CN104875190A - Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism - Google Patents
Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism Download PDFInfo
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- CN104875190A CN104875190A CN201510257142.0A CN201510257142A CN104875190A CN 104875190 A CN104875190 A CN 104875190A CN 201510257142 A CN201510257142 A CN 201510257142A CN 104875190 A CN104875190 A CN 104875190A
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- connecting rod
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Abstract
The invention relates to a two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism. The mechanism is formed by connecting a 2T2R parallel mechanism with a rotating end R in series. The parallel mechanism is composed of a fixing platform, a moving platform and four branch chains connected to the middle of two platforms. A first branch chain is composed of a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among the four rotating pairs; a second branch chain is composed of a rotating pair, a moving pair, three rotating pairs with axial lines in parallel and four linking rods connected among three rotating pairs; configurations of a third branch chain and the second branch chain are the same to each other; a fourth branch chain is composed of two moving pairs with mutual perpendicular directions, two rotating pairs with perpendicular axial lines and three linking rods. Both the moving pair connected with the fixing platform and the rotating pair connected to the tail end are used as the active pair; the mechanism can be a series-parallel linking robot or the executing mechanism of the manipulator, so as to realize the two-dimensional movement, three-dimensional rotation, grabbing at five degree of freedom, or other operations. The design is completely decoupled, easy to control, and quick in responding speed.
Description
Art
The invention belongs to robot field, particularly a kind of two move the three full decoupled series-parallel robot mechanisms of rotation five degree of freedom.
Background technology
The evolution of development experience again to hybrid mechanism from serial mechanism to parallel institution that space mechanism is learned, series-parallel robot refers to that at least one parallel institution and one or more serial mechanism combine the complex mechanical system having and determine to move according to certain mode.Have concurrently simultaneously serial manipulator working space large, easily with control, parallel robot Stability Analysis of Structures, good rigidly; Accumulated error is little, and dynamic property is good, the high respective advantage of precision.
In the research of series-parallel robot mechanism, series parallel robot in five degrees of freedom obtains extensive concern, scholars have invented many new configurations, as national inventing patent document CN102672709A, CN101049692, CN102699898A, but a lot of hybrid mechanism is all based on Tricept parallel institution model, some new developments are obtained for the research of decoupling hybrid mechanism simultaneously, such as, Chinese patent literature CN102085660, CN102172913A proposes a kind of three respectively, four degree of freedom decoupling series-parallel connection linkage, mechanism all contains two side chain parallel institutions, solve sports coupling.But retrieval finds still to belong to blank at present to the hybrid mechanism research of five degree of freedom isotropism and decoupling zero, therefore simple, the compact conformation of project organization, motion are flexibly, good, the power of low cost of manufacture, the decoupling hybrid mechanism that transmits performance good is significant.
Summary of the invention
The object of the present invention is to provide a kind of motion full decoupled, the output being easy to control is two move three rotation series-parallel robot mechanisms, in order to solve series parallel robot in five degrees of freedom mechanism kinematic coupling in prior art, uppity problem of moving.
This mechanism is connected in series a rotary head R by a 2T2R parallel institution and forms.Parallel institution is made up of fixed platform, moving platform and four side chains connected between two platforms.Side chain one is made up of a moving sets, four revolute pairs and four connecting rods connected between them; Side chain two is made up of the revolute pair of a revolute pair, a moving sets, three axis being parallel and four connecting rods connected between them; Side chain three is identical with side chain two configuration.Side chain four is made up of the revolute pair of the two orthogonal moving sets in direction, two axes normal and three connecting rods.The kinematic pair that fixed platform connects and the revolute pair be connected with end are driving pair.
In side chain one, one end of first connecting rod is connected with fixed platform chute by moving sets, the other end of this connecting rod is connected with second connecting rod by revolute pair, this connecting rod other end is connected with the 3rd connecting rod by revolute pair, 3rd connecting rod is connected with the 4th connecting rod by revolute pair, the connecting rod other end is connected with moving platform by the revolute pair of axis being parallel in moving platform, and wherein the kinematic pair axis at first, second and third connecting rod two ends is parallel to each other, and the pivot center at the 4th connecting rod two ends is vertical.
In side chain two, three, one end of first connecting rod is connected with fixed platform by revolute pair, the other end of this 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 the 4th connecting rod by revolute pair, the connecting rod other end is connected with moving platform by revolute pair, wherein first connecting rod two ends kinematic pair center line mutually vertical, second and third, four connecting rod two ends kinematic pair axis are parallel to each other.
In side chain four, first connecting rod is connected with fixed platform by moving sets, the connecting rod other end is connected with second connecting rod by moving sets, connecting rod other end revolute pair is connected with the 3rd connecting rod, the other end of connecting rod is connected with moving platform by revolute pair, wherein the moving sets center line at first connecting rod two ends is mutually vertical, second connecting rod two ends kinematic pair axes normal, the 3rd connecting rod two ends revolute pair axes normal.
Above-mentioned side chain one moving sets and the moving sets central axis be connected with fixed platform in side chain four, the revolute pair axis be connected with fixed platform in side chain two, three is mutually vertical, the revolute pair axis collinear be connected with moving platform in side chain one, three, the revolute pair axis collinear be connected with moving platform in side chain two, four, the revolute pair axis of mechanism end is perpendicular to moving platform and be positioned at moving platform center.In side chain one, the kinematic pair at first connecting rod two ends can replace with cylindrical pair, and in side chain two, three, second connecting rod two ends kinematic pair can replace with cylindrical pair; In above-mentioned side chain four, the revolute pair at the 3rd connecting rod two ends can replace with Hooke's hinge.Four kinematic pairs be connected with fixed platform in four side chains are driving pair, and the revolute pair between mechanism end and moving platform is driving pair.
The present invention compared with prior art tool has the following advantages:
1, this series-parallel robot end can realize bidimensional and moves and Three dimensional rotation five degree of freedom movement output, by the parallel institution of four side chains and a revolute pair in series, simple and stable structure, good rigidly, respectively contain a driving pair and be positioned at fixed platform in each side chain in parallel institution simultaneously and reduce motional inertia, there is good kinetic characteristic;
2, this mechanism end motion Jacobian matrix is 5 × 5 diagonal matrix, moves full decoupled, achieves man-to-man control planning between motion input and output, has good controlling;
3, this structure is comparatively simple, is easy to processing and manufacturing and assembling, can be applicable to high accuracy, high-speed field, have higher practical value and wide application prospect.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is overall schematic construction sketch.
Detailed description of the invention
A kind of two move the three full decoupled series-parallel robot mechanisms of rotation, and as shown in Figure 1, 2, this mechanism is connected in series a revolute pair R by a 2T2R parallel institution
1composition.Parallel institution is made up of fixed platform, moving platform 16 and four side chains connected between two platforms.
In side chain one, one end of first connecting rod 1 is connected with fixed platform chute by moving sets P11, and the other end of connecting rod 1 is by revolute pair R
11be connected with second connecting rod 2, connecting rod 2 other end is by revolute pair R
12be connected with the 3rd connecting rod 3, connecting rod 3 is by revolute pair R
13be connected with the 4th connecting rod 4, connecting rod 4 other end is connected with moving platform 16 by the revolute pair R14 of axis being parallel in moving platform, wherein moving sets P
11center line and revolute pair R
11, R
12, R
13axis is parallel to each other, the rotation R at the 4th connecting rod 4 two ends
13, R
14secondary axis is vertical;
In side chain two, one end of first connecting rod 5 is by revolute pair R
21be connected with fixed platform, the other end of connecting rod 5 is by moving sets P
21be connected with second connecting rod 6, the other end of second connecting rod 6 is by revolute pair R
22be connected with the 3rd connecting rod 7, connecting rod 7 other end is by revolute pair R
23be connected with the 4th connecting rod 8, connecting rod 8 other end is by revolute pair R
24be connected with moving platform 16, wherein first connecting rod 5 two ends revolute pair R
21axis and moving sets P
21center line mutually vertical, second and third, four connecting rod two ends revolute pair R
22, R
23, R
24axis is parallel to each other;
In side chain three, one end of first connecting rod 9 is by revolute pair R
31be connected with fixed platform, the other end of connecting rod 9 is by moving sets P
31be connected with second connecting rod 10, the other end of second connecting rod 10 is by revolute pair R
32be connected with the 3rd connecting rod 11, connecting rod 11 other end is by revolute pair R
33be connected with the 4th connecting rod 12, connecting rod 12 other end is by revolute pair R
34be connected with moving platform 16, wherein first connecting rod 9 two ends revolute pair R
31axis and moving sets P
31center line mutually vertical, second and third, four connecting rod two ends revolute pair R
32, R
33, R
34axis is parallel to each other;
In side chain four, first connecting rod 13 is by moving sets P
41be connected with fixed platform, connecting rod 13 other end is by moving sets P
42be connected with second connecting rod 14, connecting rod 14 other end revolute pair R
41be connected with the 3rd connecting rod 15, the other end of connecting rod 15 is by revolute pair R
42be connected with moving platform 16, wherein the moving sets P at first connecting rod 13 two ends
41, P
42center line is mutually vertical, second connecting rod two ends kinematic pair P
42, R
41axes normal, the 3rd connecting rod 15 two ends revolute pair R
41, R
42axes normal.
Above-mentioned side chain one moving sets P
11with side chain four moving sets P
41central axis and be all parallel to the face of allocating, the revolute pair R be connected with fixed platform in side chain two, three
21, R
31axis is mutually vertical, the revolute pair R be connected with moving platform 16 in side chain one, three
14, R
34axis collinear, the revolute pair R be connected with moving platform 16 in side chain two, four
24, R
42axis collinear, the revolute pair R of mechanism end
1axes normal is in moving platform 16 and be positioned at moving platform center.
Moving sets P in side chain one
11for input queued switches, controlling organization is along moving sets P
11the movement in direction, its driving mechanism is by linear servo-actuator or driven by motor screw body; Revolute pair R in side chain two
21for input queued switches, controlling organization is around R
14the rotation of axis, its driving mechanism is by driven by servomotor; Revolute pair R in side chain three
31for input queued switches, controlling organization is around the rotation of R24 axis, and its driving mechanism is by driven by servomotor; Moving sets P in side chain four
41for input queued switches, controlling organization is along moving sets P
11the movement in direction, its driving mechanism is by linear servo-actuator or driven by motor screw body; Finally realize this mechanism two and move the man-to-man constrained input movement relation of three rotations.
Claims (4)
1. two move the three full decoupled series-parallel robot mechanisms of rotation, it is characterized in that: this mechanism is connected in series a rotary head R by a 2T2R parallel institution and forms.Parallel institution is made up of fixed platform, moving platform and four side chains connected between two platforms.In side chain one, one end of first connecting rod is connected with fixed platform chute by moving sets, the other end of this connecting rod is connected with second connecting rod by revolute pair, this connecting rod other end is connected with the 3rd connecting rod by revolute pair, 3rd connecting rod is connected with the 4th connecting rod by revolute pair, the connecting rod other end is connected with moving platform by the revolute pair of axis being parallel in moving platform, and wherein the kinematic pair axis at first, second and third connecting rod two ends is parallel to each other, and the pivot center at the 4th connecting rod two ends is vertical; In side chain two, three, one end of first connecting rod is connected with fixed platform by revolute pair, the other end of this 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 the 4th connecting rod by revolute pair, the connecting rod other end is connected with moving platform by revolute pair, wherein first connecting rod two ends kinematic pair center line mutually vertical, second and third, four connecting rod two ends kinematic pair axis are parallel to each other; In side chain four, first connecting rod is connected with fixed platform by moving sets, the connecting rod other end is connected with second connecting rod by moving sets, connecting rod other end revolute pair is connected with the 3rd connecting rod, the other end of connecting rod is connected with moving platform by revolute pair, wherein the moving sets center line at first connecting rod two ends is mutually vertical, second connecting rod two ends kinematic pair axes normal, the 3rd connecting rod two ends revolute pair axes normal.
2. move the three full decoupled series-parallel robot mechanisms of rotation according to according to claim 1 a kind of two, it is characterized in that: above-mentioned side chain one moving sets and the moving sets central axis be connected with fixed platform in side chain four, the revolute pair axis be connected with fixed platform in side chain two, three is mutually vertical, the revolute pair axis collinear be connected with moving platform in side chain one, three, the revolute pair axis collinear be connected with moving platform in side chain two, four, the revolute pair axis of mechanism end is perpendicular to moving platform and be positioned at moving platform center.
3. move the three full decoupled series-parallel robot mechanisms of rotation according to according to claim 1 a kind of two, it is characterized in that: in above-mentioned side chain one, the kinematic pair at first connecting rod two ends can replace with cylindrical pair, in side chain two, three, second connecting rod two ends kinematic pair can replace with cylindrical pair; In above-mentioned side chain four, the revolute pair at the 3rd connecting rod two ends can replace with Hooke's hinge.
4. move the three full decoupled series-parallel robot mechanisms of rotation according to according to claim 1 a kind of two, it is characterized in that: four kinematic pairs be connected with fixed platform in above-mentioned four side chains are driving pair, and the revolute pair between mechanism end and moving platform is driving pair.
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| CN201510257142.0A CN104875190A (en) | 2015-05-19 | 2015-05-19 | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism |
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|---|---|---|---|
| CN201510257142.0A CN104875190A (en) | 2015-05-19 | 2015-05-19 | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN107116538A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | One kind three rotates one and moves broad sense decoupling parallel robot mechanism |
| CN107116539A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism |
| CN107139166A (en) * | 2017-06-30 | 2017-09-08 | 燕山大学 | Broad sense decoupling parallel mechanism with three turn of one shifting property |
| CN107344359A (en) * | 2017-06-30 | 2017-11-14 | 燕山大学 | A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions |
| CN107866789A (en) * | 2016-09-23 | 2018-04-03 | 上海新纪元机器人有限公司 | A kind of five degree of freedom serial-parallel mirror mechanism |
| CN109278026A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of four-degree-of-freedparallel parallel manipulator |
| CN109278025A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of series parallel robot in five degrees of freedom |
| CN109383174A (en) * | 2018-11-06 | 2019-02-26 | 昆明理工大学 | A kind of two-dimensional shift and one-dimensional rotation mixed connection engraving machine |
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
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- 2015-05-19 CN CN201510257142.0A patent/CN104875190A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN105234933B (en) * | 2015-10-08 | 2017-01-18 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN107866789B (en) * | 2016-09-23 | 2020-07-17 | 上海新纪元机器人有限公司 | Five-degree-of-freedom serial-parallel series-parallel mechanism |
| CN107866789A (en) * | 2016-09-23 | 2018-04-03 | 上海新纪元机器人有限公司 | A kind of five degree of freedom serial-parallel mirror mechanism |
| CN107139166A (en) * | 2017-06-30 | 2017-09-08 | 燕山大学 | Broad sense decoupling parallel mechanism with three turn of one shifting property |
| CN107344359B (en) * | 2017-06-30 | 2020-01-07 | 燕山大学 | Generalized decoupling parallel mechanism with three rotating shafts and two moving shafts not meeting |
| CN107116539A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | The three of a kind of rotating shaft junction rotate two and move broad sense decoupling parallel robot mechanism |
| CN107116538A (en) * | 2017-06-30 | 2017-09-01 | 燕山大学 | One kind three rotates one and moves broad sense decoupling parallel robot mechanism |
| CN107344359A (en) * | 2017-06-30 | 2017-11-14 | 燕山大学 | A kind of three rotate the broad sense decoupling parallel mechanism of two mobile shaft not junctions |
| CN107116538B (en) * | 2017-06-30 | 2020-02-04 | 燕山大学 | Three-rotation one-movement generalized decoupling parallel robot mechanism |
| CN109278025A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of series parallel robot in five degrees of freedom |
| CN109383174A (en) * | 2018-11-06 | 2019-02-26 | 昆明理工大学 | A kind of two-dimensional shift and one-dimensional rotation mixed connection engraving machine |
| CN109278026A (en) * | 2018-11-06 | 2019-01-29 | 昆明理工大学 | A kind of four-degree-of-freedparallel parallel manipulator |
| CN109278025B (en) * | 2018-11-06 | 2023-10-10 | 昆明理工大学 | Five-degree-of-freedom series-parallel robot |
| CN109383174B (en) * | 2018-11-06 | 2023-10-20 | 昆明理工大学 | Two-dimensional moving one-dimensional rotating series-parallel engraving machine |
| CN109278026B (en) * | 2018-11-06 | 2024-03-08 | 昆明理工大学 | Four-degree-of-freedom parallel manipulator |
| CN112318182A (en) * | 2020-11-15 | 2021-02-05 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
| CN112318182B (en) * | 2020-11-15 | 2024-05-28 | 浙江工业大学 | Five-degree-of-freedom series-parallel machine tool |
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