CN104626121A - (2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism - Google Patents
(2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism Download PDFInfo
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- CN104626121A CN104626121A CN201510032791.0A CN201510032791A CN104626121A CN 104626121 A CN104626121 A CN 104626121A CN 201510032791 A CN201510032791 A CN 201510032791A CN 104626121 A CN104626121 A CN 104626121A
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Abstract
The invention belongs to the field of robots and particularly relates to a space decoupling series-parallel mechanism. The series-parallel mechanism mainly comprises a three-branch parallel mechanism (2R) and a series branch 1T which is connected with a mobile platform of the parallel mechanism. The three-branch parallel mechanism is composed of a fixed platform, the mobile platform and three branches used for connecting the mobile platform and the fixed platform. The first branch is composed of three rotating pairs with the axes perpendicular to one another and two connecting rods used for connecting the three rotating pairs. The second branch is composed of a rotating pair and two spherical pairs, wherein the rotating pair is parallel to the fixed platform. The third branch is composed of a moving pair, a parallelogram hinge, three rotating pairs and connecting rods used for connecting the moving pair, the parallelogram hinge and the rotating pairs. The fourth series branch is composed of a moving pair, a rotating pair and a connecting rod used for connecting the moving pair and the rotating pair. The series-parallel mechanism can achieve the function of one motion in the direction of a sliding chute on the mobile platform and the function of three rotations around the axes, perpendicular to one another, of the rotating pairs, connected with the fixed platform, of the first branch and the third branch and a rotating pair connected with the tail end of the series-parallel mechanism, is simple in structure and easy to control, has a large operation space and achieves motion decoupling.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
There is the problems such as robot mechanism volume is large, mechanical flexibility working space is little, very flexible in single serial manipulator or parallel robot, can not meet the action of certain working space completely in mechanism configuration, exercise performance etc.Therefore, adopt the series-parallel robot configuration combined by series and parallel connections, give full play to series and parallel structure advantage separately, make the performance that it reaches small volume and less weight, high flexibility ratio and improves robot, to have more use value, be also the new direction of future robot Institutions Development.
Because series-parallel robot forgives parallel-connection structure, 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 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 series-parallel robot research, Chinese patent literature CN103433168A proposes a kind of its serial kinematic unit of five degree of freedom series-parallel connection spray robot and has three rotational freedoms and an one-movement-freedom-degree, and spraying operation unit in parallel has by two one-movement-freedom-degrees.Have and be easy to manufacture, conveniently control, easily realize the features such as modularization.Decoupling research for two rotation freedom parallel mechanisms obtains some progress, such as, Chinese patent literature CN102126212A proposes a kind of mobile decoupling two freedom rotary parallel mechanism, this branch of mechanism is by revolute pair and Hooke's hinge two kinematic pair composition, and a wherein axis of two Hooke's hinges keeps conllinear.But this parallel institution stability is bad.Although mechanism of foregoing invention mechanism moving platform can realize certain motion, one to move the hybrid mechanism of three turns of four-degree-of-freedoms very rare, and the decoupling of most of hybrid mechanism does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, mobile decoupling one move three turns of four-freedom hybrid mechanisms.The series branch 1T1R mainly comprising three branch's parallel institutions (2R) and be connected on parallel institution moving platform.Three branch's parallel institutions are made up of fixed platform, moving platform and three branches connecting moving platform and fixed platform.Described fixed platform is that rectangle structure is furnished with the chute that is parallel to fixed platform above it.Branch one is by three orthogonal revolute pairs of axis, and connects their two connecting rod compositions; Branch two is made up of a revolute pair being parallel to lower platform and two spherical pairs; Branch three is made up of a moving sets and a parallelogram hinge and three revolute pairs and three connecting rods connected between them; Series branch four is made up of a moving sets and a revolute pair and the connecting rod connected between them.
In branch one, one end of first connecting rod is connected with fixed platform by the revolute pair of axis being parallel in fixed platform, the connecting rod other end is connected with second connecting rod by the revolute pair of axes normal in fixed platform, the other end of second connecting rod is connected with moving platform by revolute pair, and wherein three revolute pair axis are mutually vertical; In branch two, first connecting rod is connected with fixed platform by revolute pair, and the other end of connecting rod is connected with second connecting rod by spherical pair, and the other end of second connecting rod is connected with moving platform by spherical pair; In branch three, first connecting rod is connected with fixed platform chute by the moving sets of centerline parallel in fixed platform, first connecting rod other end is connected with second connecting rod by revolute pair, the connecting rod other end and parallelogram chain connection, this parallelogram hinge other end is connected with the 3rd connecting rod, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected by revolute pair moving platform, and wherein the revolute pair axis at the 4th connecting rod two ends is parallel to each other; In branch four, one end of first connecting rod is connected with the chute on moving platform by being parallel to the moving sets of moving platform, and the other end of connecting rod is connected with hybrid mechanism end by the revolute pair of axes normal in moving platform.
Be input queued switches with fixed platform connection of rotating pair in above-mentioned branch one, under the driving of revolute pair, first connecting rod rotates, first link rotatable drives second link rotatable, and second link rotatable lead agency moving platform rotates, and moving platform rotates lead agency end and rotates; The revolute pair be connected with first connecting rod in branch three is input queued switches, second connecting rod rotates under the driving of revolute pair, second link rotatable drives third and fourth connecting rod to rotate, the rotation lead agency moving platform of the 4th connecting rod rotates, and moving platform rotates lead agency end and rotates; The moving sets be connected with moving platform is input queued switches, and under the driving of moving sets, drive first connecting rod to move, first connecting rod moves lead agency end and move, and under the driving of revolute pair, lead agency end rotates.Three rotations in these three directions and a moving movement are decoupling zeros, non-interference.
The present invention compared with prior art tool has the following advantages:
1, the locus that the part in series of hybrid mechanism has been used in a big way is located, and takes into account the flexibility improving whole robot, parallel connection part feasible region attitude orientation among a small circle, takes into account rigidity and the stability of robot;
2, three, space rotational freedom and an one-movement-freedom-degree decoupling is achieved;
3, there is larger space especially along the movement in chute direction.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention;
The overall schematic construction sketch of Fig. 2.
Detailed description of the invention
Move in three turns of four degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one one shown in Fig. 2, in branch one, one end of first connecting rod 3 is connected with fixed platform 1 by the revolute pair 2 of axis being parallel in fixed platform, connecting rod 3 other end is connected with second connecting rod 5 by revolute pair 4, and the other end of second connecting rod 5 is connected with moving platform 22 by revolute pair 6; In branch two, first connecting rod 8 is connected with fixed platform 1 by revolute pair 7, and the other end of connecting rod 8 is connected with second connecting rod 10 by spherical pair 9, and the other end of connecting rod 10 is connected with moving platform by spherical pair 11; In branch three, first connecting rod 14 is connected with the chute 12 on fixed platform 1 by moving sets 13, the other end of connecting rod 14 is connected with second connecting rod 16 by revolute pair 15, connecting rod 16 other end is connected with parallelogram hinge 17, this parallelogram hinge 17 other end is connected with the 3rd connecting rod 18,3rd connecting rod 18 other end is connected with the 4th connecting rod 20 by revolute pair 19, and the 4th connecting rod 20 other end is connected with moving platform 22 by revolute pair 21; In branch four, one end of first connecting rod 25 is connected with the chute 23 on moving platform 22 by being parallel to the moving sets 24 of moving platform, and the other end of connecting rod 25 is connected with hybrid mechanism end 27 by the revolute pair 26 of axes normal in moving platform.
Revolute pair 3 axis being parallel be connected with fixed platform in branch one is in fixed platform 1, and the axes normal of revolute pair 4 is in fixed platform, and the axis being parallel of revolute pair 6 is in the axis of fixed platform 1 perpendicular to revolute pair 2, and revolute pair 2,4,6 axis is mutually vertical; In branch two, the axis of the revolute pair 6 of revolute pair 7 axis being parallel in branch one be connected with fixed platform, spherical pair 9,11 centre of sphere is positioned at connecting rod 10 two ends, in branch three, moving sets 13 centerline parallel is in the axis of revolute pair 2, revolute pair 15 axis being parallel is in the axis of revolute pair 6,7, the axis being parallel of parallelogram hinge 17 is in the axis of revolute pair 3, and the axis of revolute pair 19,21 is parallel to each other and is parallel to the axis of hinge 17 and the axis of revolute pair 2; In branch four, the centerline parallel of moving sets 24 is in the axes normal of revolute pair 6,7 in the center line of moving sets 13, and revolute pair 26 axes normal is parallel to the axis of revolute pair 4 in moving platform 22.
Claims (3)
1. its series branch 1T1R mainly comprising three branch's parallel institutions (2R) and be connected on parallel institution moving platform of (2R) & 1T1R four degree of freedom decoupling hybrid mechanism.Three branch's parallel institutions are made up of fixed platform, moving platform and three branches connecting moving platform and fixed platform.It is characterized in that: described fixed platform is that rectangle structure is furnished with the chute that is parallel to fixed platform above it.In branch one, one end of first connecting rod is connected with fixed platform by the revolute pair of axis being parallel in fixed platform, the connecting rod other end is connected with second connecting rod by the revolute pair of axes normal in fixed platform, the other end of second connecting rod is connected with moving platform by revolute pair, and wherein three revolute pair axis are mutually vertical; In branch two, first connecting rod is connected with fixed platform by revolute pair, and the other end of connecting rod is connected with second connecting rod by spherical pair, and the other end of second connecting rod is connected with moving platform by spherical pair; In branch three, first connecting rod is connected with fixed platform chute by the moving sets of centerline parallel in fixed platform, first connecting rod other end is connected with second connecting rod by revolute pair, the connecting rod other end and parallelogram chain connection, this parallelogram hinge other end is connected with the 3rd connecting rod, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected by revolute pair moving platform, and wherein the revolute pair axis at the 4th connecting rod two ends is parallel to each other; In branch four, one end of first connecting rod is connected with the chute on moving platform by being parallel to the moving sets of moving platform, and the other end of connecting rod is connected with hybrid mechanism end by the revolute pair of axes normal in moving platform.
2. according to claim 1 a kind of one move three turns of four degree of freedom decoupling hybrid mechanisms, it is characterized in that: secondary with fixed platform connection of rotating in above-mentioned branch one is input queued switches; The revolute pair be connected with first connecting rod in above-mentioned branch three is input queued switches; The moving sets be connected with moving platform in above-mentioned branch four is input queued switches, and the revolute pair be connected with mechanism end is input queued switches.
3. according to claim 1 a kind of one move three turns of four degree of freedom decoupling hybrid mechanisms, it is characterized in that: can replace with universal a hinge with the revolute pair at second connecting rod two ends in above-mentioned branch one; The revolute pair be connected with lower platform in above-mentioned branch two can replace with moving sets.
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| CN201510032791.0A CN104626121A (en) | 2015-01-20 | 2015-01-20 | (2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105598948A (en) * | 2016-01-26 | 2016-05-25 | 江南大学 | 2R1T modularized hybrid robot mechanism |
| CN109531550A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
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| CN1528568A (en) * | 2003-10-08 | 2004-09-15 | 杨廷力 | Three-translation-one-rotation parallel mechanism for imaginary axis machine tool and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105598948A (en) * | 2016-01-26 | 2016-05-25 | 江南大学 | 2R1T modularized hybrid robot mechanism |
| CN109531550A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
| CN109531550B (en) * | 2019-01-23 | 2024-02-13 | 河南科技大学 | Coupling-free two-rotation parallel mechanism |
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