CN104708617B - A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator - Google Patents
A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator Download PDFInfo
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- CN104708617B CN104708617B CN201510091200.7A CN201510091200A CN104708617B CN 104708617 B CN104708617 B CN 104708617B CN 201510091200 A CN201510091200 A CN 201510091200A CN 104708617 B CN104708617 B CN 104708617B
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Abstract
The invention discloses a kind of Three-freedom-degree hybrid manipulator, including pedestal, moving platform and end effector, parallel connection part and part in series are provided between the pedestal and end effector, parallel connection part is made up of three structure identical side chains being arranged between pedestal and moving platform, and part in series is made up of three parallel-crank mechanisms；Every side chain in the parallel connection part is relatively moved by motor band movable slider and pedestal, and three translational degree of freedom inputs are provided for moving platform.Moving platform is hinged with the rod member Hooke in part in series, and the three-degree-of-freedom motion of moving platform is converted into the two-dimensional translation and the one-dimensional rotation around pedestal of end effector, realizes that space three-freedom is positioned.Serial-parallel mirror topological structure is used in the present invention, its compact conformation reduces heavy moving parts, increase working space, kinematic accuracy is improved, high-speed motion is easily realized, is a kind of light inertia, the Three-freedom-degree hybrid manipulator of the achievable high-speed motion of high power density.
Description
Technical field
The present invention relates to a kind of robot, the hybrid mechanism with Three Degree Of Freedom of more particularly to a kind of robot.
Background technology
Mainly there are two classes currently used for sterically defined Three Degree Of Freedom mechanism of robot：Articulated type of connecting and plane-parallel type
Formula.The inertia of series connection jointed linkage is larger, and movement velocity is low and positioning precision is poor, though parallel can realize higher motion
Speed, but working range and working space critical constraints.
There are a small number of 3-freedom parallel mechanisms that can be applied to material handling in the world.Patent US4976582 (or
WO8703528, EP0250470, CH672089, JP63501860T) a kind of space symmetr three-translational parallel connection mechanism is described, wrap
Three active branched chains are included, every side chain includes nearly hack lever and remote hack lever two parts.Wherein near hack lever one is looked for fixed frame
Only there is a mobile or rotational freedom, the other end is by only having the hinge of two revolution frees degree and the one of remote hack lever
End connection；The remote hack lever other end is connected by only having the hinge of two revolution frees degree with moving platform, so as to limit moving platform
Three relative to fixed frame are turned round the free degree.The remote hack lever form of mechanism is divided into two kinds：One kind is single pole form, the two of bar
End is connected with nearly hack lever and moving platform respectively by Hooke's hinge；A kind of parallelogram being made up of double-rod, every bar two ends lead to
Cross Hooke compared with or spherical hinge be connected respectively with nearly hack lever and moving platform.Said mechanism is limited in that：Active joint is rotation
Driving, the bearing capacity of mechanism is poor, and working space and range of movement are small.
The content of the invention
Technical problem is there is provided a kind of Three Degree Of Freedom detent mechanism present in solution known technology and its stretches by the present invention
Drive-type Three-freedom-degree hybrid robot, using serial-parallel mirror topological structure, its compact conformation reduces heavy moving parts,
Increase working space, improve kinematic accuracy, easily realize high-speed motion, be a kind of light inertia, high power density can be achieved
The Three-freedom-degree hybrid manipulator of high-speed motion.
In order to solve the above-mentioned technical problem, a kind of Three Degree Of Freedom detent mechanism proposed by the present invention, including pedestal are put down with dynamic
Platform, provided with three structure identical side chains between the pedestal and moving platform, the side chain is included from pedestal to moving platform successively
Connected sliding block, lower Hooke's hinge, hack lever and upper Hooke's hinge；The sliding block is connected with the pedestal by prismatic pair, the lower tiger
Gram hinge is identical with the structure of upper Hooke's hinge, is constituted by interior single tine, cross axle and outer single tine；The interior single tine and outer single tine with
The cross axle rotates connection；Outer single tine and the sliding block in the lower Hooke's hinge is affixed；Outer list in the upper Hooke's hinge
Fork is affixed with the moving platform；The two ends of the hack lever are rotated with the interior single tine in the interior single tine and lower Hooke's hinge in upper Hooke's hinge
Connection, the relative movement between the sliding block and pedestal provides three translational degree of freedom driving inputs for the moving platform；It is described
Moving platform Hooke is hinged first connecting rod, and the first connecting rod is rotated with one end of second connecting rod and third connecting rod and is connected, and described the
The other end of two connecting rods is connected by rotating secondary A with one end of the 5th connecting rod；Any on the third connecting rod and the 5th connecting rod
The other end pass through rotate secondary B rotate connection；The first connecting rod, second connecting rod after connection, the 5th connecting rod, third connecting rod structure
Into a parallel-crank mechanism, the parallel-crank mechanism is rotated with fourth link at rotation secondary A and is connected, and the described 4th
Connecting rod is rotated with the pedestal and is connected.
A kind of six degree of freedom series-parallel connection manipulator proposed by the present invention, on the basis of above-mentioned Three Degree Of Freedom detent mechanism, institute
Third connecting rod is stated provided with Three Degree Of Freedom wrist.
A kind of Three-freedom-degree hybrid manipulator proposed by the present invention, including pedestal, moving platform and end effector, the base
Provided with three structure identical side chains between seat and moving platform, the side chain includes the cunning being sequentially connected from pedestal to moving platform
Block, lower Hooke's hinge, hack lever and upper Hooke's hinge；The sliding block is connected with the pedestal by prismatic pair, the lower Hooke's hinge and upper
The structure of Hooke's hinge is identical, is constituted by interior single tine, cross axle and outer single tine；The interior single tine and outer single tine with the cross
Axle rotates connection；Outer single tine and the sliding block in the lower Hooke's hinge is affixed；Outer single tine in the upper Hooke's hinge with it is described
Moving platform is affixed；The two ends of the hack lever rotate with the interior single tine in the interior single tine in upper Hooke's hinge and lower Hooke's hinge and are connected, institute
State the relative movement between sliding block and pedestal and provide three translational degree of freedom driving inputs for the moving platform；The moving platform tiger
First connecting rod gram is hinged, the first connecting rod is rotated with one end of second connecting rod and third connecting rod and is connected, the second connecting rod
The other end is connected with one end of fourth link, the 5th connecting rod simultaneously by rotating secondary A；Any on the third connecting rod and the 5th
The other end of connecting rod rotates connection with being connected set square simultaneously by rotating secondary B；The first connecting rod, the second company after connection
Bar, the 5th connecting rod, third connecting rod constitute the first parallel-crank mechanism；The other end of the fourth link and six-bar linkage
One end rotates with the pedestal and is connected by rotating secondary C connections, the fourth link again；The other end of the six-bar linkage and institute
State connection set square and rotate connection；The fourth link, the 5th connecting rod, connection set square and six-bar linkage after connection are constituted
Second parallel-crank mechanism；The other end of the third connecting rod is rotated with one end of seven-link assembly and is connected；The seven-link assembly
Rotate and be connected with one end of the 8th connecting rod；The other end of 8th connecting rod is rotated with the connection set square and connected；After connection
The third connecting rod, seven-link assembly, the 8th connecting rod and connection set square constitute the 3rd parallel-crank mechanism；The end
Actuator and seven-link assembly are affixed；Three structure identical side chain constitutes parallel connection part, and the moving platform is by the parallel connection part
Three-degree-of-freedom motion is realized in drive；First parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel four side
Shape mechanism constitutes part in series, and the three-degree-of-freedom motion of moving platform is converted into the two-dimensional translation of end effector by part in series
With the one-dimensional rotation around the pedestal.
Compared with prior art, the beneficial effects of the invention are as follows：
Three-freedom-degree hybrid manipulator in the present invention, is provided with parallel connection part and connects between pedestal and end effector
Part, three structures that the parallel connection part includes pedestal, moving platform and is arranged between the pedestal and moving platform are identical
Side chain.Every side chain that part in series is included in three parallel-crank mechanisms, the parallel connection part passes through motor band
Movable slider is relatively moved with pedestal, and three translational degree of freedom inputs are provided for moving platform.Moving platform and the rod member in part in series
Hooke is hinged, and the three-degree-of-freedom motion of moving platform is converted into the two-dimensional translation and the one-dimensional rotation around pedestal of end effector,
Realize that space three-freedom is positioned.Serial-parallel mirror topological structure is used in the present invention, its compact conformation reduces moving component matter
Amount, increase working space, improve kinematic accuracy, easily realize high-speed motion, be a kind of light inertia, high power density can be real
The Three-freedom-degree hybrid manipulator of existing high-speed motion.
Brief description of the drawings
Fig. 1 is integrated model schematic diagram of the invention；
Fig. 2 is the Hooke's hinge and hack lever schematic diagram in the side chain of the present invention；
Reference：Single tine, 7- crosses in Hooke's hinge under 1- pedestals, 2- sliding blocks, 3-, 4- hack levers, the upper Hooke's hinges of 5-, 6-
Axle, the outer single tines of 8-, 9- moving platforms, 10- first connecting rods, 11- second connecting rods, 12- fourth links, the connecting rods of 13- the 5th, 14- the 3rd
Connecting rod, 15- six-bar linkages, 17- seven-link assemblies, 18- connection set squares, 19- end effectors.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, described is specific
Only the present invention is explained for embodiment, is not intended to limit the invention.
As depicted in figs. 1 and 2, a kind of Three-freedom-degree hybrid manipulator proposed in the present invention, including pedestal 1, moving platform 9
With end effector 19, provided with three structure identical side chains between the pedestal 1 and moving platform 9, the side chain is included from base
Sliding block 2, lower Hooke's hinge 3, hack lever 4 and upper Hooke's hinge 5 that seat 1 is sequentially connected to moving platform 9.
The sliding block 2 is connected with the pedestal 1 by prismatic pair, the structure phase of the lower Hooke's hinge 3 and upper Hooke's hinge 5
Together, constituted by interior single tine 6, cross axle 7 and outer single tine 8；The interior single tine 6 and outer single tine 8 are rotated with the cross axle 7 to be connected
Connect；Outer single tine 8 and the sliding block 2 in the lower Hooke's hinge 3 is affixed；Outer single tine 8 in the upper Hooke's hinge 5 moves flat with described
Platform 9 is affixed；The two ends of the hack lever 4 rotate with the interior single tine 6 in the interior single tine 6 in upper Hooke's hinge 5 and lower Hooke's hinge 3 and are connected,
Relative movement between the sliding block 2 and pedestal 1 provides three translational degree of freedom driving inputs for the moving platform 9.
The Hooke of moving platform 9 is hinged first connecting rod 10, the first connecting rod 10 and second connecting rod 11 and third connecting rod 14
One end rotate connection, the other end of the second connecting rod 11 by rotate secondary A and meanwhile with fourth link 12, the 5th connecting rod 13
One end is connected；On the third connecting rod 14 a little and the 5th connecting rod 13 the other end by rotating secondary B while with being connected triangle
Plate 18 rotates connection；The first connecting rod 10, second connecting rod 11, the 5th connecting rod 13 after connection, third connecting rod 14 constitute
One parallel-crank mechanism, the parallel-crank mechanism is rotated with fourth link 12 at rotation secondary A and is connected, and the described 4th connects
Bar 12 is rotated with the pedestal 1 and is connected
The other end of the fourth link 12 is connected with one end of six-bar linkage 15 by rotating secondary C, the fourth link
12 are connected with the pedestal 1 rotation again；The other end of the six-bar linkage 15 is rotated with the connection set square 18 and connected；Connection
The fourth link 12, the 5th connecting rod 13, connection set square 18 and six-bar linkage 15 afterwards constitutes the second parallelogram machine
Structure.
The other end of the third connecting rod 14 is rotated with one end of seven-link assembly 17 and is connected；The seven-link assembly 17 and the 8th
One end of connecting rod 16 rotates connection；The other end of 8th connecting rod 16 is rotated with the connection set square 18 and connected；After connection
The third connecting rod 14, seven-link assembly 17, the 8th connecting rod 16 and connection set square 18 constitute the 3rd parallel-crank mechanism.
The end effector 19 is affixed with seven-link assembly 17；
Three structure identical side chains constitute parallel connection part, and the moving platform 9 is driven by the parallel connection part realizes three certainly
By degree motion；First parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel-crank mechanism are constituted
The three-degree-of-freedom motion of moving platform 9 is converted into the two-dimensional translation of end effector 19 and around described by part in series, part in series
The one-dimensional rotation of pedestal 1.
Above-mentioned Three-freedom-degree hybrid manipulator is as a result of series-parallel connection topological structure, therefore its compact conformation, reduces motion
Part quality, increases working space, improves kinematic accuracy, easily realizes high-speed motion.
Both can be tiger as described above in three structure identical side chains in Three-freedom-degree hybrid manipulator of the present invention
Gram hinge-connection form can also be spherical hinge form, can also be the parallel-crank mechanism of two groups of parallel isometric side chains compositions
Form.
On the basis of above-mentioned Three-freedom-degree hybrid robot manipulator structure, if be changed to can be around seven-link assembly for end effector 19
17 rotate, then constitute the executing agency of four-degree-of-freedom manipulator.
On the basis of above-mentioned Three-freedom-degree hybrid robot manipulator structure, if removing fourth link 12, six-bar linkage 15, the 8th
Connecting rod 16, seven-link assembly 17 and connection set square 18, then may be constructed another form of Three Degree Of Freedom detent mechanism, this three
Install a Three Degree Of Freedom wrist on the third connecting rod 14 of freedom positioning mechanism additional, it is possible to constitute a six degree of freedom series-parallel connection machine
People.
Although the preferred embodiments of the present invention are described above in conjunction with accompanying drawing, the invention is not limited in upper
The embodiment stated, above-mentioned embodiment is only schematical, be not it is restricted, this area it is common
Technical staff in the case of present inventive concept and scope of the claimed protection is not departed from, may be used also under the enlightenment of the present invention
To make many forms, these are belonged within protection scope of the present invention.
Claims (3)
1. a kind of Three Degree Of Freedom detent mechanism, including pedestal (1) and moving platform (9), it is characterised in that the pedestal (1) is with moving
Provided with three structure identical side chains between platform (9), the side chain includes what is be sequentially connected from pedestal (1) to moving platform (9)
Sliding block (2), lower Hooke's hinge (3), hack lever (4) and upper Hooke's hinge (5)；
The sliding block (2) is connected with the pedestal (1) by prismatic pair, the structure of the lower Hooke's hinge (3) and upper Hooke's hinge (5)
It is identical, constituted by interior single tine (6), cross axle (7) and outer single tine (8)；The interior single tine (6) and outer single tine (8) with it is described
Cross axle (7) rotates connection；Outer single tine (8) and the sliding block (2) in the lower Hooke's hinge (3) is affixed；The upper Hooke's hinge
(5) the outer single tine (8) and the moving platform (9) in are affixed；The two ends of the hack lever (4) and the interior single tine in upper Hooke's hinge (5)
(6) the interior single tine (6) and in lower Hooke's hinge (3) rotates connection, and the relative movement between the sliding block (2) and pedestal (1) is institute
State moving platform (9) and three translational degree of freedom driving inputs are provided；
Moving platform (9) Hooke is hinged first connecting rod (10), and the first connecting rod (10) connects with second connecting rod (11) and the 3rd
One end of bar (14) rotates connection, and the other end of the second connecting rod (11) passes through one end of rotation secondary A and the 5th connecting rod (13)
Connection；A little passing through with the other end of the 5th connecting rod (13) on the third connecting rod (14) rotates secondary B and rotates connection；After connection
The first connecting rod (10), second connecting rod (11), the 5th connecting rod (13), third connecting rod (14) constitute a parallelogram machine
Structure, the parallel-crank mechanism rotate secondary A at fourth link (12) rotation be connected, the fourth link (12) with it is described
Pedestal (1) rotates connection.
2. a kind of six degree of freedom series-parallel connection manipulator, it is characterised in that including Three Degree Of Freedom detent mechanism as claimed in claim 1,
Wherein, the third connecting rod (14) is provided with Three Degree Of Freedom wrist.
3. a kind of Three-freedom-degree hybrid manipulator, including pedestal (1), moving platform (9) and end effector (19), its feature exist
In provided with three structure identical side chains between the pedestal (1) and moving platform (9), the side chain includes extremely dynamic from pedestal (1)
Sliding block (2), lower Hooke's hinge (3), hack lever (4) and upper Hooke's hinge (5) that platform (9) is sequentially connected；
The sliding block (2) is connected with the pedestal (1) by prismatic pair, the structure of the lower Hooke's hinge (3) and upper Hooke's hinge (5)
It is identical, constituted by interior single tine (6), cross axle (7) and outer single tine (8)；The interior single tine (6) and outer single tine (8) with it is described
Cross axle (7) rotates connection；Outer single tine (8) and the sliding block (2) in the lower Hooke's hinge (3) is affixed；The upper Hooke's hinge
(5) the outer single tine (8) and the moving platform (9) in are affixed；The two ends of the hack lever (4) and the interior single tine in upper Hooke's hinge (5)
(6) the interior single tine (6) and in lower Hooke's hinge (3) rotates connection, and the relative movement between the sliding block (2) and pedestal (1) is institute
State moving platform (9) and three translational degree of freedom driving inputs are provided；
Moving platform (9) Hooke is hinged first connecting rod (10), and the first connecting rod (10) connects with second connecting rod (11) and the 3rd
One end of bar (14) rotates connection, the other end of the second connecting rod (11) by rotate secondary A and meanwhile with fourth link (12), the
One end connection of five connecting rods (13)；A little passing through with the other end of the 5th connecting rod (13) on the third connecting rod (14) rotates secondary
B rotates connection with being connected set square (18) simultaneously；The first connecting rod (10), second connecting rod (11) after connection, the 5th connecting rod
(13), third connecting rod (14) constitutes the first parallel-crank mechanism；
The other end of the fourth link (12) is connected with one end of six-bar linkage (15) by rotating secondary C, the fourth link
(12) and rotate and be connected with the pedestal (1)；The other end of the six-bar linkage (15) is rotated with the connection set square (18)
Connection；The fourth link (12), the 5th connecting rod (13), connection set square (18) and six-bar linkage (15) after connection are constituted
Second parallel-crank mechanism；
The other end of the third connecting rod (14) is rotated with one end of seven-link assembly (17) and is connected；The seven-link assembly (17) and the
One end of eight connecting rods (16) rotates connection；The other end of 8th connecting rod (16) is rotated with the connection set square (18) to be connected
Connect；The third connecting rod (14), seven-link assembly (17), the 8th connecting rod (16) after connection and connection set square (18) constitute the
Three parallel-crank mechanisms；
The end effector (19) and seven-link assembly (17) are affixed；
Three structure identical side chains constitute parallel connection part, and the moving platform (9) is driven by the parallel connection part realizes three freely
Degree motion；First parallel-crank mechanism, the second parallel-crank mechanism and the 3rd parallel-crank mechanism constitute string
Join part, the three-degree-of-freedom motion of moving platform (9) is converted into the two-dimensional translation of end effector (19) and around institute by part in series
State the one-dimensional rotation of pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510091200.7A CN104708617B (en) | 2015-02-28 | 2015-02-28 | A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510091200.7A CN104708617B (en) | 2015-02-28 | 2015-02-28 | A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator |
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| Publication Number | Publication Date |
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| CN104708617A CN104708617A (en) | 2015-06-17 |
| CN104708617B true CN104708617B (en) | 2017-07-18 |
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| CN201510091200.7A Expired - Fee Related CN104708617B (en) | 2015-02-28 | 2015-02-28 | A kind of Three Degree Of Freedom detent mechanism and its multiple degrees of freedom series-parallel connection manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366451A (en) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | A kind of rope drive Three Degree Of Freedom force feedback equipment |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105952860B (en) * | 2016-05-13 | 2018-06-22 | 北京空间飞行器总体设计部 | A kind of double double leval jibs repeat Zhan Shou mechanisms |
| CN111037541A (en) * | 2019-12-31 | 2020-04-21 | 青岛钢铁侠科技有限公司 | High-speed serial-parallel hybrid manipulator |
| CN113305874B (en) * | 2021-05-27 | 2023-02-17 | 北京交通大学 | Three-finger multi-degree-of-freedom dexterous hand mechanism |
| CN113319826A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | Three-degree-of-freedom parallel mechanism with closed-loop branched chain |
| CN113319829A (en) * | 2021-07-07 | 2021-08-31 | 天津大学 | High-rigidity motion decoupling three-translation parallel mechanism |
| CN116766142B (en) * | 2023-08-23 | 2024-02-06 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom parallel adjustment platform |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2507177Y2 (en) * | 1990-08-02 | 1996-08-14 | 日東工器株式会社 | Arm device for cargo handling crane |
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN1919545A (en) * | 2006-09-08 | 2007-02-28 | 清华大学 | Robot for carrying and piling |
| CN102602708B (en) * | 2012-03-26 | 2013-12-18 | 广东工业大学 | Robot palletizer for carrying |
| CN103662855B (en) * | 2014-01-03 | 2015-09-02 | 江西省机械科学研究所 | A kind of freedom degree parallel connection palletizing mechanical arm |
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2015
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366451A (en) * | 2018-10-25 | 2019-02-22 | 北京机械设备研究所 | A kind of rope drive Three Degree Of Freedom force feedback equipment |
| CN109366451B (en) * | 2018-10-25 | 2020-10-20 | 北京机械设备研究所 | Rope-driven three-degree-of-freedom force feedback equipment |
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