CN104626118A - Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism - Google Patents
Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism Download PDFInfo
- Publication number
- CN104626118A CN104626118A CN201510032628.4A CN201510032628A CN104626118A CN 104626118 A CN104626118 A CN 104626118A CN 201510032628 A CN201510032628 A CN 201510032628A CN 104626118 A CN104626118 A CN 104626118A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- parallel
- branch
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Transmission Devices (AREA)
Abstract
The invention belongs to the field of robots, and particularly relates to a spatial decoupling parallel-serial mechanism. The double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism is mainly composed by connecting a (1T1R) parallel mechanism and a (2R) parallel mechanism in a series mode. The (1T1R) parallel mechanism comprises a fixed platform, a middle platform and two branches used for connecting the two platforms, and the (2R) parallel mechanism comprises a moving platform, a middle platform and two branches used for connecting the two platforms. The first branch is composed of a sliding pair with the center line parallel to the fixed platform, two revolute pairs with the axes perpendicular to each other and two connecting rods used for connecting a kinematic pair. The second branch is composed of three revolute pairs with the axes parallel to each other, a revolute pair perpendicular to the fixed platform and three connecting rods used for connecting the revolute pairs. The third branch is composed of three revolute pairs with the axes perpendicular to each other and two connecting rods used for connecting the revolute pairs. The fourth branch is composed of three revolute pairs with the axes parallel to each other and perpendicular to the middle platform, a revolute pair with the axis parallel to the middle platform and three connecting rods used for connecting the revolute pairs. According to the double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism, the movement along the direction of a sliding groove of the fixed platform and the three-dimensional rotation around three spatial mutual-perpendicular axes are achieved. The double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism has the advantages that the structure is stable, the rigidity is good, the motion decoupling is achieved, the mechanism is easy to control, and the dynamic property is good.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
The development experience of mechanism from a bar to many bars, from plane to space, from serial mechanism to parallel institution, then to the process of hybrid mechanism.Serial manipulator working space is large, easy to control, welding, spray paint, carry, the field such as automobile assembling obtains good application, but serial manipulator need arrange drive source on each joint, and kinematic chain is relatively long, the movement inertia of each swing arm is comparatively large, thus unsuitable.It is large, easy to control that series-parallel robot has serial manipulator working space concurrently simultaneously, the respective advantage such as parallel robot Stability Analysis of Structures, rigidity are large, the accumulation of error is few, dynamic property is good, simple series and parallel configuration shortcoming can be avoided again simultaneously, in modern manufacturing industry, have more practicality.
Owing to forgiving parallel-connection structure in hybrid mechanism, there is the strong problem of sports coupling in parallel institution.The existence of series-parallel robot coupling makes mechanism there are problems in mechanism configuration design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of series-parallel robot, the decoupling improving hybrid mechanism has become the hot issue of theory of mechanisms research field.
In hybrid mechanism research, the 5DOF Adept Quattro robot that Adept Technology company of the U.S. produces, the moving platform of the 4DOF parallel institution rotated by 3 translations 11 rotational freedom of connecting again is formed; For logistics, assembling line.The series-parallel robot be suggested at present adopts mostly installs this form of serial mechanism on parallel connection platform, and the serial mechanism be arranged on parallel connection platform reduces the performance of whole system.Chinese patent CN1021789805A proposes a kind of two-state driven hybrid robot, and it is connected by multiple plane-parallel type plateform system in essence.The end of this two-state driven hybrid robot has limited position and attitude, is applicable to not need motion continuously and only needs to carry out the occasion of point position control.But its kinematics not decoupling zero of this two-in-parallel hybrid mechanism, is difficult to control.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of four degree of freedom decoupling hybrid mechanism having higher stiffness, precision and load capacity, mobile decoupling, easily control and manufacture and assemble.The present invention to connect (2R) parallel institution composition primarily of (1T1R) parallel institution.(1T1R) parallel institution is made up of the Liang Ge branch of these two platforms of fixed platform, halfpace and connection, and (2R) parallel institution is made up of the Liang Ge branch of these two platforms of moving platform, halfpace and connection.Wherein, branch one is made up of in moving sets and two orthogonal revolute pairs of axis of fixed platform and two connecting rods being connected kinematic pair a centerline parallel; Three connecting rods of the revolute pair that branch two is parallel to each other by three axis and a revolute pair perpendicular to fixed platform and connection of rotating pair form; Branch three is made up of three orthogonal revolute pairs of axis and two connecting rods connecting them; Branch four is parallel to each other by three axis and revolute pair and an axis being parallel perpendicular to halfpace forms in the revolute pair of halfpace and three connecting rods being connected them.
In branch one, one end of first connecting rod is connected with fixed platform by the moving sets of centerline parallel in fixed platform, the other end of this first connecting rod is connected with one end of second connecting rod by the revolute pair of axis being parallel in moving sets center line, the other end of this second connecting rod is connected with halfpace by the revolute pair of axis being parallel in fixed platform, and wherein the revolute pair axis at second connecting rod two ends is mutually vertical; One end of first connecting rod in branch two is connected with fixed platform in fixed platform revolute pair by axis being parallel, the other end of this first connecting rod is connected by revolute pair one end with second connecting rod, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with halfpace by the revolute pair of axes normal in fixed platform, and the revolute pair axis that in this branch, first and second connecting rod connects is parallel to each other; One end of first connecting rod in branch three is connected with halfpace by the revolute pair of axes normal in halfpace, the other end of this connecting rod is connected with second connecting rod by revolute pair, the other end of connecting rod is connected with moving platform by revolute pair, and wherein three revolute pair axis are mutually vertical; In branch four, one end of first connecting rod is connected with halfpace by the revolute pair of axes normal in halfpace, the other end of this 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, and the other end of the 3rd connecting rod is connected with moving platform by revolute pair.
In above-mentioned branch one, moving sets is active drive, first connecting rod is moved under the driving of moving sets, mobile drive second bar of first bar, the movement of halfpace, the mobile branch three that drives of halfpace is moved, and the mobile hybrid mechanism moving platform that drives of branch three is moved; The revolute pair be connected with halfpace in above-mentioned branch one is active drive, and halfpace rotates under the driving of revolute pair, and the rotation of halfpace drives hybrid mechanism moving platform to rotate; The revolute pair be connected with halfpace in above-mentioned branch three is active drive, and in branch three, first connecting rod rotates under the driving of revolute pair, drives second link rotatable, and second link rotatable drives moving platform to rotate; The revolute pair be connected with moving platform in branch four is active drive, and moving platform rotates under the driving of revolute pair.
The present invention compared with prior art has the following advantages:
1, be applicable to not need motion continuously and only need to carry out the occasion of point position control;
2, there are a movement and three rotational freedoms, mobile decoupling, therefore the flexibility of hybrid mechanism end is good, easily controls;
3, all input queued switches are all connected with platform, which reduce the load of rod member, have good motility and stability and reaction speed faster.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention;
Fig. 2 is overall structure schematic diagram of the present invention.
Detailed description of the invention
In the two moving platform four degree of freedom decoupling spatial series-parallel structural scheme of mechanism of the one shown in Fig. 2, fixed platform 1 and halfpace 15 are rectangle structure, one end of first connecting rod 4 in branch one is connected with the chute 2 on fixed platform 1 by moving sets 3, the other end of this connecting rod 4 is connected with one end of second connecting rod 6 by revolute pair 5, and the other end of this connecting rod 6 is connected with halfpace 15 by revolute pair 7; One end of first connecting rod 9 in branch two is connected with fixed platform 1 by revolute pair 8, the other end of this connecting rod 9 is connected with one end of second connecting rod 11 by revolute pair 10, the other end of connecting rod 11 is connected with the 3rd connecting rod 13 by revolute pair 12, and the other end of connecting rod 13 is connected in halfpace 15 by revolute pair 14; First connecting rod 17 in branch three is connected with halfpace 15 by revolute pair 16, and the other end of this first connecting rod 17 is connected with second connecting rod 19 by revolute pair 18, and the other end of this connecting rod 19 is connected with moving platform 28 by revolute pair 20; In branch four, one end of first connecting rod 22 is connected with halfpace 15 by revolute pair 21, the other end of first connecting rod 22 is connected with second connecting rod 24 by revolute pair 23, the other end of connecting rod 24 is connected with the 3rd connecting rod 26 by revolute pair 25, and the other end of connecting rod 26 is connected with moving platform 28 by revolute pair 27.
The centerline direction of the moving sets 3 in branch one is parallel to fixed platform 1, and the axis direction of revolute pair 5 is parallel to the center line of moving sets 3, and the axis being parallel of revolute pair 7 is in the center line of fixed platform 1 perpendicular to moving sets 3; In branch two, the axis of revolute pair 8,10,12 is parallel to each other and the axis of fixed platform 1 parallel vertical revolute pair 4 in branch one, and the axes normal of revolute pair 14 is in fixed platform 1; In branch three, the axes normal of revolute pair 16 is in halfpace 15, and revolute pair 16,18,20 axis is mutually vertical, and the axis being parallel of revolute pair 18 is in revolute pair 7,8,10,12, and the axis being parallel of revolute pair 20 is in the axis of revolute pair 5; Revolute pair 21 axes normal be connected with halfpace in branch four is in halfpace, and revolute pair 21,23,25 axis is parallel to each other, revolute pair 20 in revolute pair 27 axis and branch three.
Claims (3)
1. a two moving platform four degree of freedom decoupling hybrid mechanism, it to be connected (2R) parallel institution composition primarily of (1T1R) parallel institution.(1T1R) parallel institution is made up of the Liang Ge branch of these two platforms of fixed platform, halfpace and connection, and (2R) parallel institution is made up of the Liang Ge branch of these two platforms of moving platform, halfpace and connection.It is characterized in that: in branch one, one end of first connecting rod is connected with fixed platform by the moving sets of centerline parallel in fixed platform, the other end of this first connecting rod is connected with one end of second connecting rod by the revolute pair of axis being parallel in moving sets center line, the other end of this second connecting rod is connected with halfpace by the revolute pair of axis being parallel in fixed platform, and wherein the revolute pair axis at second connecting rod two ends is mutually vertical; One end of first connecting rod in branch two is connected with fixed platform in fixed platform revolute pair by axis being parallel, the other end of this first connecting rod is connected by revolute pair one end with second connecting rod, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with halfpace by the revolute pair of axes normal in fixed platform, and the revolute pair axis that in this branch, first and second connecting rod connects is parallel to each other; One end of first connecting rod in branch three is connected with halfpace by the revolute pair of axes normal in halfpace, the other end of this connecting rod is connected with second connecting rod by revolute pair, the other end of connecting rod is connected with moving platform by revolute pair, and wherein three revolute pair axis are mutually vertical; In branch four, one end of first connecting rod is connected with halfpace by the revolute pair of axes normal in halfpace, the other end of this 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, and the other end of the 3rd connecting rod is connected with moving platform by revolute pair.
2. according to according to claim 1 pair of moving platform four degree of freedom decoupling hybrid mechanism, it is characterized in that: in above-mentioned branch one, moving sets is active drive; The revolute pair be connected with halfpace in above-mentioned branch one is active drive; The revolute pair be connected with halfpace in above-mentioned branch three is active drive; The revolute pair be connected with moving platform in branch four is active drive.
3. according to according to claim 1 pair of moving platform four degree of freedom decoupling linkage, it is characterized in that: in branch one, the revolute pair at second connecting rod two ends can replace by universal hinge; In branch two, the revolute pair at the 3rd connecting rod two ends can replace by universal hinge; In branch three, the revolute pair at second connecting rod two ends can replace by universal hinge; In branch four, the revolute pair at the 3rd connecting rod two ends can replace by universal hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032628.4A CN104626118A (en) | 2015-01-20 | 2015-01-20 | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032628.4A CN104626118A (en) | 2015-01-20 | 2015-01-20 | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104626118A true CN104626118A (en) | 2015-05-20 |
Family
ID=53205584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510032628.4A Pending CN104626118A (en) | 2015-01-20 | 2015-01-20 | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626118A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105479444A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 3R hybrid robot mechanism based on topology structure |
| CN110103202A (en) * | 2019-04-04 | 2019-08-09 | 上海工程技术大学 | A kind of multi-mode series-parallel mechanical arm based on Motion Bifurcation mechanism |
-
2015
- 2015-01-20 CN CN201510032628.4A patent/CN104626118A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN105479444A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 3R hybrid robot mechanism based on topology structure |
| CN110103202A (en) * | 2019-04-04 | 2019-08-09 | 上海工程技术大学 | A kind of multi-mode series-parallel mechanical arm based on Motion Bifurcation mechanism |
| CN110103202B (en) * | 2019-04-04 | 2022-06-24 | 上海工程技术大学 | Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN104875190A (en) | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN104626122A (en) | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN100553898C (en) | A kind of two freedom space parallel mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN202317698U (en) | High-rigidity redundant-drive three-degree-of-freedom parallel mechanism | |
| CN104875188A (en) | (2T1R)&(2R) Completely isotropic parallel serial robot mechanism | |
| CN114227648A (en) | High-rigidity five-degree-of-freedom parallel drive robot | |
| CN104626118A (en) | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism | |
| CN102579137A (en) | Parallel surgical manipulator capable of horizontally moving three-dimensionally and rotating one-dimensionally | |
| CN110450142B (en) | Six-degree-of-freedom parallel robot based on double gyroscope components | |
| CN104626123A (en) | 1R, (1T1R) and 1R decoupling series-parallel robot | |
| CN104942795B (en) | One moves two rotation Three Degree Of Freedoms rotates mobile full decoupled parallel institution | |
| CN103231362A (en) | Parallel robot | |
| CN110561392A (en) | Three-translation parallel mechanism with reconfigurable characteristic | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN104526688A (en) | (2T) and (2R) four-degree-of-freedom decoupling hybrid mechanism | |
| CN101733753B (en) | Redundant parallel mechanism containing compound spherical hinge | |
| CN105345809A (en) | Six-degree-of-freedom serial-parallel mechanism | |
| CN104985589B (en) | Five-freedom-degree parallel mechanism achieving complete decoupling of rotating and moving and provided with arc moving pairs | |
| CN104690716A (en) | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism | |
| CN104942829B (en) | 2T3R five-degree-of-freedom rotation and movement complete decoupling parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150520 |
|
| WD01 | Invention patent application deemed withdrawn after publication |