CN104875183A - Non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism - Google Patents

Non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism Download PDF

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Publication number
CN104875183A
CN104875183A CN201510257044.7A CN201510257044A CN104875183A CN 104875183 A CN104875183 A CN 104875183A CN 201510257044 A CN201510257044 A CN 201510257044A CN 104875183 A CN104875183 A CN 104875183A
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CN
China
Prior art keywords
revolute pair
pair
parallel
chain
moving
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CN201510257044.7A
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Chinese (zh)
Inventor
曹毅
陈海
秦友蕾
丁锐
汪选要
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Priority to CN201510257044.7A priority Critical patent/CN104875183A/en
Publication of CN104875183A publication Critical patent/CN104875183A/en

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Abstract

The invention discloses a non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism, belongs to a completely-decoupled and fully-isotropic parallel mechanism, and applies to the fields of parallel mechanisms, industrial robots and micro-operation and the like. The mechanism comprises four branched chains for connecting a movable platform 7 and a fixed platform 1 according to the independent branched chain driving control theory, wherein the first branched chain comprises a rotating pair 1 and a moving pair; the movement direction of the moving pair is parallel to the rotating direction of the rotating pair; the second branched chain comprises a rotating pair 3, a rotating pair 4, a rotating pair 5, a rotating pair 6 and a combined movement pair (4R)7; the rotating axes of the rotating pair 3 and the rotating pair 4 are parallel to each other; the axes of the rotating pairs 5 and 6 are parallel to each other; the rotating pair 1 and the rotating pair 3 are of input driving modes and directly connected with a fixing base. The mechanism has the characteristics of being compact in structure, simple to control, and high in rigidity, and has a good application prospect.

Description

A kind of non-singular completely isotropic two-degree-of-freedoparallel parallel robot mechanism
Art
The invention belongs to parallel robot field, be specifically related to a kind of non-singular completely isotropic one and move a rotation two-degree-of-freedom space parallel connection robot mechanism.
Background technology
Parallel institution refers to the class mechanism being connected fixed platform and moving platform by some side chains, compared with traditional serial mechanism, parallel institution has the advantage of some uniquenesses, and as high in bearing capacity, rigidity is relatively strong, inertia is relatively little, have higher dynamic etc.Therefore parallel institution is widely used in the fields such as industry, space flight, agricultural, and wherein Delta mechanism is industrially used widely.
The normal solution of serial mechanism is easy, and the control of serial mechanism is simple, and application industrially widely.The structure of parallel institution is more complicated, its normal solution relative difficult, so the control problem of parallel institution hinders the application development of parallel institution.
Parallel institution connects fixed platform by some side chains and moving platform forms, so its mechanism can be more complicated than serial mechanism, mechanism's rigidity also can be brought low, structural unstable problem.
Summary of the invention
The object of the present invention is to provide a kind of non-singular completely isotropic one to move a rotation two-degree-of-freedom space parallel connection robot mechanism, solve the problem of the decoupling difficulty of current parallel institution existence, structural instability, poor rigidity.
The present invention is made up of fixed pedestal 8, moving platform operator end 9, side chain one and side chain two.Its concrete technical scheme is: side chain one is made up of revolute pair 1 and moving sets 2, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; Side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, revolute pair 6, compound motion pair (4R) 7, wherein the axis of revolute pair 3 and revolute pair 4 is parallel to each other and perpendicular to the mobile axis direction of moving platform, the axis direction of revolute pair 5, revolute pair 6 is parallel to each other, its direction all with the moving direction conllinear of moving platform, the moving direction of compound motion pair (4R) 7 is vertical mutually with the axis of revolute pair 6 with revolute pair 5.By revolute pair 3 and the parallel subchain of 2R that revolute pair 4 is formed, between its 2R subchain, other kinematic pair can not be contained.
The present invention is compared with other technologies, advantage is: (1) the present invention patent discloses a kind of non-singular completely isotropic two-freedom-degree parallel mechanism, achieve one and move one turn of two-freedom motion, mechanism adopts drive side chain theoretical, has full decoupled, the feature of completely isotropic, two output frees degree of two side chains difference controlling organizations of mechanism simultaneously, form single closed loop parallel institution, simplify the complexity of mechanism, add the stability of mechanism.(2) mechanism adopts the parallel subchain of 2R to replace the mobile of general mechanism to drive, and mechanism's side chain two is all made up of revolute pair, and side chain two all adopts chain connection, mechanism is had simple and compact for structure, the feature of good rigidly.(3) driving being supplied to two branches in the present invention is rotating drive, adopt driven by servomotor, and driving is directly installed in frame, can increase the stability of mechanism kinematic, improve speed and the precision of mechanism kinematic, the operability of mechanism and realizability are strengthened greatly.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention
Detailed description of the invention:
As shown in fig. 1, a kind of non-singular completely isotropic one rotates one and moves two-degree-of-freedom space parallel connection robot mechanism, is made up of fixed pedestal 8, moving platform operator end 9, side chain one and side chain two.Side chain one is made up of revolute pair 1 and moving sets 2, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; Side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, revolute pair 6, compound motion pair (4R) 7, wherein the axis of revolute pair 3 and revolute pair 4 is parallel to each other and perpendicular to the mobile axis direction of moving platform, the axis direction of revolute pair 5, revolute pair 6 is parallel to each other, its direction all with the moving direction conllinear of moving platform, the moving direction of compound motion pair (4R) 7 is vertical mutually with the axis of revolute pair 6 with revolute pair 5.By revolute pair 3 and the parallel subchain of 2R that revolute pair 4 is formed, between its 2R subchain, other kinematic pair can not be contained.Two side chains all adopt driven by servomotor, and drive motors is arranged on the position of revolute pair 1 and revolute pair 3, achieve one-dimensional movement and the one-dimensional rotation motion of mechanism.

Claims (4)

1. a non-singular completely isotropic two-degree-of-freedoparallel parallel robot mechanism, it comprises fixed platform 8, moving platform operator end 9, side chain one, side chain two composition; Side chain one is made up of revolute pair 1 and moving sets 2, and side chain two is made up of revolute pair 3, revolute pair 4, revolute pair 5, revolute pair 6, compound motion pair (4R) 7, this parallel institution compact conformation, controls simple, good rigidly.
2. a kind of non-singular completely isotropic one according to claim 1 moves a rotation two-degree-of-freedom space parallel connection robot mechanism, it is characterized in that, revolute pair 1 axis of side chain one and moving platform pivot center direction conllinear, moving sets 2 direction and moving platform moving direction conllinear; The revolute pair 3 of side chain two and the axis of revolute pair 4 are parallel to each other and perpendicular to the mobile axis direction of moving platform, the axis direction of revolute pair 5, revolute pair 6 is parallel to each other, its direction all with the moving direction conllinear of moving platform, the moving direction of compound motion pair (4R) 7 is vertical mutually with the axis of revolute pair 6 with revolute pair 5.
3. a kind of non-singular completely isotropic one as described in claim 1 moves a rotation two-degree-of-freedom space parallel connection robot mechanism, and its feature is, adopts drive side chain theoretical, and namely one of a side chain control moving platform exports the free degree; And it drives pair all to adopt driven by servomotor, be directly installed on close to pedestal place, this mechanism has compact conformation, controls simple, the features such as good rigidly.
4. a kind of non-singular completely isotropic one as described in claim 1 moves a rotation two-degree-of-freedom space parallel connection robot mechanism, constitute a parallel subchain of 2R by revolute pair 3 and revolute pair 4 in side chain two, between its 2R subchain, can not other kinematic pair be contained.
CN201510257044.7A 2015-05-19 2015-05-19 Non-singular fully-isotropic two-degree-of-freedom parallel robot mechanism CN104875183A (en)

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CN105215976A (en) * 2015-09-30 2016-01-06 河南科技大学 Full decoupled 3-freedom parallel mechanism

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CN102218734A (en) * 2011-05-31 2011-10-19 北京航空航天大学 Double parallel four-bar two-dimensional rotating parallel mechanism with virtual moving center
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
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CN105215976A (en) * 2015-09-30 2016-01-06 河南科技大学 Full decoupled 3-freedom parallel mechanism

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