CN104889976B - A kind of three rotate decoupling sphere parallel robot mechanism - Google Patents
A kind of three rotate decoupling sphere parallel robot mechanism Download PDFInfo
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- CN104889976B CN104889976B CN201510282325.8A CN201510282325A CN104889976B CN 104889976 B CN104889976 B CN 104889976B CN 201510282325 A CN201510282325 A CN 201510282325A CN 104889976 B CN104889976 B CN 104889976B
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Abstract
A kind of three rotate decoupling sphere parallel robot mechanism, it includes pedestal, moving platform and connects pedestal and three branches of moving platform, the curved rod of one end of each branch is all connected with pedestal by same revolute pair, wherein the other end of the curved rod of branch one is connected with one end of right angle connecting rod one by revolute pair, the other end of this right angle connecting rod one is connected with one end of right angle connecting rod two by revolute pair, the other end of this right angle connecting rod two is connected with moving platform by the 4th revolute pair, and the axis of two revolute pairs adjacent in above-mentioned branch one is mutually perpendicular to；Branch two is identical with the structure of branch three, the other end of the curved rod of the two branch is connected with one end of right angle connecting rod by the second revolute pair, the other end of this right angle connecting rod is connected with moving platform by the 3rd revolute pair, and the axis of two revolute pairs adjacent in above-mentioned branch two and branch three is mutually perpendicular to respectively.Present configuration is simple, easily controllable, it is possible to realize the full decoupled of three rotation directions.
Description
Technical field
The invention belongs to robot field, particularly to a kind of parallel institution.
Background technology
Conventional parallel mechanism its to have the rigidity of structure good, bearing capacity is big, the features such as cumulative error is little so that it is
Robot, virtual-shaft machine tool, micromanipulator field are widely used.But it is the most strong coupling
Exist and make parallel institution calculate at configuration design and analysis and there is many difficulties in terms of mechanism controls, one
Determine to limit in degree the application of parallel institution.
Spherical surface rotating paralleling mechanism refers to jointly drive moving platform by a plurality of side chain so that it is can be around the centre of sphere
Do the parallel institution that any axis rotates.Sphere parallel mechanism can extensively applied robot joint, radar antenna
The occasion such as posture adjustment, Camera Positioning, the spherical surface rotating paralleling mechanism that foreign scholar such as Gosselin proposes
" Agile Eye (dexterous eye) ", domestic scholars is it is also proposed that some spherical surface rotating paralleling mechanisms, the openest
Number for two turns of decoupling sphere parallel mechanisms described in CN1803410A, and Publication No. CN103895009A,
The three-degree-of-freedom spherical parallel mechanism that CN101306534A, CN101797435A etc. are described.On the whole, ball
Face one-rotation parallel mechanism pattern with two rotate in the majority, and simple in construction, easy to control three rotate decoupling
Parallel institution is the rarest.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, easily controllable, be capable of three rotation directions
Full decoupled three rotation decoupling sphere parallel robot mechanisms.
The present invention includes pedestal, moving platform and connects pedestal and three branches of moving platform, each branch
One end of the curved rod of one end is all connected with pedestal by the first revolute pair, wherein the curved rod of branch one
The other end be connected with one end of right angle connecting rod one by the second revolute pair, the other end of this right angle connecting rod one is logical
Crossing the 3rd revolute pair to be connected with one end of right angle connecting rod two, the other end of this right angle connecting rod two is by the 4th rotation
Pair is connected with moving platform, and the axis of two revolute pairs adjacent in the one of above-mentioned point is mutually perpendicular to；Branch two with
The structure of branch three is identical, and the other end of the curved rod of the two branch is by the second revolute pair with right angle even
One end of bar connects, and the other end of this right angle connecting rod is connected with moving platform by the 3rd revolute pair, above-mentioned point
Two and branch three in the axis of adjacent two revolute pairs be mutually perpendicular to respectively.
The curved rod of three branches is all connected with same first revolute pair, and triangularity is arranged, branch three
In the second revolute pair and branch two in the second revolute pair axis collinear, the 3rd revolute pair of branch two with point
Prop up the 3rd revolute pair axis collinear of three, and this axis is vertical with the 4th revolute pair axis of branch one, three
The axis of branch's totally 8 revolute pairs all meets at a bit, and this point is moving platform center of rotation.
First rotation vice division chief of branch one installs and drives motor, and motor is connected on pedestal, outfan and three
Curved rod connection place is connected, and its pivot center and the first revolute pair axis collinear；The 3rd turn of branch two
Dynamic vice division chief installs and drives motor, and motor is connected on the second and the 3rd right angle connecting rod between revolute pair, and its
Pivot center and the 3rd revolute pair axis collinear of branch two；Second rotation vice division chief of branch three installs and drives electricity
Machine, motor is connected on the curved rod of branch three, and the second turns auxiliary shaft of its pivot center and branch three
Line conllinear.
The present invention compared with prior art has the advantage that
Simple in construction, light, decoupling motion is all realized by revolute pair, i.e. overcomes tradition three turns
Dynamic parallel institution controls the shortcoming complicated, strong coupling, analytical calculation is loaded down with trivial details, remains again parallel institution strong
Degree height, the advantage of good stability.
Accompanying drawing explanation
Fig. 1 is the structural representation sketch of the present invention.
Detailed description of the invention
In three rotation decoupling sphere parallel robot mechanism schematic diagrams shown in Fig. 1, one end of each branch
One end of curved rod all by the first revolute pair R1It is connected with pedestal 8, the curved rod 1 of branch one
The other end passes through the second revolute pair R12It is connected with one end of right angle connecting rod 1, the other end of this right angle connecting rod one
By the 3rd revolute pair R13Being connected with one end of right angle connecting rod 23, the other end of this right angle connecting rod two is by the
Four revolute pairs R14Being connected with moving platform 9, the axis of two revolute pairs adjacent in the one of above-mentioned point is mutually perpendicular to；
The other end of the curved rod 4 of branch two passes through the second revolute pair R22It is connected with one end of right angle connecting rod 5, should
The other end of right angle connecting rod passes through the 3rd revolute pair R23It is connected with moving platform 9, adjacent in above-mentioned branch two
The axis of two revolute pairs is mutually perpendicular to；The other end of the curved rod 6 of branch three passes through the second revolute pair R32
Being connected with one end of right angle connecting rod 7, the other end of this right angle connecting rod passes through the 3rd revolute pair R33With with moving platform
9 connect, and in above-mentioned branch three, the axis of two revolute pairs of adjacent connection is mutually perpendicular to.
The curved rod of three branches all with same first revolute pair R1Connecting, triangularity is arranged, branch
The second revolute pair R in three32With the second revolute pair R in branch two22Axis collinear, the 3rd rotation of branch two
Secondary R23The 3rd revolute pair R with branch three33Axis collinear, and the 4th revolute pair R of this axis and branch one14
Axis is vertical, and the axis of three branch's totally 8 revolute pairs all meets at moving platform center of rotation O.
First revolute pair R of branch one1Place installs and drives motor, and motor is connected on pedestal, outfan and three
Individual curved rod connection place is connected, and its pivot center and the first revolute pair axis collinear；The 3rd of branch two
Revolute pair R23Place installs and drives motor, and motor is connected on the second and the 3rd right angle connecting rod between revolute pair,
And the 3rd revolute pair axis collinear of its pivot center and branch two；Second revolute pair R of branch three32Place installs
Driving motor, motor is connected on the curved rod of branch three, and second turn of its pivot center and branch three
Dynamic secondary axis conllinear.By controlling and revolute pair R1、R23、R32Three driving motors of axis conllinear respectively,
Achieve that moving platform is around R1、R23、R32The three-rotational-freedom of axis, and three-rotational-freedom is for solve completely
Coupling.
Claims (2)
1. three rotating a decoupling sphere parallel robot mechanism, it includes pedestal, moving platform and linker
Seat and three branches of moving platform, it is characterised in that: one end of the curved rod of one end of each branch is the most logical
Crossing the first revolute pair to be connected with pedestal, wherein the other end of the curved rod of branch one is by the in branch one
Two revolute pairs are connected with one end of right angle connecting rod one, and the other end of this right angle connecting rod one is by the in branch one
Three revolute pairs are connected with one end of right angle connecting rod two, and the other end of this right angle connecting rod two is by the in branch one
Four revolute pairs are connected with moving platform, and the axis of two revolute pairs adjacent in above-mentioned branch one is mutually perpendicular to；Point
The structure of Zhi Eryu branch three is identical, and the other end of the curved rod of the two branch is by respective branch
Second revolute pair is connected with one end of right angle connecting rod, and the other end of this right angle connecting rod is by the in respective branch
Three revolute pairs are connected with moving platform, and the axis of two revolute pairs adjacent in above-mentioned branch two and branch three is respectively
It is mutually perpendicular to；The curved rod of three branches is all connected with same first revolute pair, and triangularity is arranged,
The second revolute pair in branch three and the second revolute pair axis collinear in branch two, the 3rd rotation of branch two
Secondary with the 3rd revolute pair axis collinear of branch three and vertical with the 4th revolute pair axis of branch one, three points
The axis propping up totally 8 revolute pairs all meets at a bit, and this point is moving platform center of rotation.
The most according to claim 1 three rotate decoupling sphere parallel robot mechanism, it is characterised in that:
The first rotation vice division chief in described branch one installs and drives motor, and motor is connected on pedestal, outfan and three
Individual curved rod connection place is connected, and its pivot center and the first revolute pair axis collinear；In described branch two
The 3rd rotation vice division chief install and drive motor, motor is connected in the second and the 3rd right angle connecting rod between revolute pair
On, and the 3rd revolute pair axis collinear of its pivot center and branch two；The second rotation in described branch three
Vice division chief installs and drives motor, and motor is connected on the curved rod of branch three, and its pivot center and branch three
The second revolute pair axis collinear.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510282325.8A CN104889976B (en) | 2015-05-28 | 2015-05-28 | A kind of three rotate decoupling sphere parallel robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510282325.8A CN104889976B (en) | 2015-05-28 | 2015-05-28 | A kind of three rotate decoupling sphere parallel robot mechanism |
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| Publication Number | Publication Date |
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| CN104889976A CN104889976A (en) | 2015-09-09 |
| CN104889976B true CN104889976B (en) | 2016-08-17 |
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| CN201510282325.8A Expired - Fee Related CN104889976B (en) | 2015-05-28 | 2015-05-28 | A kind of three rotate decoupling sphere parallel robot mechanism |
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| GB2531994B (en) * | 2014-10-15 | 2020-06-24 | Cmr Surgical Ltd | Surgical articulation |
| CN105751202B (en) * | 2016-03-04 | 2018-01-16 | 北京交通大学 | A kind of restructural parallel institution containing five bar movement branched chains |
| CN107160365A (en) * | 2017-06-09 | 2017-09-15 | 深圳先进技术研究院 | A kind of three freedom decoupling sphere parallel mechanism |
| US11331791B2 (en) | 2017-06-09 | 2022-05-17 | Shenzhen Institute Of Advanced Technology | 3 degree-of-freedoms decoupling spherical parallel mechanism |
| CN107336216B (en) * | 2017-06-30 | 2020-03-31 | 燕山大学 | Three-rotation generalized decoupling parallel robot mechanism |
| 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 |
| CN107116539B (en) * | 2017-06-30 | 2019-11-22 | 燕山大学 | A kind of mobile broad sense decoupling parallel robot mechanism of three rotation two of shaft junction |
| CN107116538B (en) * | 2017-06-30 | 2020-02-04 | 燕山大学 | Three-rotation one-movement generalized decoupling parallel robot mechanism |
| CN107139166B (en) * | 2017-06-30 | 2019-11-22 | 燕山大学 | The broad sense decoupling parallel mechanism of property is moved with three turn one |
| CN107414798A (en) * | 2017-09-04 | 2017-12-01 | 中国科学院沈阳自动化研究所 | Two-freedom-degree parallel mechanism |
| CN107932480A (en) * | 2017-11-29 | 2018-04-20 | 中国科学院沈阳自动化研究所 | The two-degree-of-freedom centering parallel institution driven by coaxial rotating |
| CN108189014B (en) * | 2018-03-30 | 2024-05-17 | 四川大学 | Three-degree-of-freedom parallel robot suitable for spherical surface machining |
| CN108858156A (en) * | 2018-08-31 | 2018-11-23 | 常州大学 | A kind of sphere parallel mechanism of zero degree of coupling and mobile decoupling |
| CN114523466B (en) * | 2022-04-22 | 2022-07-29 | 西安德普赛科计量设备有限责任公司 | Completely-decoupled 3-rotation 2-movement parallel mechanism |
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| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CA2736660A1 (en) * | 2011-04-11 | 2012-10-11 | Dany Gagnon-Lachance | Parallel manipulator with 3 legs and 6 degrees of freedom |
| GB2464147B (en) * | 2008-05-29 | 2013-01-09 | Kevin Knowles | Three degree-of-freedom parallel spherical mechanism for payload orienting applications |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITGE20030040A1 (en) * | 2003-05-30 | 2004-11-30 | Rezia Molfino | ARMILLARY MECHANISM FOR SUPPORTING STEREOSCOPIC VISION IN SUBMARINE ENVIRONMENTS AND HIGH HYDRODYNAMIC RESISTANCE |
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2015
- 2015-05-28 CN CN201510282325.8A patent/CN104889976B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5966991A (en) * | 1997-04-23 | 1999-10-19 | Universite Laval | Two degree-of-freedom spherical orienting device |
| CN1803410A (en) * | 2006-01-18 | 2006-07-19 | 河北工业大学 | Two freedom degrees decoupling sphere parallel mechanism |
| CN101306534A (en) * | 2008-05-29 | 2008-11-19 | 燕山大学 | Off-set output 3-dof spherical surface parallel mechanism articulated with center spherical surface |
| GB2464147B (en) * | 2008-05-29 | 2013-01-09 | Kevin Knowles | Three degree-of-freedom parallel spherical mechanism for payload orienting applications |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CA2736660A1 (en) * | 2011-04-11 | 2012-10-11 | Dany Gagnon-Lachance | Parallel manipulator with 3 legs and 6 degrees of freedom |
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