CN104875193A - 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism - Google Patents
1T&(1T2R)&1R completely isotropic parallel serial robot mechanism Download PDFInfo
- Publication number
- CN104875193A CN104875193A CN201510257145.4A CN201510257145A CN104875193A CN 104875193 A CN104875193 A CN 104875193A CN 201510257145 A CN201510257145 A CN 201510257145A CN 104875193 A CN104875193 A CN 104875193A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- pair
- revolute pair
- parallel
- moving sets
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism. The 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism comprises a fixed platform, a bottom platform, an upper platform, and a (1T2R) parallel mechanism or a mechanical tail end composed of three branches connected between the two platforms, wherein the fixed platform is connected to the bottom platform by use of a movable pair 1T; the first branch chain is composed of a movable pair, two rotating pairs having the axes perpendicular to each other, and a connecting rod; the second branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod. The third branch chain is composed of a rotating pair, a movable pair, three rotating pairs having the axes parallel to each other, and a connecting rod; the upper platform is connected with the mechanical tail end by use of the rotating pair 1R. In the mechanism, five motion pairs connected with the bottom platform and the mechanism tail end are used for driving, and complete decoupling of five-degree-of-freedom output of two-dimensional movement and three-dimension rotation is realized; the 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism is simple in structure and low in cost, and has the advantages of motion decoupling and complete isotropy in kinematics.
Description
Art
The invention belongs to robot field, particularly a kind of completely isotropic two moves three rotation series-parallel robot mechanisms.
Background technology
Parallel robot mechanism is by a kind of closed loop configuration formed of many side chains, therefore it has advantages such as good rigidly, precision are high, fast response time are as widely used Delta tri-movable parallel robot and Stewart six-degree-of-freedom parallel robot in the industry, but but there is space this defect little in serial manipulator relatively.So serial mechanism and parallel institution combine by people, learn from other's strong points to offset one's weaknesses, and then obtain series-parallel robot.Therefore hybrid mechanism has a wide range of applications in fields such as industrial robot, Digit Control Machine Tool, Medical Robot and service robots.
What current series-parallel robot mechanism adopted mostly is be connected in series a serial mechanism form at parallel institution, as Chinese invention patent document CN101966500A, CN101966502A, CN103909518A, CN103624774A, but the hybrid mechanism mostly existed is realize three-dimensional mobile and two-dimensional rotary function substantially.For realizing two, to move the research of three rotations less.But the research of parallel institution is the source of hybrid mechanism innovation, find to make some progress as Chinese patent literature CN103302661A for the research of 1T2R type decoupling parallel mechanism through retrieval, but 3 of this mechanism active drive are positioned at two side chains, and containing a six degree of freedom side chain, the motional inertia of mechanism is comparatively large, and does not have the performance of completely isotropic.Therefore a kind of new technical method is needed to solve the problem.
Summary of the invention
The present invention is directed to vacancy and the deficiency of prior art, there is provided a kind of 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism, this mechanism is realizing can also having completely isotropic and full decoupled performance while end two dimension moving three dimension rotates five degree of freedom movement output.
This mechanism is primarily of silent flatform, end platform and upper mounting plate and the kinematic pair composition that connects (1T2R) parallel institutions of three side chains between two platforms, mechanism end and connect between them.Wherein: silent flatform is connected with end platform by moving sets 1T, side chain one is made up of the revolute pair of a 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 successively.Side chain three is made up of the revolute pair of revolute pair moving sets and three axis being parallel and connecting rod,
In side chain one, one end of first connecting rod is connected with end platform by moving sets, the other end of this connecting rod is connected with second connecting rod by moving sets, this connecting rod other end is connected with upper mounting plate by Hooke's hinge, wherein moving sets is parallel to end platform, and in Hooke's hinge, a revolute pair axis is perpendicular to end platform;
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 upper mounting plate by the revolute pair of axes normal in upper mounting plate, wherein the kinematic pair centerline direction at first connecting rod two ends is mutually vertical, 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 the revolute pair of axes normal in end platform, 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 the 4th connecting rod by revolute pair, the other end of this connecting rod is connected with upper mounting plate by revolute pair, wherein the kinematic pair center line at first connecting rod two ends is mutually vertical, second connecting rod two ends kinematic pair center line is parallel to each other, and the revolute pair axis at third and fourth connecting rod two ends is parallel to each other;
Moving sets and side chain one moving sets direction that silent flatform connects are mutually vertical and be all parallel to the face of allocating, and in the revolute pair axis be connected with mechanism end and side chain one, Hooke's hinge center of rotation meets at a bit.In above-mentioned side chain two, the kinematic pair at second connecting rod two ends can replace with cylindrical pair, and in side chain three, the moving sets at second connecting rod two ends and revolute pair can replace with cylindrical pair.The moving sets that silent flatform connects is driving pair, and three revolute pairs that end platform connects are upper dynamic 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 structure is comparatively simple and kinematic pair be simple secondary, and cost is low and be easy to assemble;
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, there is completely isotropic and full decoupled, achieve two and move man-to-man control planning between three rotation five degree of freedom motion input and output, do not produce while mechanism rotates with mobile, and there is good mechanics transmission 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 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism, as shown in Figure 1, 2, silent flatform 1 is parallel to the moving sets P of quiet plane by direction
1be connected with end platform 2, upper mounting plate 5 is connected with end platform 2 by three side chains, and mechanism end 14 is by revolute pair R
4be connected with upper mounting plate.End platform 2, upper mounting plate 5 and three side chain composition (1T2R) parallel institutions connected between two platforms.In side chain one, one end of first connecting rod 3 is by moving sets P
11be connected with end platform 1 upper hopper chute, the other end of connecting rod 3 is connected with upper mounting plate 5 by Hooke's hinge 4, wherein moving sets P
11moving direction is vertical with moving sets P1 and be parallel to quiet plane, and in Hooke's hinge 4, revolute pair R11 axes normal is in silent flatform 1;
In side chain two, first connecting rod 6 is by the revolute pair R of axis being parallel in end platform 2
21be connected with end platform 2, connecting rod 6 other end is connected with second connecting rod 7 by moving sets P21, and 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 the revolute pair R of axes normal in upper mounting plate
24be connected with upper mounting plate 5, wherein revolute pair R
21axis being parallel is turning cylinder R in Hooke's hinge
12, moving sets P
21central axis is in revolute pair R
21axis, revolute pair R
22, R
23, R
24axis is parallel to each other and perpendicular to upper mounting plate 5;
In side chain three, first connecting rod 10 is by the revolute pair R of axes normal in end platform
31be connected with end platform 2, connecting rod 10 other end is by moving sets P
31be connected with second connecting rod 11, connecting rod 11 other end revolute pair R
32be connected with the 3rd connecting rod 12, the other end of connecting rod 12 is by revolute pair R
33be connected with the 4th connecting rod 13, the other end of connecting rod 13 is by revolute pair R
34be connected with upper mounting plate 5, wherein moving sets P
31central axis is in revolute pair R
31, moving sets P
31with revolute pair R
32, R
33, R
34axis is parallel to each other to revolute pair R in side chain two
21; Mechanism end 14 is by revolute pair R
4its axis is connected and Hooke's hinge 4 center meets at a bit with upper mounting plate.
The moving sets P that silent flatform 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 driven by motor screw body, and in side chain two, driving pair is revolute pair R
21, controlling organization is around R
12the rotation of axis, by driven by servomotor; In side chain three, driving pair is revolute pair R
31, controlling organization is around R
11the rotation of axis, by driven by servomotor; 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 realizing this mechanism two, to move three rotation five degree of freedom movement outputs full decoupled and have completely isotropic.
Claims (4)
1. 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism, it is characterized in that: (1T2R) parallel institution is connected in series a moving sets 1T respectively and on upper mounting plate, is connected in series a revolute pair 1R and forms 1T & (1T2R) & 1R hybrid mechanism on end platform, and wherein (2T1R) parallel institution is made up of end platform, upper mounting plate and three side chains connected between two platforms.In side chain one, one end of first connecting rod is connected with end platform by moving sets, the other end of this connecting rod is connected with second connecting rod by moving sets, this connecting rod other end is connected with upper mounting plate by Hooke's hinge, wherein moving sets is parallel to end platform, and in Hooke's hinge, a revolute pair axis is perpendicular to end platform; 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 upper mounting plate by the revolute pair of axes normal in upper mounting plate, wherein the kinematic pair centerline direction at first connecting rod two ends is mutually vertical, 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 the revolute pair of axes normal in end platform, 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 the 4th connecting rod by revolute pair, the other end of this connecting rod is connected with upper mounting plate by revolute pair, wherein the kinematic pair center line at first connecting rod two ends is mutually vertical, second connecting rod two ends kinematic pair center line is parallel to each other, and the revolute pair axis at third and fourth connecting rod two ends is parallel to each other.
2. according to a kind of 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism according to claim 1, it is characterized in that: moving sets and side chain one moving sets direction that silent flatform connects are mutually vertical and be all parallel to the face of allocating, in the revolute pair axis be connected with mechanism end and side chain one, Hooke's hinge center of rotation meets at a bit.
3. according to a kind of 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism according to claim 1, 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, the moving sets at second connecting rod two ends and revolute pair can replace with cylindrical pair.
4. according to a kind of 1T & (1T2R) & 1R completely isotropic series-parallel robot mechanism according to claim 1, it is characterized in that: the moving sets that silent flatform 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510257145.4A CN104875193A (en) | 2015-05-19 | 2015-05-19 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510257145.4A CN104875193A (en) | 2015-05-19 | 2015-05-19 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104875193A true CN104875193A (en) | 2015-09-02 |
Family
ID=53942997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510257145.4A Pending CN104875193A (en) | 2015-05-19 | 2015-05-19 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104875193A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN106622950A (en) * | 2016-11-22 | 2017-05-10 | 江苏大学 | Mechanism drive bottom falling three-freedom-degree vibrating screen |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
| CN106983632A (en) * | 2017-03-27 | 2017-07-28 | 江南大学 | The transmission mechanism of robot for rehabilitation of anklebone |
| CN107336216A (en) * | 2017-06-30 | 2017-11-10 | 燕山大学 | One kind three rotates broad sense decoupling parallel robot mechanism |
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| JP2008272887A (en) * | 2007-04-27 | 2008-11-13 | Nagoya Institute Of Technology | Low invasive operation robot |
| US20090143907A1 (en) * | 2004-09-24 | 2009-06-04 | Michel Demathelin | Robotic Positioning and Orientation Device and Needle Holder Comprising One Such Device |
| CN101704243A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN201625978U (en) * | 2009-12-10 | 2010-11-10 | 西安理工大学 | Completely decoupled one-translational two-rotational three-freedom-of-degree spatial parallel mechanism |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| RU2478464C1 (en) * | 2011-08-23 | 2013-04-10 | Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран | Modular processing system |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN104526686A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism |
-
2015
- 2015-05-19 CN CN201510257145.4A patent/CN104875193A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030121351A1 (en) * | 2001-05-31 | 2003-07-03 | Clement Gosselin | Cartesian parallel manipulators |
| US20090143907A1 (en) * | 2004-09-24 | 2009-06-04 | Michel Demathelin | Robotic Positioning and Orientation Device and Needle Holder Comprising One Such Device |
| JP2008272887A (en) * | 2007-04-27 | 2008-11-13 | Nagoya Institute Of Technology | Low invasive operation robot |
| CN101704243A (en) * | 2009-11-19 | 2010-05-12 | 天津理工大学 | 2-PPT and PPS spatial parallel robotic mechanism with three degrees of freedom (DOF) |
| CN201625978U (en) * | 2009-12-10 | 2010-11-10 | 西安理工大学 | Completely decoupled one-translational two-rotational three-freedom-of-degree spatial parallel mechanism |
| RU2478464C1 (en) * | 2011-08-23 | 2013-04-10 | Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран | Modular processing system |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
| CN103144106A (en) * | 2013-03-13 | 2013-06-12 | 燕山大学 | Asymmetric parallel mechanism having three DOF (degrees of freedom) including two rotations and one movement |
| CN104526686A (en) * | 2015-01-20 | 2015-04-22 | 江南大学 | 1T and (1T1R) and 1R four-degree-of-freedom decoupling hybrid mechanism |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108734A (en) * | 2015-09-06 | 2015-12-02 | 江南大学 | Three-rotation one-movement fully-isotropic parallel robot mechanism |
| CN106622950A (en) * | 2016-11-22 | 2017-05-10 | 江苏大学 | Mechanism drive bottom falling three-freedom-degree vibrating screen |
| CN106622950B (en) * | 2016-11-22 | 2023-08-18 | 江苏大学 | Three-degree-of-freedom vibrating screen with mechanism transmission bottom falling |
| CN106983632A (en) * | 2017-03-27 | 2017-07-28 | 江南大学 | The transmission mechanism of robot for rehabilitation of anklebone |
| CN106983632B (en) * | 2017-03-27 | 2023-08-29 | 江南大学 | Transmission mechanism of ankle rehabilitation robot |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
| CN106826776B (en) * | 2017-04-07 | 2024-03-26 | 河南科技大学 | Isotropic space two-degree-of-freedom rotating parallel mechanism |
| CN107336216A (en) * | 2017-06-30 | 2017-11-10 | 燕山大学 | One kind three rotates broad sense decoupling parallel robot mechanism |
| CN107336216B (en) * | 2017-06-30 | 2020-03-31 | 燕山大学 | Three-rotation generalized decoupling parallel robot mechanism |
| CN108621130A (en) * | 2018-04-19 | 2018-10-09 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 2R1T and 2T1R |
| CN108621130B (en) * | 2018-04-19 | 2020-08-25 | 西安工程大学 | Parallel mechanism with two motion modes of 2R1T and 2T1R |
| CN108972509A (en) * | 2018-08-07 | 2018-12-11 | 浙江理工大学 | A kind of 3-freedom parallel mechanism with multiple operation modes |
| CN108972509B (en) * | 2018-08-07 | 2024-03-29 | 浙江理工大学 | Three-degree-of-freedom parallel mechanism with multiple operation modes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104875193A (en) | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism | |
| CN105082111A (en) | Completely-decoupling two-movement three-rotation parallel robot mechanism | |
| US11426863B2 (en) | Four-chain six-degree-of-freedom hybrid mechanism | |
| CN104875189A (en) | (3T1R)&R completely isotropic parallel serial robot mechanism | |
| CN103586864A (en) | Planar three degree-of-freedom drive redundancy parallel robot mechanism formed by four PRR branched chains | |
| CN104875190A (en) | Two-movement-three-rotation complete decoupling and series-parallel linking robot mechanism | |
| CN102166749B (en) | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism | |
| CN103203741B (en) | Three-degree-of-freedom parallel robot mechanism | |
| CN105082113A (en) | Fully-isotropic two-dimensional movement and rotation parallel robot mechanism | |
| CN104015185B (en) | A kind of weak coupling three transfer parallel robot mechanism | |
| CN105082112A (en) | Fully-isotropic parallel robot mechanism with three-dimensional movement function and two-dimensional rotation function | |
| CN104875192A (en) | Three-dimensional-movement two-dimensional-rotation fully-isotropic hybrid robot mechanism | |
| CN203901283U (en) | Three-freedom-degree parallel-serial stacking mechanical arm with large working space | |
| CN105127979A (en) | Three-horizontal movement one-rotation parallel robot mechanism | |
| CN103381602A (en) | Completely-decoupled space parallel connection mechanism with two translational and one rotational three degree-of-freedom | |
| CN105127999A (en) | Three-translation one-rotation parallel robot catcher | |
| CN107932482B (en) | Five-freedom-degree parallel mechanism capable of realizing three-dimensional rotation and two-dimensional movement | |
| CN104384941A (en) | Overconstrained parallel mechanism with equivalent Tricept mechanical movement | |
| CN103659793B (en) | The driven in translation three-translational parallel connection mechanism containing closed loop for single side chain | |
| CN107175654A (en) | A kind of structural redundancy parallel institution that there are two rotations two to move | |
| CN104552280A (en) | Double-displacement double-rotation four-degree-of-freedom decoupling parallel mechanism | |
| CN206230517U (en) | Without coupling three-dimensional space mobile parallel connection mechanism and the engraving machine using the mechanism | |
| CN104875191A (en) | (3T)&(2R) Completely decoupling parallel serial robot mechanism | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN103273482B (en) | Master-slave branch chain separate type two-translational motion parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150902 |