CN104690714A - (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism - Google Patents
(2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism Download PDFInfo
- Publication number
- CN104690714A CN104690714A CN201510032630.1A CN201510032630A CN104690714A CN 104690714 A CN104690714 A CN 104690714A CN 201510032630 A CN201510032630 A CN 201510032630A CN 104690714 A CN104690714 A CN 104690714A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- branch
- platform
- moving
- revolute pair
- 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
Abstract
The invention belongs to the field of robots, and particularly relates to a space decoupling series-parallel connection mechanism. The series-parallel connection mechanism is a (2T)&1T1R series-parallel connection mechanism and mainly comprises a two-branch parallel connection mechanism (2T) and a series connection branch 1T1R connected in series to a movable platform of the parallel connection mechanism, wherein the two-branch parallel connection mechanism comprises a fixed platform, a movable platform and two branches connecting the movable platform and the fixed platform; a branch I comprises a shifting pair, a parallelogram hinge and two rotating pairs with parallel axes; a branch II comprises two shifting pairs with mutually perpendicular center lines and two rotating pairs with two mutually perpendicular axes; a branch III comprises a shifting pair parallel to the movable platform and a rotating pair with an axis perpendicular to the center line of the shifting pair. The mechanism can realize spatial three-dimensional movement and rotating around the axis of the fixed platform, is simple in structure, good in rigidity, large in operating space and easy to control and can realize movement decoupling.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
Series-parallel robot mechanism has space multiple degrees of freedom many rings closed chain and single open chain, have serial manipulator working space concurrently large, easy to control 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, inverse kinematic is easily asked, simple series and parallel configuration shortcoming can be avoided again simultaneously, in modern manufacturing industry, have more practicality.
From 3-6 change not etc., at present, to the research of five degree of freedom hybrid mechanism comparatively comprehensively and deeply, that also applies in the industry is comparatively extensive for the free degree of hybrid mechanism.Owing to containing parallel-connection structure in series-parallel robot, 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 Four-degree-of-freedhybrid hybrid robot research, the FANUC Robot Mi A/6s of FANUC company is on the moving platform of 3 translation Delta mechanisms, then the 4DOF series-parallel robot that the 1R that connects is formed.Decoupling research for hybrid mechanism obtains some progress, and such as, Chinese patent literature CN102085660A proposes a kind of Three-degree-of-freedom decoupling hybrid robot and is connected in series a two-degree-of-freedom plane parallel structure by a revolute pair and forms, and moves full decoupled.Chinese patent literature CN 102172913 A proposes a kind of Four-degree-of-freedhybrid hybrid robot, a two-degree-of-freedom plane parallel structure operator is installed again on the basis of a moving sets and revolute pair, this four-freedom hybrid operator, has two and moves two rotating functions and contain kinematics sequences and analyse and separate and control the advantages such as decoupling is good.Foregoing invention mechanism does not also have to realize the hybrid mechanism that three move one turn of decoupling zero.
Summary of the invention
The object of the present invention is to provide a kind of structure simple, be easy to control, mobile decoupling three move one turn of Four-degree-of-freedhybrid hybrid robot.(2T) & 1T1R hybrid mechanism is formed primarily of Ge Liang branch parallel institution (2T) and the series branch 1T1R be serially connected on parallel institution moving platform.Two branch's parallel institutions are made up of fixed platform, moving platform and the Liang Ge branch that connects moving platform and fixed platform.Fixed platform is that a rectangle structure is furnished with the chute that is parallel to fixed platform above it.Branch one is made up of a moving sets and a parallelogram hinge and two axis revolute pairs parallel to each other; Branch two is made up of two orthogonal moving sets of center line and two orthogonal revolute pairs of axis; Branch three is parallel to moving platform moving sets by one and an axes normal forms in the revolute pair of moving sets center line.
In branch one, one end of first connecting rod is connected with fixed platform by the moving sets of centerline parallel in fixed platform chute, the other end of this connecting rod and parallelogram chain connection, the other end of parallelogram hinge 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 moving platform by revolute pair, and wherein the revolute pair at the 3rd connecting rod two ends is parallel to each other; In branch two, one end of first connecting rod is connected with fixed platform by the moving sets of central axis in fixed platform, the other end of this first connecting rod is connected with second connecting rod by moving sets, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, 3rd the connecting rod other end is connected with moving platform by revolute pair, wherein the moving sets center line at first connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is mutually vertical; Branch three is connected in series one by moving platform and is parallel to moving platform moving sets and an axes normal forms in the revolute pair of moving sets center line, and first connecting rod is connected with moving platform by moving sets, and the first connecting rod other end is connected with hybrid mechanism end by revolute pair.
The present invention compared with prior art tool has the following advantages:
1, Stability Analysis of Structures, good rigidly, kinematic pair contains compound motion pair;
2, three, space one-movement-freedom-degree and a rotational freedom decoupling zero is achieved;
3, relative and parallel institution, has larger operating space.
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 one turn of four degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one three shown in Fig. 2, in parallel institution branch one, one end of first connecting rod is connected with fixed platform 1 upper hopper chute 2 by moving sets 3, the other end of first connecting rod is connected with parallelogram hinge 4, parallelogram hinge 4 other end is connected with second connecting rod, second connecting rod other end is connected with the 3rd connecting rod 6 by revolute pair 5, and connecting rod 6 other end is connected with moving platform 14 by revolute pair 7; One end of branch two side chain first connecting rod 9 is connected with fixed platform 1 by moving sets 8, the other end of first connecting rod is connected with connecting rod by moving sets 10, the connecting rod other end is connected with the 3rd connecting rod 12 by revolute pair 11, and the other end of connecting rod 12 is connected with moving platform 14 by revolute pair 13; In the branch three be connected in series with moving platform, first connecting rod 16 one end is connected with moving platform 14 by revolute pair 15, and connecting rod 14 other end is connected with mechanism end 18 by revolute pair 17.
Moving sets 3 centerline parallel in branch one is in fixed platform 1, and the axis of revolute pair 5,7 is parallel to each other and be parallel to the centerline direction of mobile dynamic secondary 3 with the axis being parallel of parallelogram hinge 4 simultaneously; In branch two, moving sets 8 central axis is in fixed platform, moving sets 10 centerline parallel is in fixed platform and perpendicular to moving sets 8 center line, be parallel to moving sets 3 center line and revolute pair 5,7 axis, revolute pair 10 axis being parallel in moving sets 8 central axis in revolute pair 5,7 axis and moving sets 3,10 center line, revolute pair 13 axis being parallel in fixed platform perpendicular to moving sets 3,8,10 center line and revolute pair 5,7,11 axis; Be connected moving sets 15 centerline parallel in branch three with moving platform in moving platform, perpendicular to moving sets 3 centerline direction, revolute pair 17 axes normal, in moving sets 15 center line and revolute pair 5,7,12 axis, is parallel to revolute pair 11 axis moving sets 8 center line.
Claims (3)
1. one kind three is moved one turn of four degree of freedom decoupling hybrid mechanism, form primarily of Ge Liang branch parallel institution (2T) and the series branch 1T1R be serially connected on parallel institution moving platform, two branch's parallel institutions are made up of fixed platform, moving platform and the Liang Ge branch that connects moving platform and fixed platform.It is characterized in that: described fixed platform is that a 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 moving sets of centerline parallel in fixed platform chute, the other end of this connecting rod and parallelogram chain connection, the other end of parallelogram hinge 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 moving platform by revolute pair, and wherein the revolute pair at the 3rd connecting rod two ends is parallel to each other; In branch two, one end of first connecting rod is connected with fixed platform by the moving sets of central axis in fixed platform, the other end of this first connecting rod is connected with second connecting rod by moving sets, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, 3rd the connecting rod other end is connected with moving platform by revolute pair, wherein the moving sets center line at first connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is mutually vertical; Branch three is connected in series one by moving platform and is parallel to moving platform moving sets and an axes normal forms in the revolute pair of moving sets center line, and first connecting rod is connected with moving platform by moving sets, and the first connecting rod other end is connected with hybrid mechanism end by revolute pair.
2. move a rotation decoupling zero hybrid mechanism according to according to claim 1 three, it is characterized in that: the moving sets be connected with fixed platform in above-mentioned branch one is active drive; The moving sets be connected with fixed platform in above-mentioned branch two is active drive; In above-mentioned branch three, the 3rd moving sets be connected with moving platform is active drive, and the revolute pair be connected with mechanism end is active drive.
3. move a rotation decoupling zero hybrid mechanism according to according to claim 1 three, it is characterized in that: in above-mentioned branch one, parallelogram hinge can replace with a moving sets; In above-mentioned branch two, the revolute pair at the 3rd bar two ends can replace by universal hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032630.1A CN104690714A (en) | 2015-01-20 | 2015-01-20 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510032630.1A CN104690714A (en) | 2015-01-20 | 2015-01-20 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104690714A true CN104690714A (en) | 2015-06-10 |
Family
ID=53338461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510032630.1A Pending CN104690714A (en) | 2015-01-20 | 2015-01-20 | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104690714A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN2637134Y (en) * | 2003-07-16 | 2004-09-01 | 刘辛军 | Parallel linked robot connecting branch structure and hexafreedon parallel linked robot structure |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103624778A (en) * | 2013-08-21 | 2014-03-12 | 河南科技大学 | Asymmetric full-decoupling four-freedom-degree parallel mechanism |
| CN103862462A (en) * | 2014-02-18 | 2014-06-18 | 燕山大学 | Two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism |
| EP2789432A1 (en) * | 2011-12-07 | 2014-10-15 | THK Co., Ltd. | Parallel link robot |
-
2015
- 2015-01-20 CN CN201510032630.1A patent/CN104690714A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1439492A (en) * | 2003-03-06 | 2003-09-03 | 天津大学 | Four dimension mixed linking robot |
| CN2637134Y (en) * | 2003-07-16 | 2004-09-01 | 刘辛军 | Parallel linked robot connecting branch structure and hexafreedon parallel linked robot structure |
| CN102172913A (en) * | 2011-02-23 | 2011-09-07 | 常州大学 | Four-degree-of-freedom decoupling hybrid robot |
| EP2789432A1 (en) * | 2011-12-07 | 2014-10-15 | THK Co., Ltd. | Parallel link robot |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103624778A (en) * | 2013-08-21 | 2014-03-12 | 河南科技大学 | Asymmetric full-decoupling four-freedom-degree parallel mechanism |
| CN103862462A (en) * | 2014-02-18 | 2014-06-18 | 燕山大学 | Two-moving one-rotation three-freedom complete decoupling space parallel connection mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 史巧硕: "《并联机器人机构构型方法研究》", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 张彦斌，吴鑫: "《完全解耦二移动二转动并联机构结构综合》", 《农业机械学报》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107139167B (en) | Motion bifurcation parallel mechanism | |
| CN104626122A (en) | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN107175654B (en) | Structure redundancy parallel mechanism with two rotation and two movement | |
| CN107336219B (en) | Parallel mechanism with two-movement three-rotation five-degree-of-freedom | |
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN205201513U (en) | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism | |
| CN102909569B (en) | 1T2R three-degree of freedom spatial parallel mechanism | |
| CN104526687A (en) | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN104760037A (en) | (2T)&(1T1R) four-DOF (Degree of Freedom) decoupling and series-parallel connecting mechanism | |
| CN104875188A (en) | (2T1R)&(2R) Completely isotropic parallel serial robot mechanism | |
| CN107283427B (en) | Metamorphic parallel mechanism | |
| CN104669246A (en) | (2T1R) and 1T four-degree-of-freedom decoupling parallel and serial mechanism | |
| CN103909526A (en) | Motion-pattern variable two-degree-of-freedom parallel mechanical wrist | |
| CN104626123A (en) | 1R, (1T1R) and 1R decoupling series-parallel robot | |
| CN104690716A (en) | (2T1R)& 1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism | |
| CN105881496A (en) | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R) | |
| CN105563461A (en) | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism | |
| CN104626118A (en) | Double-acting platform four-degree-of-freedom decoupling parallel-serial mechanism | |
| CN104690714A (en) | (2T)&1T1R four-DOF (degree-of-freedom) decoupling series-parallel connection mechanism | |
| CN105881497A (en) | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) | |
| CN102922310B (en) | 2T1R three-degree-of-freedom spatial parallel mechanism | |
| CN104626126A (en) | (1T1R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism | |
| CN104647358A (en) | 3T and 1R four-degree-of-freedom complete decoupling hybrid mechanism | |
| CN104626115A (en) | (2T) and 2R four-degree-of-freedom decoupling series-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: 20150610 |
|
| WD01 | Invention patent application deemed withdrawn after publication |