CN104626123A - 1R, (1T1R) and 1R decoupling series-parallel robot - Google Patents

1R, (1T1R) and 1R decoupling series-parallel robot Download PDF

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Publication number
CN104626123A
CN104626123A CN201510032795.9A CN201510032795A CN104626123A CN 104626123 A CN104626123 A CN 104626123A CN 201510032795 A CN201510032795 A CN 201510032795A CN 104626123 A CN104626123 A CN 104626123A
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CN
China
Prior art keywords
platform
rod
parallel
pair
moving
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CN201510032795.9A
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Chinese (zh)
Inventor
秦友蕾
曹毅
周辉
李佳桐
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江南大学
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Priority to CN201510032795.9A priority Critical patent/CN104626123A/en
Publication of CN104626123A publication Critical patent/CN104626123A/en

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Abstract

The invention belongs to the field of robots and particularly relates to a space decoupling series-parallel mechanism. A series-parallel robot mainly comprises a three-branch parallel mechanism (1T1R), a rotating pair 1R connected with a bottom platform of the parallel mechanism and a rotating pair 1R connected with a mobile platform of the parallel mechanism. The three-branch parallel mechanism is composed of the bottom platform, the mobile platform and three branches used for connecting the bottom platform and the mobile platform. A fixed platform is connected with the bottom platform through the rotating pair. The first branch is composed of two rotating pairs, a moving pair and two connecting rods used for connecting the rotating pairs and the moving pair. The second branch is composed of two spherical pairs, a moving pair and two connecting rods used for connecting the spherical pairs and the moving pair, wherein the moving pair is located between the two spherical pairs. The third branch is composed of a moving pair parallel to the bottom platform, a parallelogram hinge, three rotating pairs and four connecting rods used for connecting the moving pair, the parallelogram hinge and the three rotating pairs. The tail end of the mechanism is connected with the mobile platform through a rotating pair with the axis parallel to the mobile platform. The series-parallel robot can achieve the function of one motion in the direction of a sliding chute and the function of three rotations around the axis off the rotating pair perpendicular to the fixed platform, the axis of the rotating pair parallel to the bottom platform and the axis of the rotating pair at the tail end of the mechanism, is simple in structure and easy to control, has a large operation space and achieves motion decoupling.

Description

A kind of 1R & (1T1R) & 1R decoupling zero series-parallel robot
Art
The invention belongs to robot field, particularly the spatially decoupled serial parallel mechanism of one.
Background technology
Series-parallel robot refers to also known as series-parallel robot: at least comprise the complex mechanical system that a parallel institution and one or more serial mechanism are combined according to certain mode.Hybrid mechanism is the assembly of series and parallel mechanism, it comprehensively can inherit the excellent properties of parallel institution and serial mechanism, and a kind of performance balance is preferably provided between, in modern manufacturing industry, have more practicality, oneself welding, spray paint, carry, automobile assembling, the field such as medical treatment obtain application.
Existence due to 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 serial parallel mechanism has become the hot issue of theory of mechanisms research field.
In the research of series-parallel robot configuration, the heavy series-parallel connection forging and pressing operating machine of 5DOF series-parallel connection etc. of Shanghai Communications University's peak invention.Chinese patent literature CN 1439492A proposes a kind of Four-degree-of-freedhybrid hybrid robot, is made up of two translational freedom degree parallel connection mechanisms, the double rotation freedom degrees rotary head structure of connecting with it and the end effector be arranged on described rotary head structure.Decoupling research for hybrid mechanism obtains some progress, such as, Chinese patent literature CN102172913A proposes a kind of four degree of freedom decoupling series-parallel robot, this mechanism controls decoupling is good, working space is large, compact conformation, motion flexibly, the advantage such as low cost of manufacture, can realize two and move two turns, but structural rigidity is bad.Although foregoing invention mechanism can realize the connection in series-parallel decoupling mechanism that two move two turns, still belong to blank to realizing the research moving the decoupling zero serial parallel mechanism of three turns at present.
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-degree-of-freedom serial parallel mechanisms.It mainly comprises three branch's parallel institutions (1T1R) and to be connected on platform at the bottom of parallel institution revolute pair 1R and to be connected revolute pair 1R on its moving platform.Three branch's parallel institutions are by end platform, moving platform and connect end platform and three branches of moving platform form.Connected by revolute pair between fixed platform and end platform.Branch one is by two revolute pairs moving sets, and connects their two connecting rod compositions; Branch two is made up of two connecting rods that contain a moving sets in the middle of two spherical pairs and connect them; Branch three is made up of the revolute pair of a moving sets and a parallelogram hinge being parallel to end platform and three and four connecting rods connected between them; Mechanism end is connected with moving platform in moving platform revolute pair by an axis being parallel.
Fixed platform is connected with end platform by revolute pair; In branch one, one end of first connecting rod is connected with end platform by the revolute pair of axis being parallel in end platform, and the connecting rod other end is connected with second connecting rod by moving sets, and the other end of second connecting rod is connected with moving platform by revolute pair; In branch two, first connecting rod is connected with end platform by spherical pair, and the other end of connecting rod is connected with second connecting rod by moving sets, 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 end platform by moving sets, the other end and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected with moving platform by revolute pair, and wherein the kinematic pair axis at second connecting rod two ends is parallel to each other; Mechanism end is connected its axis being parallel in moving platform by a revolute pair with moving platform.
In above-mentioned branch, the revolute pair 1R be connected with fixed platform is input queued switches, and will rotate at go to the bottom platform and parallel institution of the driving of revolute pair, final lead agency end rotates; Be input queued switches with end platform connection of rotating pair in above-mentioned branch one, first connecting rod rotates under the driving of revolute pair, and first link rotatable drives second connecting rod and moving platform to rotate, and moving platform rotates and drives end to rotate; The moving sets be connected with end platform in branch three is input queued switches, and first connecting rod is moved under the driving of moving sets, and first connecting rod moves and drive second and third connecting rod to be moved, and the mobile moving platform that drives of the 3rd connecting rod moves; The revolute pair be connected with moving platform is input queued switches, and under the driving of revolute pair, lead agency end rotates; And these three rotations and a moving movement are decoupling zeros, non-interference.
The present invention compared with prior art tool has the following advantages:
1, parallel-connection structure adopts three branched form more stable, and assembling is simple;
2, three, space rotational freedom is achieved and an one-movement-freedom-degree is full decoupled;
3, two revolute pairs of connecting at parallel institution (1T1R) two ends ensure that hybrid mechanism has larger space, and flexibility is high.
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
In a kind of 1R & (1T1R) the & 1R four degree of freedom decoupling series-parallel robot schematic diagram shown in Fig. 2, fixed platform 1 is connected with end platform 3 by revolute pair 2.In branch one, one end of first connecting rod 5 is connected with end platform 3 by revolute pair 4; The other end of connecting rod 5 is connected with second connecting rod 7 by moving sets 6, and the other end of connecting rod 7 is connected with moving platform 14 by revolute pair 8; In branch two, first connecting rod 10 is connected with end platform 3 by spherical pair 9, and the other end of connecting rod 10 is connected with second connecting rod 12 by moving sets 11, and the other end of connecting rod 12 is connected with moving platform 14 by spherical pair 13; In branch three, first connecting rod 17 is connected with the chute 15 on end platform 3 by moving sets 16, connecting rod 17 other end is connected with parallelogram hinge 18, this parallelogram hinge 18 other end is connected with second connecting rod 19, second connecting rod 19 other end is connected with the 3rd connecting rod 21 by revolute pair 20,3rd connecting rod 21 other end is connected with the 4th connecting rod 23 by revolute pair 22, and the other end of connecting rod 23 is connected with moving platform 14 by revolute pair 24; Mechanism end 27 is connected with moving platform 14 by a revolute pair 26.
The axes normal of revolute pair 2 is in fixed platform.The axis being parallel of the revolute pair 4 be connected with end platform in branch one is in end platform 3, and the centerline parallel of moving sets 6 is in the axis of end platform 3 and revolute pair 4, and the axis being parallel of revolute pair 8 is in the center line of end platform 3 perpendicular to moving sets 6 and the axis of revolute pair 4; In branch two, the centerline parallel of moving sets 11 is in the line of spherical pair 9,13 centre of sphere; In branch three, the centerline parallel of moving sets 16 is in the axis of revolute pair 4, the axis being parallel of parallelogram hinge 18 is in the center line of moving sets 16, the axis of revolute pair 20,22 is parallel to each other and is parallel to the axis of hinge 18 and the axis of revolute pair 4, and the axes normal of revolute pair 24 is in moving platform 14; Revolute pair 26 axis being parallel be connected with mechanism end is in the axis of revolute pair 8.

Claims (3)

1. 1R & (1T1R) & 1R decoupling zero series-parallel robot, it mainly comprises three branch's parallel institutions (1T1R)) with to be connected on platform at the bottom of parallel institution revolute pair 1R and to be connected revolute pair 1R on its moving platform.Three branch's parallel institutions are made up of end platform, moving platform and three branches connecting moving platform and end platform.It is characterized in that: platform of the described end is that rectangle structure is furnished with the chute that is parallel to end platform above it, and fixed platform is connected with end platform by revolute pair; In branch one, one end of first connecting rod is connected with end platform by the revolute pair of axis being parallel in end platform, and the connecting rod other end is connected with second connecting rod by moving sets, and the other end of second connecting rod is connected with moving platform by revolute pair; In branch two, first connecting rod is connected with end platform by spherical pair, and the other end of connecting rod is connected with second connecting rod by moving sets, 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 end platform by moving sets, the other end and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, 3rd the connecting rod other end is connected with the 4th connecting rod by revolute pair, 4th the connecting rod other end is connected with moving platform by revolute pair, and wherein the kinematic pair axis at second connecting rod two ends is parallel to each other; Mechanism end is connected its axis being parallel in moving platform by a revolute pair with moving platform.
2. a kind of 1R & (1T1R) & 1R four degree of freedom decoupling series-parallel robot according to claim 1, is characterized in that: the above-mentioned revolute pair 1R be connected with fixed platform is input queued switches; Be input queued switches with end platform connection of rotating pair in above-mentioned branch one; The moving sets be connected with end platform in above-mentioned branch three is input queued switches; The above-mentioned revolute pair be connected with moving platform is input queued switches.
3. a kind of 1R & (1T1R) & 1R four degree of freedom decoupling series-parallel robot according to claim 1, is characterized in that: in above-mentioned branch one, the revolute pair at first connecting rod two ends and moving sets can replace with a cylindrical pair; The revolute pair of the 4th connecting rod two ends connection in above-mentioned branch three can replace by a universal hinge pair.
CN201510032795.9A 2015-01-20 2015-01-20 1R, (1T1R) and 1R decoupling series-parallel robot CN104626123A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030121351A1 (en) * 2001-05-31 2003-07-03 Clement Gosselin Cartesian parallel manipulators
CN101143446A (en) * 2007-07-27 2008-03-19 河南科技大学 Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism
CN102211329A (en) * 2011-06-02 2011-10-12 常州大学 Five-degree-of-freedom spatial series-parallel operating platform
CN102303313A (en) * 2011-08-16 2012-01-04 河南科技大学 Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030121351A1 (en) * 2001-05-31 2003-07-03 Clement Gosselin Cartesian parallel manipulators
CN101143446A (en) * 2007-07-27 2008-03-19 河南科技大学 Non-coupling two-dimension moving one-dimension turning three-freedom spatial parallel mechanism
CN102211329A (en) * 2011-06-02 2011-10-12 常州大学 Five-degree-of-freedom spatial series-parallel operating platform
CN102303313A (en) * 2011-08-16 2012-01-04 河南科技大学 Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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Application publication date: 20150520