CN104875192A - Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism - Google Patents
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Abstract
一种机器人技术领域的完全各向同性三移动两转动混联机器人，包括：定平台、底平台和动平台以及连接两平台之间三条支链的(2T1R)并联机构、机构末端，其中：底平台由移动副1T与定平台连接，支链一是由两个移动副和两个轴线垂直的转动副及连杆组成，支链二由一个转动副一个移动副和三轴线平行的转动副和连杆连接组成。支链三是由一个移动副一个平行四边形铰链和三个转动副及连杆构成，动平台经转动副与机构末端连接。该机构中与底平台及机构末端连接的五个运动副为主动驱动，实现了三维移动和两维转动运动和主动关节速度与末端输出一对一控制，本发明运动解耦，完全各向同性具有优越的运动传递性能，可作为坐标测量机的末端执行机构。
A fully isotropic three-moving and two-rotating hybrid robot in the field of robot technology, including: a fixed platform, a bottom platform, a moving platform, a (2T1R) parallel mechanism connecting three branch chains between the two platforms, and a mechanism end, wherein: the bottom The platform is connected with the fixed platform by the moving pair 1T. The branch chain 1 is composed of two moving pairs and two rotating pairs with vertical axes and connecting rods. The branch chain 2 is composed of a rotating pair, a moving pair and three parallel rotating pairs and Composition of connecting rods. The third branch chain is composed of a moving pair, a parallelogram hinge, three rotating pairs and connecting rods, and the moving platform is connected to the end of the mechanism through the rotating pairs. In this mechanism, the five kinematic pairs connected with the bottom platform and the end of the mechanism are actively driven, which realizes three-dimensional movement and two-dimensional rotational movement and one-to-one control of active joint speed and terminal output. The motion of the present invention is decoupled and completely isotropic. With superior motion transmission performance, it can be used as the end effector of coordinate measuring machines.
Description
所属技术领域Technical field
本发明属于机器人领域，特别涉及一种完全各向同性三维移动两维转动五自由度混联机器人。The invention belongs to the field of robots, in particular to a fully isotropic three-dimensional moving two-dimensional rotating five-degree-of-freedom hybrid robot.
背景技术Background technique
混联机器人同时兼具串联机器人工作空间大、易控制，并联器人结构稳定、刚度大、误差积累少、动态性能好、易求得运动学反解等各自的优点，同时又能避免单纯串、并联构型缺点，在现代制造业中更具有实用性，己在焊接、喷漆、搬运、汽车装配、医疗等领域得到了应用。At the same time, the hybrid robot has the advantages of large working space and easy control of the serial robot, and the parallel robot has the advantages of stable structure, high rigidity, less error accumulation, good dynamic performance, and easy kinematic inverse solution. , Parallel configuration shortcomings, more practical in modern manufacturing, has been applied in welding, painting, handling, automobile assembly, medical and other fields.
由于混联机器人包涵并联结构，并联机构存在运动耦合性强的问题。混联机器人耦合性的存在使得机构在机构设计、计算分析和运动控制等方面存在着诸多问题。因此，为简化混联机器人的控制过程，提高混联机构的解耦性已经成为机构学研究领域的热点问题。Since the hybrid robot includes a parallel structure, the parallel mechanism has the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of hybrid robots, improving the decoupling of hybrid mechanisms has become a hot issue in the field of mechanism research.
在五自由度混联机器人研究中，中国专利文献CN1524662A提出了非对称空间5自由度混联机器人接其优点是模块化设计，可实现即插即用。中国专利文献CN102133560A提出了一种多喷枪协同式喷涂五轴混联机器人，该种五轴混联喷涂机器人具有结构简单、制造容易、控制解耦、运动工作空间大、定位精度高等优点，上述发明机构虽然机构实现运动解耦，但是能够实现三维移动两维转动该类解耦混联机构十分稀少，大部分机构的解耦性以及运动各向同性并没有很好解决。In the research of the five-degree-of-freedom hybrid robot, the Chinese patent document CN1524662A proposes an asymmetric space five-degree-of-freedom hybrid robot, which has the advantage of modular design and can realize plug-and-play. Chinese patent document CN102133560A proposes a multi-spray gun cooperative spraying five-axis hybrid robot. This five-axis hybrid spraying robot has the advantages of simple structure, easy manufacture, control decoupling, large motion working space, and high positioning accuracy. The above invention Although the mechanism realizes motion decoupling, such decoupling hybrid mechanisms that can realize three-dimensional movement and two-dimensional rotation are very rare, and the decoupling and motion isotropy of most mechanisms have not been well resolved.
发明内容Contents of the invention
本发明针对现有技术的空缺及不足，提供一种1T&(2T1R)&1R完全各向同性混联机器人，该机构在实现末端三维移动两维转动五自由度运动输出的同时还能具有完全各向同性及完全解耦的性能。Aiming at the vacancies and deficiencies of the prior art, the present invention provides a 1T&(2T1R)&1R fully isotropic hybrid robot. This mechanism can achieve a completely isotropic motion output while realizing three-dimensional movement of the end, two-dimensional rotation, and five-degree-of-freedom motion output. same-sex and fully decoupled performance.
该机构主要由定平台、底平台和动平台以及连接两平台之间三条支链的(21R)并联机构、机构末端及连接它们之间的运动副组成。其中：底平台由移动副1T与定平台连接，支链一是由两个移动副和两个轴线垂直的转动副及连杆组成，支链二由一个转动副一个移动副和三轴线平行的转动副和连杆连接组成。支链三是由一个移动副一个平行四边形铰链和三个转动副及连杆构成，动平台经转动副1R与机构末端连接。The mechanism is mainly composed of a fixed platform, a bottom platform, a moving platform, a (21R) parallel mechanism connecting three branch chains between the two platforms, the end of the mechanism and a kinematic pair connecting them. Among them: the bottom platform is connected with the fixed platform by the moving pair 1T, the branch chain 1 is composed of two moving pairs, two rotating pairs with vertical axes and connecting rods, and the branch chain 2 is composed of a rotating pair, a moving pair and three axes parallel It consists of rotating pair and connecting rod connection. The third branch chain is composed of a moving pair, a parallelogram hinge, three rotating pairs and connecting rods, and the moving platform is connected to the end of the mechanism through the rotating pair 1R.
支链一中，第一个连杆的一端通过方向垂直于定平台的移动副与底平台连接，该连杆的另一端通过移动副与第二个连杆连接，该连杆另一端通过转动副与第三个连杆连接，该连杆另一端通过转动副与动平台连接，其中两移动副中心线相互垂直，第二个连杆两端的运动副中心线相互垂直，第三个连杆两端的转动副轴线相互垂直；In branch chain one, one end of the first connecting rod is connected to the bottom platform through a moving pair whose direction is perpendicular to the fixed platform, and the other end of the connecting rod is connected to the second connecting rod through a moving pair, and the other end of the connecting rod is connected to the bottom platform through a rotating pair. The pair is connected to the third connecting rod, and the other end of the connecting rod is connected to the moving platform through a rotating pair, in which the centerlines of the two moving pairs are perpendicular to each other, the centerlines of the moving pairs at both ends of the second connecting rod are perpendicular to each other, and the third connecting rod The axes of the rotating pairs at both ends are perpendicular to each other;
支链二中，第一个连杆通过轴线平行于底平台的转动副与底平台连接，连杆另一端通过移动副与第二个连杆连接，第二个连杆另一端通过转动副与第三个连杆连接，该连杆的另一端通过转动副与第四个连杆连接，该连杆另一端通过轴线平行于动平台的转动副与动平台连接，其中第一个连杆两端的运动副中心线方向相互垂直，第二个连杆的运动副中心线相互平行，第三、四个连杆两端的转动副轴线相互平行；In branch chain 2, the first connecting rod is connected to the bottom platform through a rotating pair whose axis is parallel to the bottom platform, the other end of the connecting rod is connected to the second connecting rod through a moving pair, and the other end of the second connecting rod is connected to the bottom platform through a rotating pair. The third connecting rod is connected, and the other end of the connecting rod is connected with the fourth connecting rod through a rotating joint, and the other end of the connecting rod is connected with the moving platform through a rotating joint whose axis is parallel to the moving platform, and the first connecting rod has two The directions of the centerlines of the kinematic pairs at the two ends are perpendicular to each other, the centerlines of the kinematic pairs of the second connecting rod are parallel to each other, and the axes of the rotating pairs at the ends of the third and fourth connecting rods are parallel to each other;
支链三中第一个连杆通过移动副与底平台连接，连杆另一端通过平行四边形铰链与第二个连杆连接，连杆另一端转动副与第三个连杆连接，连杆的另一端通过转动副与第四个连杆连接，该连杆的另一端通过转动副与动平台连接，其中第一、二、三个连杆两端的运动副中心线相互平行，第四个连杆两端转动副轴线相互垂直；In branch chain three, the first connecting rod is connected to the bottom platform through a moving pair, the other end of the connecting rod is connected to the second connecting rod through a parallelogram hinge, and the rotating pair at the other end of the connecting rod is connected to the third connecting rod. The other end is connected to the fourth connecting rod through a rotating joint, and the other end of the connecting rod is connected to the moving platform through a rotating joint, wherein the center lines of the moving pairs at the two ends of the first, second and third connecting rods are parallel to each other, and the fourth connecting rod The axes of rotation at both ends of the rod are perpendicular to each other;
支链二中与底平台连接的转动副轴线平行于定平台上移动副方向，支链三和定平台连接的移动副方向相互垂直且都平行于定平面，与机构末端连接的转动副轴线位于动平台中心。支链二中第二个连杆两端的运动副可以用圆柱副代替，支链三中平行四边形铰链可用与之平行的转动副代替。定平台连接的移动副为主动副，底平台连接的三个转动副为主动副，机构末端连接的转动副为主动副。The axis of the rotating pair connected to the bottom platform in branch chain 2 is parallel to the direction of the moving pair on the fixed platform, the direction of the moving pair connected to the fixed platform in branch chain 3 is perpendicular to each other and parallel to the fixed plane, and the axis of the rotating pair connected to the end of the mechanism is located at moving platform center. The kinematic pair at both ends of the second connecting rod in branch chain 2 can be replaced by a cylindrical pair, and the parallelogram hinge in branch chain 3 can be replaced by a rotating pair parallel to it. The moving pair connected to the fixed platform is the active pair, the three rotating pairs connected to the bottom platform are the active pair, and the rotating pair connected to the end of the mechanism is the active pair.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、该混联机构属于在并联结构基础上串接运动副的结构形式，实现了三移二转五自由度运动，结构较为简单，成本低且易于装配。1. The hybrid mechanism belongs to the structural form of kinematic pairs connected in series on the basis of a parallel structure, which realizes three shifts, two shifts, and five degrees of freedom motion. The structure is relatively simple, the cost is low, and it is easy to assemble.
2、各支链中各含有一个主动副且位于平台上降低了运动惯性，具有良好的运动特性；2. Each branch chain contains an active pair and is located on the platform to reduce the motion inertia and has good motion characteristics;
3、该机构末端运动雅克比矩阵为5×5单位矩阵，具有完全各向同性且完全解耦，输入输出间具有一对一的控制关系，在机构转动的同时不产生伴随移动，且具有良好的力学传递性能；3. The Jacobian matrix of the terminal motion of the mechanism is a 5×5 unit matrix, which is completely isotropic and completely decoupled. There is a one-to-one control relationship between the input and output, and there is no accompanying movement when the mechanism rotates, and it has good The mechanical transmission performance;
附图说明Description of drawings
图1是本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图2是整体示意结构简图。Fig. 2 is a schematic diagram of the overall schematic structure.
具体实施方式Detailed ways
一种三移动两转动完全各向同性混联机器人机构，如图1、2所示，定平台1通过方向平行于静平面的移动副P1与底平台2连接，动平台14通过三条支链与底平台2连接，机构末端15通过转动副R4与动平台连接。底平台2、上平台14以及连接两平台间的三条支链组成(2T1R)并联机构。支链一中，第一个连杆3的一端通过方向垂直于定平台1的移动副P11与底平台2连接，连杆3的另一端通过移动副P12与第二个连杆4连接，连杆4另一端通过转动副R11与第三个连杆5连接，连杆5另一端通过转动副R12与动平台14连接，其中两移动副P11、P12中心线相互垂直，第二个连杆4两端的运动副P12、R11中心线相互垂直，第三个连杆5两端的转动副R11、R12轴线相互垂直； A fully isotropic hybrid robot mechanism with three movements and two rotations, as shown in Fig. The bottom platform 2 is connected, and the end 15 of the mechanism is connected with the moving platform through the rotating pair R 4 . The bottom platform 2, the upper platform 14 and three branch chains connecting the two platforms form a (2T1R) parallel mechanism. In branch chain 1, one end of the first connecting rod 3 is connected to the bottom platform 2 through the moving pair P 11 whose direction is perpendicular to the fixed platform 1, and the other end of the connecting rod 3 is connected to the second connecting rod 4 through the moving pair P 12 , the other end of the connecting rod 4 is connected to the third connecting rod 5 through the rotating pair R11, and the other end of the connecting rod 5 is connected to the moving platform 14 through the rotating pair R12 , wherein the center lines of the two moving pairs P11 and P12 are perpendicular to each other, and the second The centerlines of the kinematic pairs P 12 and R 11 at the two ends of the two connecting rods 4 are perpendicular to each other, and the axes of the rotating pairs R 11 and R 12 at the two ends of the third connecting rod 5 are perpendicular to each other;
支链二中，第一个连杆6通过轴线平行于定台1的转动副R21与底平台2连接，连杆6另一端通过移动副P21与第二个连杆7连接，连杆7另一端通过转动副R22与第三个连杆8连接，连杆8的另一端通过转动副R23与第四个连杆9连接，连杆9另一端通过转动副R24与动平台连接，其中第一个连杆6两端的运动副R21、P21中心线方向相互垂直，第二个连杆7的运动副P21、R22中心线相互平行，第三、四个连杆两端的转动副R22、R23、R24轴线相互平行；In branch chain 2, the first connecting rod 6 is connected to the bottom platform 2 through the rotating pair R 21 whose axis is parallel to the fixed platform 1, and the other end of the connecting rod 6 is connected to the second connecting rod 7 through the moving pair P 21 , and the connecting rod 7 The other end is connected to the third connecting rod 8 through the rotating pair R 22 , the other end of the connecting rod 8 is connected to the fourth connecting rod 9 through the rotating pair R 23 , and the other end of the connecting rod 9 is connected to the moving platform through the rotating pair R 24 connection, wherein the direction of the centerlines of the kinematic pair R 21 and P 21 at both ends of the first connecting rod 6 are perpendicular to each other, the centerlines of the kinematic pair P 21 and R 22 of the second connecting rod 7 are parallel to each other, and the third and fourth connecting rods The axes of the rotary pairs R 22 , R 23 , and R 24 at both ends are parallel to each other;
支链三中第一个连杆10通过移动副P31与底平台2连接，连杆10另一端通过平行四边形铰链Pa31与第二个连杆11连接，连杆11另一端转动副R31与第三个连杆12连接，连杆12的另一端通过转动副R32与第四个连杆13连接，连杆13的另一端通过转动副R33与动平台连接，其中第一、二、三个连杆两端的运动副P31、Pa31、R31、R32中心线相互平行，第四个连杆两端转动副R32、R33轴线相互垂直；In branch chain 3, the first connecting rod 10 is connected to the bottom platform 2 through the moving pair P31, the other end of the connecting rod 10 is connected to the second connecting rod 11 through the parallelogram hinge Pa 31 , and the rotating pair R 31 at the other end of the connecting rod 11 is connected to the The third connecting rod 12 is connected, and the other end of the connecting rod 12 is connected with the fourth connecting rod 13 through the rotating pair R 32 , and the other end of the connecting rod 13 is connected with the moving platform through the rotating pair R 33 , wherein the first, second, The centers of the kinematic pairs P 31 , Pa 31 , R 31 , and R 32 at the two ends of the three connecting rods are parallel to each other, and the axes of the rotating pairs R 32 and R 33 at both ends of the fourth connecting rod are perpendicular to each other;
上述支链中移动副P1、P11、P31相互垂直，转动副R21、R12、R33轴线相互平行，转动副R24、R31、R32轴线相互平行，转动副R4轴线垂直于动平台且位于动平台中心位置。In the above-mentioned branch chain, the moving pairs P 1 , P 11 , and P 31 are perpendicular to each other, the axes of the rotating pairs R 21 , R 12 , and R 33 are parallel to each other, the axes of the rotating pairs R 24 , R 31 , and R 32 are parallel to each other, and the axes of the rotating pair R 4 are vertical On the moving platform and at the center of the moving platform.
定平台连接的移动副P1为主动副，控制机构沿P1方向的移动，其驱动机构可通过直线伺服电机或电机带动丝杆机构；支链一中主动副为移动副P11控制机构沿P11方向的移动，其驱动机构可通过气缸或液压缸，支链二中主动副为转动副R21，控制机构绕R12轴线的转动，可通过伺服电机驱动；支链三中主动副为移动副P31，控制机构沿P31方向的移动，可通过直线伺服电机或电机带动丝杆机构；机构末端连接的转动副R4为主动副为，控制机构绕R4轴线的转动，可通过伺服电机驱动。最终实现该机构三移二转五自由度运动输出，完全解耦且具有完全各向同性。 The moving pair P1 connected to the fixed platform is the active pair, and the control mechanism moves along the direction of P1. The driving mechanism can drive the screw mechanism through the linear servo motor or motor; The movement in the direction of P 11 can be driven by a cylinder or hydraulic cylinder. The active pair in the branch chain 2 is the rotating pair R 21 , and the rotation of the control mechanism around the R12 axis can be driven by a servo motor; the active pair in the branch chain 3 is the mobile Auxiliary P 31 , the movement of the control mechanism along the direction of P 31 can be driven by a linear servo motor or motor; the rotating pair R 4 connected to the end of the mechanism is the active pair, and the rotation of the control mechanism around the axis of R 4 can be controlled by a servo motor driven. Finally, the three-shift, two-turn, five-degree-of-freedom motion output of the mechanism is realized, which is completely decoupled and completely isotropic.
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| CN105082111A (en) * | 2015-09-06 | 2015-11-25 | 江南大学 | Completely-decoupling two-movement three-rotation parallel robot mechanism |
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| CN113352304A (en) * | 2021-07-16 | 2021-09-07 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
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| 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 |
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| 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 | Hybrid five-degree-of-freedom welding robot |
| CN112238443B (en) * | 2020-10-13 | 2022-08-05 | 中国民航大学 | A Parallel Mechanism Containing Exact Constraints and Compound Drive Branches |
| 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 | A 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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