CN104552280A - Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism - Google Patents
Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism Download PDFInfo
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- CN104552280A CN104552280A CN201510032590.0A CN201510032590A CN104552280A CN 104552280 A CN104552280 A CN 104552280A CN 201510032590 A CN201510032590 A CN 201510032590A CN 104552280 A CN104552280 A CN 104552280A
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Abstract
The invention belongs to the field of robotics and particularly relates to a spatial decoupling parallel mechanism. The spatial decoupling parallel mechanism comprises a fixed table, a moving table and four branches connecting the fixed table and the moving table. A chute and a cylindrical guide rail are respectively mounted on the connected two sides of the fixed table. The fixed table and the moving table are rectangular. The branch I is composed of two moving pairs perpendicular to each other in the center line, two rotating pairs perpendicular to each other in the axial line, and three connecting rods connecting the two moving pairs and the two rotating pairs. The branch II is composed of three rotating pairs parallel to the fixed table in the axial line, two rotating pairs parallel to the fixed table in the axial line and perpendicular to the axial lines of the three rotating pairs, and four connecting rods connecting the three rotating pairs and the two rotating pairs. The branch III is composed of one moving pair, one parallelogram hinge, three rotating pairs and four connecting rods connecting the moving pair, the parallelogram hinge and the three rotating pairs. The branch IV is composed of a cylinder, three rotating pairs and three connecting rods connecting the cylinder and the three rotating pairs. The spatial decoupling parallel mechanism is stable in structure, can achieve two-dimensional movement in the direction perpendicular to the fixed table and the chute of the fixed table and two-dimensional rotation around the rotating pairs perpendicular to each other in the axial line on the moving table and perform movement decoupling and is easy to control and high in load bearing capability.
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 be substantially all realize the function that three move a turn, realizing two, to move the parallel institution of two turns of decoupling zeros 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 two move two turns of four-freedom parallel mechanisms.The present invention includes fixed platform, moving platform and connect four branches of fixed platform and moving platform.Branch one three connecting rods that are secondary by the mutual vertical rotation of two orthogonal moving sets of center line and two axis and that be connected them form; Branch two in fixed platform revolute pair and two axis being parallel in fixed platform and the axis of first three revolute pair vertical, and connects their four connecting rods compositions by three axis being parallel; Branch three by a moving sets and a parallelogram hinge and three revolute pairs, and connects their four connecting rods compositions; Branch four is by a cylinder and three revolute pairs and three connecting rods connecting between them.
In branch one, one end of first connecting rod is connected with fixed platform by the moving sets of central axis in fixed platform, the first connecting rod other end is connected with second connecting rod by moving sets, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair axis, wherein two moving sets center lines are mutually vertical, and two revolute pair axis are mutually vertical; In branch two, first connecting rod is connected with fixed platform by the revolute pair of axis being parallel in fixed platform, the other end of connecting rod is connected with second connecting rod by revolute pair, the other end of second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected with moving platform by revolute pair, the revolute pair axis be wherein connected with first and second connecting rod is parallel to each other, and the revolute pair axis at the 4th connecting rod two ends is parallel to each other and the revolute pair axis connected perpendicular to first and second connecting rod; In branch three, one end of first connecting rod is connected with fixed platform chute by moving sets, the other end and its axis being parallel of parallelogram chain connection are in moving sets center line, this parallelogram hinge other end is connected with second connecting rod, the connecting rod other end is connected with the 3rd connecting rod by the revolute pair of axis being parallel in parallelogram hinge axes, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, the other end of connecting rod four by axes normal in the 3rd connecting rod two ends revolute pair axis and the revolute pair being parallel to fixed platform be connected with moving platform; Mechanism end is connected with moving platform by the revolute pair perpendicular to moving platform.Branch's 4 first connecting rods are connected with the cylindrical guide on fixed platform by cylindrical pair, the connecting rod other end is connected with second connecting rod by revolute pair, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, wherein the revolute pair axis at second connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is parallel to each other.
In above-mentioned branch, the moving sets be connected with fixed platform in branch one is input queued switches; First connecting rod is moved under the driving of moving sets, drives second and third connecting rod and moving platform to be moved; The revolute pair be connected with second connecting rod in above-mentioned branch one is input queued switches, and the 3rd connecting rod rotates under the driving of revolute pair, and the rotation of the 3rd connecting rod drives moving platform to rotate; The moving sets be connected with fixed platform in above-mentioned branch three is for input dynamic driving, and first connecting rod is moved under the driving of moving sets, and drive second and third, four connecting rods are moved, the movement drive moving platform of the 4th connecting rod is moved; The revolute pair be connected with first connecting rod in above-mentioned branch four is input queued switches, and second connecting rod rotates under the driving of revolute pair, and the rotation of second connecting rod drives the 3rd connecting rod and moving platform to rotate.
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, two, space one-movement-freedom-degree and two rotational freedom decoupling zeros are achieved;
3, all input queued switches are all connected with platform, which reduce the load of rod member, have good motility and stability.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention;
The overall schematic construction sketch of Fig. 2;
The overall schematic construction sketch of Fig. 3.
Detailed description of the invention
Move in two turns of four degree of freedom decoupling space parallel mechanism schematic diagrames in the one two shown in Fig. 2,3, fixed platform 1 moving platform 9 is rectangle structure, the adjacent both sides of this fixed platform 1 are furnished with chute 19 and cylindrical guide 30, and chute 17 center line guide rail 30 axis is parallel with fixed platform 1; One end of first connecting rod 3 in branch one is connected with fixed platform 1 by moving sets 2, the other end of this connecting rod 3 is connected with second connecting rod 5 by moving sets 4, the other end of connecting rod 5 is connected with the 3rd connecting rod 7 by revolute pair 6, and connecting rod 7 is connected with moving platform 9 by revolute pair 8; One end of first connecting rod 11 in branch two is connected with fixed platform 1 by revolute pair 10, the other end of this connecting rod 11 is connected with second connecting rod 13 by revolute pair 12, the other end of connecting rod 13 is connected with the 3rd connecting rod 15 by revolute pair 14, the other end of this connecting rod 15 is connected with the 4th connecting rod 17 by revolute pair 16, and connecting rod 17 other end is connected with moving platform 9 by revolute pair 18; One end of first connecting rod 21 in branch three is connected with fixed platform upper hopper chute 19 by moving sets 20, the other end of this connecting rod 21 is connected with parallelogram hinge 22, hinge 22 other end is connected with second connecting rod 23, connecting rod 23 other end is connected with 25 one end of the 3rd connecting rod by revolute pair 24, the other end of connecting rod 25 is connected with double leval jib 27 by revolute pair 26, and connecting rod 27 other end is connected with moving platform 9 by revolute pair 28; Branch's 4 first connecting rods 31 are connected with the cylindrical guide 29 on fixed platform 1 by cylindrical pair 30, connecting rod 31 other end is connected with second connecting rod 33 by revolute pair 32, second connecting rod 33 other end is connected with the 3rd connecting rod 35 by revolute pair 34, and the other end of the 3rd connecting rod 35 is connected with moving platform 9 by revolute pair 36.
The central axis of the moving sets 2 in branch one is in fixed platform 1 place plane, and the centerline parallel of moving sets 4 is in the center line of fixed platform 1 perpendicular to moving sets 2, and revolute pair 6,8 axis mutually vertically and be all parallel to fixed platform 1; In branch two, the axis of revolute pair 10,12,14 is parallel to each other and is parallel to the axis of revolute pair 8 in fixed platform 1 and branch one, and revolute pair 16,18 axis is parallel to each other and perpendicular to the axis being parallel of revolute pair 10,12,14 in the axis of revolute pair 6; In branch three, moving sets 20 centerline parallel is in the center line of fixed platform 1 and revolute pair 6,16,18 axis moving sets 4, parallelogram hinge 22, revolute pair 24,26 line are parallel to each other and are parallel to moving sets 20 center line, and revolute pair 28 axis being parallel be connected with moving platform is in fixed platform 1 and revolute pair 8,10,12,14 axis; In branch four, cylindrical pair 30 axis being parallel is in revolute pair 8,10,12,14,28, revolute pair 32 axis being parallel is in revolute pair 6,16,18,24,26 perpendicular to cylindrical pair 30 axis, and revolute pair 34,36 is parallel to each other and is parallel to cylindrical pair 30 axis perpendicular to revolute pair 32.
Claims (3)
1. two move two turns 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: the described fixed platform both sides that are connected install chute and cylindrical guide respectively, and center line and the rail axis of described chute are parallel with fixed platform, and dynamic fixed platform is rectangle.In branch one, one end of first connecting rod is connected with fixed platform by the moving sets of central axis in fixed platform, the first connecting rod other end is connected with second connecting rod by moving sets, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair axis, wherein two moving sets center lines are mutually vertical, and two revolute pair axis are mutually vertical; In branch two, first connecting rod is connected with fixed platform by the revolute pair of axis being parallel in fixed platform, the other end of connecting rod is connected with second connecting rod by revolute pair, the other end of second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected with moving platform by revolute pair, the revolute pair axis be wherein connected with first and second connecting rod is parallel to each other, and the revolute pair axis at the 4th connecting rod two ends is parallel to each other and the revolute pair axis connected perpendicular to first and second connecting rod; In branch three, one end of first connecting rod is connected with fixed platform chute by moving sets, the other end and its axis being parallel of parallelogram chain connection are in moving sets center line, this parallelogram hinge other end is connected with second connecting rod, the connecting rod other end is connected with the 3rd connecting rod by the revolute pair of axis being parallel in parallelogram hinge axes, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, the other end of connecting rod four by axes normal in the 3rd connecting rod two ends revolute pair axis and the revolute pair being parallel to fixed platform be connected with moving platform; Mechanism end is connected with moving platform by the revolute pair perpendicular to moving platform.Branch's 4 first connecting rods are connected with the cylindrical guide on fixed platform by cylindrical pair, the connecting rod other end is connected with second connecting rod by revolute pair, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, wherein the revolute pair axis at second connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is parallel to each other.
2. two of a kind of decoupling zero according to claim 1 move two turns of four-freedom parallel mechanisms, it is characterized in that: the moving sets be connected with fixed platform in above-mentioned branch one is input queued switches; The revolute pair be connected with second connecting rod in above-mentioned branch one is input queued switches; The moving sets be connected with fixed platform in above-mentioned branch three is for inputting dynamic driving; The revolute pair be connected with first connecting rod in above-mentioned branch four is input queued switches.
3. two of a kind of decoupling zero according to claim 1 move two turns of four-freedom parallel mechanisms, it is characterized in that: in above-mentioned branch one, the moving sets at second connecting rod two ends and revolute pair can use cylindrical pair; In above-mentioned branch two, the revolute pair at the 3rd connecting rod two ends can replace by universal hinge; In above-mentioned branch three, the revolute pair at the 4th connecting rod two ends can replace by universal hinge; In above-mentioned branch four, the revolute pair at second connecting rod two ends can replace by universal hinge.
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| CN201510032590.0A CN104552280A (en) | 2015-01-20 | 2015-01-20 | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism |
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| CN201510032590.0A CN104552280A (en) | 2015-01-20 | 2015-01-20 | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R 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 |
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
| 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 |
| CN108172997A (en) * | 2018-02-13 | 2018-06-15 | 河南科技大学 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
-
2015
- 2015-01-20 CN CN201510032590.0A patent/CN104552280A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875185A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | Completely-decoupled 3T1R 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 |
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
| 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 | Based on the antenna attitude adjusting apparatus without three branch of coupling, two one-rotation parallel mechanism |
| CN108172997B (en) * | 2018-02-13 | 2023-08-15 | 河南科技大学 | Antenna attitude adjusting device based on uncoupled three-branch two-rotation parallel mechanism |
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Application publication date: 20150429 |