个转动副，以及连接它们的四个连杆组成；分支四是由一个圆柱和三个转动副以及连接它们之间的三个连杆。发明结构稳定，能够实现沿垂直于定平台方向和定平台滑槽方向的两维移动及绕动平台上两个轴线相互垂直的转动副的两维转动，各运动解耦，易于控制，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 two connected sides of the fixed platform are respectively equipped with chute and cylindrical guide rail, and the movable and fixed platform is rectangular. Branch one is composed of two moving pairs whose center lines are perpendicular to each other, two rotating pairs whose axes are perpendicular to each other and three connecting rods connecting them; branch two is composed of three rotating pairs whose axes are parallel to the fixed platform and two axes parallel to the fixed platform. The platform is perpendicular to the axes of the first three revolving pairs, and four connecting rods connecting them; branch three consists of a moving pair, a parallelogram hinge, three revolving pairs, and four connecting rods connecting them; branch four It is composed of a cylinder, three rotating pairs and three connecting rods connecting them. The structure of the invention is stable, and can realize two-dimensional movement along the direction perpendicular to the fixed platform and the direction of the fixed platform chute, and the two-dimensional rotation of the rotating pair with two axes perpendicular to each other on the orbiting platform. Each movement is decoupled, easy to control, and has a high 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，但是基本都是实现三移一转的功能，能实现两移两转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 basically realizes the function of three shifts and one turn, and can realize two shifts. Parallel mechanisms with two-rotation decoupling are very rare, and 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、运动解耦的两移两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。分支一是由两个中心线相互垂直的移动副和两个轴线相互垂直转动副及连接它们的三个连杆组成；分支二由三个轴线平行于定平台转动副和两个轴线平行于定平台且垂直前三个转动副的轴线，以及连接它们的四个连杆组成；分支三由一个移动副和一个平行四边形铰链和三个转动副，以及连接它们的四个连杆组成；分支四是由一个圆柱和三个转动副以及连接它们之间的三个连杆。The object of the present invention is to provide a two-shift, two-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. Branch one is composed of two moving pairs whose center lines are perpendicular to each other, two rotating pairs whose axes are perpendicular to each other and three connecting rods connecting them; branch two is composed of three rotating pairs whose axes are parallel to the fixed platform and two axes parallel to the fixed platform. The platform is perpendicular to the axes of the first three revolving pairs, and four connecting rods connecting them; branch three consists of a moving pair, a parallelogram hinge, three revolving pairs, and four connecting rods connecting them; branch four It is composed of a cylinder, three rotating pairs and three connecting rods connecting them.
分支一中第一连杆的一端通过中心线垂直于定平台的移动副与定平台连接，第一连杆另一端通过移动副与第二个连杆连接，第二个连杆另一端通过转动副与第三个连杆连接，第三个连杆的另一端通过转动副轴线与动平台连接，其中两个移动副中心线相互垂直，两个转动副轴线相互垂直；分支二中第一个连杆通过轴线平行于定平台的转动副与定平台连接，连杆的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第三个连杆连接，第三个连杆的另一端通过转动副与第四个连杆连接，第四个连杆另一端通过转动副与动平台连接，其中与第一、二连杆连接的转动副轴线相互平行，第四个连杆两端的转动副轴线相互平行且垂直于第一、二连杆连接的转动副轴线；分支三中第一连杆的一端通过移动副与定平台滑槽连接，另一端与平行四边形铰链连接其轴线平行于移动副中心线，该平行四边形铰链另一端与第二个连杆连接，连杆另一端通过轴线平行于平行四边形铰链轴线的转动副与第三个连杆连接，第三个连杆另一端通过转动副与第四个连杆连接，连杆四的另一端通过轴线垂直于第三个连杆两端转动副轴线且平行于定平台的转动副与动平台连接；机构末端通过垂直于动平台的转动副与动平台连接。分支四第一个连杆通过圆柱副与定平台上的圆柱导轨连接，连杆另一端通过转动副与第二个连杆连接，第二个连杆另一端通过转动副与第三个连杆连接，第三个连杆的另一端通过转动副与动平台连接，其中第二个连杆两端的转动副轴线相互垂直，第三个连杆两端的转动副轴线相互平行。One end of the first connecting rod in branch one is connected to the fixed platform through a moving pair whose center line is perpendicular to the fixed platform, the other end of the first connecting rod is connected to the second connecting rod through a moving pair, and the other end of the second connecting rod is rotated The pair is connected to the third connecting rod, and the other end of the third connecting rod is connected to the moving platform through the axis of the rotating pair, in which the center lines of the two moving pairs are perpendicular to each other, and the axes of the two rotating pairs are perpendicular to each other; the first branch of the second branch The connecting rod is connected with the fixed platform through a rotary joint whose axis is parallel to the fixed platform, the other end of the connecting rod is connected with the second connecting rod through the rotary joint, and the other end of the second connecting rod is connected with the third connecting rod through the rotary joint , the other end of the third connecting rod is connected to the fourth connecting rod through a rotating joint, and the other end of the fourth connecting rod is connected to the moving platform through a rotating joint, wherein the axes of the rotating pair connected to the first and second connecting rods are parallel to each other , the axis of the rotary pair at both ends of the fourth connecting rod is parallel to each other and perpendicular to the axis of the rotating pair connected by the first and second connecting rods; The parallelogram hinge is connected with its axis parallel to the center line of the moving pair, the other end of the parallelogram hinge is connected to the second connecting rod, and the other end of the connecting rod is connected to the third connecting rod through a rotating pair whose axis is parallel to the axis of the parallelogram hinge. The other end of the third connecting rod is connected to the fourth connecting rod through a rotary joint, and the other end of the fourth connecting rod is connected to the moving platform through a rotating joint whose axis is perpendicular to the axis of the rotating joint at both ends of the third connecting rod and parallel to the fixed platform. ; The end of the mechanism is connected with the moving platform through a revolving pair perpendicular to the moving platform. Branch 4 The first connecting rod is connected to the cylindrical guide rail on the fixed platform through a cylindrical pair, the other end of the connecting rod is connected to the second connecting rod through a rotating pair, and the other end of the second connecting rod is connected to the third connecting rod through a rotating pair The other end of the third connecting rod is connected to the moving platform through a rotating joint, wherein the rotating joint axes at both ends of the second connecting rod are perpendicular to each other, and the rotating joint axes at both ends of the third connecting rod are parallel to each other.
上述分支中，分支一中与定平台连接的移动副为输入驱动；第一连杆在移动副的驱动下发生移动，带动第二、三个连杆和动平台发生移动；上述分支一中与第二个连杆连接的转动副为输入驱动，第三个连杆在转动副的驱动下发生转动，第三个连杆的转动带动动平台发生转动；上述分支三中与定平台连接的移动副为输入动驱动，第一连杆在移动副的驱动下发生移动，带动第二、三、四个连杆发生移动，第四个连杆的移动带动动平台发生移动；上述分支四中与第一个连杆连接的转动副为输入驱动，第二个连杆在转动副的驱动下发生转动，第二个连杆的转动带动第三个连杆和动平台发生转动。Among the above branches, the moving pair connected to the fixed platform in the first branch is driven by input; the first connecting rod moves under the drive of the moving pair, driving the second and third connecting rods and the moving platform to move; The revolving pair connected by the second connecting rod is driven by input, the third connecting rod rotates under the drive of the revolving pair, and the rotation of the third connecting rod drives the moving platform to rotate; The pair is driven by the input motion. The first connecting rod moves under the drive of the moving pair, which drives the second, third, and fourth connecting rods to move, and the movement of the fourth connecting rod drives the moving platform to move; the above branch four and The revolving pair connected by the first connecting rod is driven by input, the second connecting rod rotates under the drive of the revolving pair, and the rotation of the second connecting rod drives the third connecting rod and the moving platform to rotate.
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、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。3. All input drives are connected to the platform, which reduces the load on the rod and has good mobility and stability.
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整体示意结构简图。Figure 3 is a schematic diagram of the overall structure.
具体实施方式Detailed ways
在图2、3所示的一种两移两转四自由度解耦空间并联机构示意图中，定平台1动平台9为长方形结构，该定平台1的相邻两边布有滑槽19和圆柱导轨30，滑槽17中心线导轨30轴线与定平台1平行；分支一中的第一连杆3的一端通过移动副2与定平台1连接，该连杆3的另一端通过移动副4与第二个连杆5连接，连杆5的另一端通过转动副6与第三个连杆7连接，连杆7通过转动副8与动平台9连接；分支二中的第一连杆11的一端通过转动副10与定平台1连接，该连杆11的另一端通过转动副12与第二个连杆13连接，连杆13的另一端通过转动副14与第三个连杆15连接，该连杆15的另一端通过转动副16与第四个连杆17连接，连杆17另一端通过转动副18与动平台9连接；分支三中的第一连杆21的一端通过移动副20与定平台上滑槽19连接，该连杆21的另一端与平行四边形铰链22连接，铰链22另一端与第二个连杆23连接，连杆23另一端通过转动副24与第三个连杆的25一端连接，连杆25的另一端通过转动副26与第四连杆27连接，连杆27另一端通过转动副28与动平台9连接；分支四第一个连杆31通过圆柱副30与定平台1上的圆柱导轨29连接，连杆31另一端通过转动副32与第二个连杆33连接，第二个连杆33另一端通过转动副34与第三个连杆35连接，第三个连杆35的另一端通过转动副36与动平台9连接。In the schematic diagram of a two-shift, two-rotation four-degree-of-freedom decoupling space parallel mechanism shown in Figures 2 and 3, the fixed platform 1 and the movable platform 9 are rectangular structures, and the adjacent two sides of the fixed platform 1 are provided with chute 19 and cylinders. Guide rail 30, chute 17 center line guide rail 30 axis is parallel to fixed platform 1; One end of first connecting rod 3 in branch one is connected with fixed platform 1 through moving pair 2, and the other end of this connecting rod 3 is connected with moving pair 4 and The second connecting rod 5 is connected, and the other end of the connecting rod 5 is connected with the third connecting rod 7 through the rotating pair 6, and the connecting rod 7 is connected with the moving platform 9 through the rotating pair 8; the first connecting rod 11 in the branch two One end is connected with the fixed platform 1 through the rotating pair 10, the other end of the connecting rod 11 is connected with the second connecting rod 13 through the rotating pair 12, and the other end of the connecting rod 13 is connected with the third connecting rod 15 through the rotating pair 14, The other end of this connecting rod 15 is connected with the 4th connecting rod 17 by swivel pair 16, and the other end of connecting rod 17 is connected with moving platform 9 by swivel pair 18; It is connected with the chute 19 on the fixed platform, the other end of the connecting rod 21 is connected with the parallelogram hinge 22, the other end of the hinge 22 is connected with the second connecting rod 23, and the other end of the connecting rod 23 is connected with the third connecting rod through the rotating pair 24. One end of the rod 25 is connected, the other end of the connecting rod 25 is connected with the fourth connecting rod 27 through the rotating pair 26, and the other end of the connecting rod 27 is connected with the moving platform 9 through the rotating pair 28; the first connecting rod 31 of the branch four passes through the cylindrical pair 30 is connected with the cylindrical guide rail 29 on the fixed platform 1, the other end of the connecting rod 31 is connected with the second connecting rod 33 through the rotating pair 32, and the other end of the second connecting rod 33 is connected with the third connecting rod 35 through the rotating pair 34 , the other end of the third connecting rod 35 is connected with the moving platform 9 through the rotary pair 36.
分支一中的移动副2的中心线垂直于定平台1所在平面，移动副4的中心线平行于定平台1垂直于移动副2的中心线，转动副6、8轴线相互垂直且都平行于定平台1；分支二中转动副10、12、14的轴线相互平行且平行于定平台1和分支一中转动副8的轴线，转动副16、18轴线相互平行且垂直于转动副10、12、14的轴线平行于转动副6的轴线；分支三中移动副20中心线平行于定平台1和转动副6、16、18轴线移动副4的中心线，平行四边形铰链22、转动副24、26线相互平行且平行于移动副20中心线，与动平台连接的转动副28轴线平行于定平台1和转动副8、10、12、14轴线；分支四中圆柱副30轴线平行于转动副8、10、12、14、28，转动副32轴线平行于转动副6、16、18、24、26垂直于圆柱副30轴线，转动副34、36相互平行垂直于转动副32平行于圆柱副30轴线。The centerline of the moving pair 2 in branch one is perpendicular to the plane where the fixed platform 1 is located, the centerline of the moving pair 4 is parallel to the fixed platform 1 and perpendicular to the centerline of the moving pair 2, and the axes of the rotating pairs 6 and 8 are perpendicular to each other and parallel to the Fixed platform 1; axes of rotating pairs 10, 12, 14 in branch 2 are parallel to each other and parallel to axes of fixed platform 1 and rotating pair 8 in branch 1, axes of rotating pairs 16, 18 are parallel to each other and perpendicular to rotating pairs 10, 12 The axis of 14 is parallel to the axis of rotating pair 6; the center line of moving pair 20 in the branch three is parallel to the center line of fixed platform 1 and rotating pair 6, 16, 18 axes moving pair 4, parallelogram hinge 22, rotating pair 24, 26 The lines are parallel to each other and parallel to the center line of the moving pair 20, the axis of the rotating pair 28 connected to the moving platform is parallel to the axes of the fixed platform 1 and the rotating pairs 8, 10, 12, and 14; the axis of the cylindrical pair 30 in the fourth branch is parallel to the rotating pair 8 , 10, 12, 14, 28, the axis of the rotating pair 32 is parallel to the axis of the rotating pair 6, 16, 18, 24, 26 and perpendicular to the axis of the cylindrical pair 30, and the rotating pairs 34, 36 are parallel to each other, perpendicular to the rotating pair 32 and parallel to the cylindrical pair 30 axis.
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| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R parallel robot mechanism |
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
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| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
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| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R parallel robot mechanism |
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
| CN105082112A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function |
| CN105082113A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105234933B (en) * | 2015-10-08 | 2017-01-18 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | An antenna attitude adjustment device based on an uncoupled three-branch two-rotation parallel mechanism |
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