CN104875192A - Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism - Google Patents
Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism Download PDFInfo
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- CN104875192A CN104875192A CN201510257144.XA CN201510257144A CN104875192A CN 104875192 A CN104875192 A CN 104875192A CN 201510257144 A CN201510257144 A CN 201510257144A CN 104875192 A CN104875192 A CN 104875192A
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Abstract
The invention discloses a fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot in the technical field of robots. The fully-isotropic three-dimensional-movement two-dimensional-rotation hybrid robot comprises a fixed platform, a bottom platform, a movable platform, a parallel mechanism for connecting three branched chains (2T1R) between two platforms, and a mechanism end, wherein the bottom platform is connected with the fixed platform by a movement pair 1T; a branched chain I is composed of two movement pairs, two rotating pairs with perpendicular axes, and connecting rods; a branched chain II is composed of one rotating pair, one movement pair, three rotating pairs with parallel axes, and connecting rods; the branched chain III is composed of one movement pair, a parallelogram hinge, three rotating pairs and connecting rods; the movable platform is connected with the mechanism end through the rotating pair. According to the three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism, the five movement pairs connected with the bottom platform and the mechanism end are subjected to active driving, so as to realize the three-dimensional movement, two-dimensional rotational movement and the one-to-one control for speeds of active joints and outputs of the end; the mechanism realizes movement decoupling, is fully isotropic so as to have excellent movement transmission property, and can be used as an end execution mechanism of a coordinate measuring machine.
Description
Art
The invention belongs to robot field, particularly the three-dimensional mobile bidimensional of a kind of completely isotropic rotates series parallel robot in five degrees of freedom.
Background technology
It is large, easy to control that series-parallel robot has serial manipulator working space concurrently simultaneously, parallel device people Stability Analysis of Structures, rigidity is large, the accumulation of error is few, dynamic property is good, easily try to achieve the respective advantage such as inverse kinematic, simple series and parallel configuration shortcoming can be avoided again simultaneously, in modern manufacturing industry, have more practicality, oneself welding, spray paint, carry, automobile assembling, the field such as medical treatment obtain application.
Because series-parallel robot forgives parallel-connection structure, 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 series parallel robot in five degrees of freedom research, Chinese patent literature CN1524662A proposes Non-symmetric space 5-DOF hybrid robot, and to connect its advantage be modularized design, can realize plug and play.Chinese patent literature CN102133560A proposes a kind of many spray guns cooperating type and sprays five axle series-parallel robots, this kind five axle series-parallel connection spray robot have structure simple, easy to manufacture, control that decoupling zero, motion working space are large, positioning precision advantages of higher, although mechanism of foregoing invention mechanism realizes mobile decoupling, but can realizing three-dimensional mobile bidimensional, to rotate such decoupling zero hybrid mechanism very rare, and the decoupling of most of mechanism and motion isotropism do not solve very well.
Summary of the invention
The present invention is directed to vacancy and the deficiency of prior art, there is provided a kind of 1T & (2T1R) & 1R completely isotropic series-parallel robot, this mechanism is realizing can also having completely isotropic and full decoupled performance while the three-dimensional mobile bidimensional of end rotates five degree of freedom movement output.
This mechanism is primarily of fixed platform, end platform and moving platform and the kinematic pair composition that connects (21R) parallel institutions of three side chains between two platforms, mechanism end and connect between them.Wherein: end platform is connected with fixed platform by moving sets 1T, side chain one is made up of the revolute pair of two moving sets and two axes normal and connecting rod, and side chain two is connected to form by the revolute pair of revolute pair moving sets and three axis being parallel and connecting rod.Side chain three is made up of moving sets parallelogram hinge and three revolute pairs and connecting rod, and moving platform is connected with mechanism end through revolute pair 1R.
In side chain one, one end of first connecting rod is connected with end platform by the moving sets of direction perpendicular to fixed platform, the other end of this connecting rod is connected with second connecting rod by moving sets, this connecting rod other end is connected with the 3rd connecting rod by revolute pair, this connecting rod other end is connected with moving platform by revolute pair, wherein two moving sets center lines are mutually vertical, and the kinematic pair center line at second connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is mutually vertical;
In side chain two, first connecting rod is connected with end platform by the revolute pair of axis being parallel in end platform, the connecting rod other end is connected with second connecting rod by moving sets, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of this connecting rod is connected with the 4th connecting rod by revolute pair, this connecting rod other end is connected with moving platform by the revolute pair of axis being parallel in moving platform, wherein the kinematic pair centerline direction at first connecting rod two ends is mutually vertical, the kinematic pair center line of second connecting rod is parallel to each other, 3rd, the revolute pair axis at four connecting rod two ends is parallel to each other,
In side chain three, first connecting rod is connected with end platform by moving sets, the connecting rod other end is connected with second connecting rod by parallelogram hinge, connecting rod other end revolute pair is connected with the 3rd connecting rod, the other end of connecting rod is connected with the 4th connecting rod by revolute pair, the other end of this connecting rod is connected with moving platform by revolute pair, wherein the kinematic pair center line at first, second and third connecting rod two ends is parallel to each other, and the 4th connecting rod two ends revolute pair axis is mutually vertical;
The turns auxiliary shaft line parallel be connected with end platform in side chain two moving sets direction on fixed platform, mutually vertically and be all parallel to the face of allocating, the revolute pair axis be connected with mechanism end is positioned at moving platform center in the moving sets direction that side chain three is connected with fixed platform.In side chain two, the kinematic pair at second connecting rod two ends can replace with cylindrical pair, and in side chain three, parallelogram hinge can replace by revolute pair parallel with it.The moving sets that fixed platform connects is driving pair, and three revolute pairs that end platform connects are driving pair, and the revolute pair that mechanism end connects is driving pair.
The present invention compared with prior art tool has the following advantages:
1, this hybrid mechanism belongs to the version being connected in series kinematic pair on parallel-connection structure basis, and achieve three and move the motion of two turns of five degree of freedom, structure is comparatively simple, and cost is low and be easy to assembling.
2, be respectively positioned on platform and reduce motional inertia containing a driving pair in each side chain, there is good kinetic characteristic;
3, this mechanism end motion Jacobian matrix is 5 × 5 unit matrixs, has completely isotropic and full decoupled, has man-to-man control planning between input and output, does not produce with mobile while mechanism rotates, and has good mechanics and transmit performance;
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 three move two rotation completely isotropic series-parallel robot mechanisms, and as shown in Figure 1, 2, fixed platform 1 is parallel to the moving sets P of quiet plane by direction
1be connected with end platform 2, moving platform 14 is connected with end platform 2 by three side chains, and mechanism end 15 is by revolute pair R
4be connected with moving platform.End platform 2, upper mounting plate 14 and three side chain composition (2T1R) parallel institutions connected between two platforms.In side chain one, one end of first connecting rod 3 is by the moving sets P of direction perpendicular to fixed platform 1
11be connected with end platform 2, the other end of connecting rod 3 is by moving sets P
12be connected with second connecting rod 4, connecting rod 4 other end is connected with the 3rd connecting rod 5 by revolute pair R11, and connecting rod 5 other end is by revolute pair R
12be connected with moving platform 14, wherein two moving sets P
11, P
12center line is mutually vertical, the kinematic pair P at second connecting rod 4 two ends
12, R
11center line is mutually vertical, the revolute pair R at the 3rd connecting rod 5 two ends
11, R
12axis is mutually vertical;
In side chain two, first connecting rod 6 by axis being parallel in the revolute pair R determining platform 1
21be connected with end platform 2, connecting rod 6 other end is by moving sets P
21be connected with second connecting rod 7, connecting rod 7 other end is by revolute pair R
22be connected with the 3rd connecting rod 8, the other end of connecting rod 8 is by revolute pair R
23be connected with the 4th connecting rod 9, connecting rod 9 other end is by revolute pair R
24be connected with moving platform, wherein the kinematic pair R at first connecting rod 6 two ends
21, P
21centerline direction is mutually vertical, the kinematic pair P of second connecting rod 7
21, R
22center line is parallel to each other, the revolute pair R at third and fourth connecting rod two ends
22, R
23, R
24axis is parallel to each other;
In side chain three, first connecting rod 10 is connected with end platform 2 by moving sets P31, and connecting rod 10 other end is by parallelogram hinge Pa
31be connected with second connecting rod 11, connecting rod 11 other end revolute pair R
31be connected with the 3rd connecting rod 12, the other end of connecting rod 12 is by revolute pair R
32be connected with the 4th connecting rod 13, the other end of connecting rod 13 is by revolute pair R
33be connected with moving platform, wherein the kinematic pair P at first, second and third connecting rod two ends
31, Pa
31, R
31, R
32center line is parallel to each other, the 4th connecting rod two ends revolute pair R
32, R
33axis is mutually vertical;
Moving sets P in above-mentioned side chain
1, P
11, P
31mutually vertical, revolute pair R
21, R
12, R
33axis is parallel to each other, revolute pair R
24, R
31, R
32axis is parallel to each other, revolute pair R
4axes normal is in moving platform and be positioned at moving platform center.
The moving sets P that fixed platform connects
1for driving pair, controlling organization is along P
1the movement in direction, its driving mechanism is by linear servo-actuator or driven by motor screw body; In side chain one, driving pair is moving sets P
11controlling organization is along P
11the movement in direction, its driving mechanism is by cylinder or hydraulic cylinder, and in side chain two, driving pair is revolute pair R
21, controlling organization around the rotation of R12 axis, by driven by servomotor; In side chain three, driving pair is moving sets P
31, controlling organization is along P
31the movement in direction, by linear servo-actuator or driven by motor screw body; The revolute pair R that mechanism end connects
4for driving pair is, controlling organization is around R
4the rotation of axis, by driven by servomotor.Finally realize this mechanism three and move two turns of five degree of freedom movement outputs, full decoupled and there is completely isotropic.
Claims (4)
1. one kind three is moved two rotation completely isotropic series-parallel robot mechanisms, it is characterized in that: (2T1R) parallel institution is connected in series a moving sets 1T respectively and on moving platform, is connected in series a revolute pair 1R and forms 1T & (2T1R) & 1R hybrid mechanism on end platform, and wherein (2T1R) parallel institution is made up of end platform, moving platform and three side chains connected between two platforms.In side chain one, one end of first connecting rod is connected with end platform by the moving sets of direction perpendicular to fixed platform, the other end of this connecting rod is connected with second connecting rod by moving sets, this connecting rod other end is connected with the 3rd connecting rod by revolute pair, this connecting rod other end is connected with moving platform by revolute pair, wherein two moving sets center lines are mutually vertical, and the kinematic pair center line at second connecting rod two ends is mutually vertical, and the revolute pair axis at the 3rd connecting rod two ends is mutually vertical; In side chain two, first connecting rod is connected with end platform by the revolute pair of axis being parallel in end platform, the connecting rod other end is connected with second connecting rod by moving sets, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, the other end of this connecting rod is connected with the 4th connecting rod by revolute pair, this connecting rod other end is connected with moving platform by revolute pair, wherein the kinematic pair centerline direction at first connecting rod two ends is mutually vertical, the kinematic pair center line of second connecting rod is parallel to each other, and the revolute pair axis at third and fourth connecting rod two ends is parallel to each other; In side chain three, first connecting rod is connected with end platform by moving sets, the connecting rod other end is connected with second connecting rod by parallelogram hinge, connecting rod other end revolute pair is connected with the 3rd connecting rod, the other end of connecting rod is connected with the 4th connecting rod by revolute pair, the other end of this connecting rod is connected with moving platform by revolute pair, wherein the kinematic pair center line at first, second and third connecting rod two ends is parallel to each other, and the 4th connecting rod two ends revolute pair axis is mutually vertical.
2. move two rotation completely isotropic series-parallel robot mechanisms according to according to claim 1 a kind of three, it is characterized in that: the turns auxiliary shaft line parallel be connected with end platform in side chain two moving sets direction on fixed platform, mutually vertically and be all parallel to the face of allocating, the revolute pair axis be connected with mechanism end is positioned at moving platform center in the moving sets direction that side chain three is connected with fixed platform.
3. move two rotation completely isotropic series-parallel robot mechanisms according to according to claim 1 a kind of three, it is characterized in that: in above-mentioned side chain two, the kinematic pair at second connecting rod two ends can replace with cylindrical pair, in side chain three, parallelogram hinge can replace by revolute pair parallel with it.
4. move two rotation completely isotropic series-parallel robot mechanisms according to according to claim 1 a kind of three, it is characterized in that: the moving sets that fixed platform connects is driving pair, three revolute pairs that end platform connects are driving pair, and the revolute pair that mechanism end connects is driving pair.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
| 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 |
| CN105082113A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism |
| CN108908292A (en) * | 2018-06-04 | 2018-11-30 | 中北大学 | A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved |
| 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 |
| CN109834415A (en) * | 2019-04-08 | 2019-06-04 | 安徽工程大学 | Series parallel type five degree of freedom welding robot |
| CN112238443A (en) * | 2020-10-13 | 2021-01-19 | 中国民航大学 | Parallel mechanism containing right constraint and composite driving branched chain |
| CN113352304A (en) * | 2021-07-16 | 2021-09-07 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
| CN114367961A (en) * | 2022-01-10 | 2022-04-19 | 燕山大学 | Novel five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
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| CN104526687A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | Three-movement one-rotation four-degree-of-freedom decoupling parallel-connected mechanism |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
| 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 |
| CN105082113A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism |
| CN108908292A (en) * | 2018-06-04 | 2018-11-30 | 中北大学 | A kind of mixed connection decoupling lathe that two turn of three shifting can be achieved |
| CN108908292B (en) * | 2018-06-04 | 2021-05-11 | 中北大学 | Series-parallel decoupling machine tool capable of realizing two-rotation three-movement |
| 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 |
| CN109383174B (en) * | 2018-11-06 | 2023-10-20 | 昆明理工大学 | Two-dimensional moving one-dimensional rotating series-parallel engraving machine |
| CN109834415A (en) * | 2019-04-08 | 2019-06-04 | 安徽工程大学 | Series parallel type five degree of freedom welding robot |
| CN109834415B (en) * | 2019-04-08 | 2023-07-25 | 安徽工程大学 | Series-parallel five-degree-of-freedom welding robot |
| CN112238443B (en) * | 2020-10-13 | 2022-08-05 | 中国民航大学 | Parallel mechanism containing right constraint and composite driving branched chain |
| CN112238443A (en) * | 2020-10-13 | 2021-01-19 | 中国民航大学 | Parallel mechanism containing right constraint and composite driving branched chain |
| CN113352304B (en) * | 2021-07-16 | 2022-06-14 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN113352304A (en) * | 2021-07-16 | 2021-09-07 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN113715002A (en) * | 2021-09-15 | 2021-11-30 | 南京机电职业技术学院 | Redundant drive five-axis series-parallel mechanism and elm error compensation method for mechanism control |
| CN114367961A (en) * | 2022-01-10 | 2022-04-19 | 燕山大学 | Novel five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
| CN114367961B (en) * | 2022-01-10 | 2023-08-25 | 燕山大学 | Novel five-degree-of-freedom parallel mechanism capable of realizing three-dimensional translation and two-dimensional rotation |
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