CN105082111A - Completely-decoupling two-movement three-rotation parallel robot mechanism - Google Patents

Completely-decoupling two-movement three-rotation parallel robot mechanism Download PDF

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Publication number
CN105082111A
CN105082111A CN201510557501.4A CN201510557501A CN105082111A CN 105082111 A CN105082111 A CN 105082111A CN 201510557501 A CN201510557501 A CN 201510557501A CN 105082111 A CN105082111 A CN 105082111A
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China
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revolute pair
rod
chain
parallel
moving
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Pending
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CN201510557501.4A
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Chinese (zh)
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曹毅
展杰
秦友蕾
周辉
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Jiangnan University
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Jiangnan University
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Publication of CN105082111A publication Critical patent/CN105082111A/en
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Abstract

The invention discloses a completely-decoupling two-movement three-rotation parallel robot mechanism. The mechanism comprises a fixed platform, a movable platform and five branch chains for connecting the fixed platform with the movable platform. The first branch chain is composed of a moving pair, five rotating pairs and connecting rods; the second branch chain is formed by sequentially connecting a rotating pair, a moving pair, three rotating pairs with parallel axes and connecting rods; the third branch chain is composed of two rotating pairs, a moving pairs, a universal hinge and connecting rods; and the third branch chain, the fourth branch chain and the fifth branch chain are each composed of six rotating pairs and connecting rods for connecting the rotating pairs. The moving pairs, connected with the fixed platform, in the five branch chains are actively driven, and the aim that two-dimensional-movement and three-dimensional-rotation five-degree-freedom motion output is completely decoupled. The mechanism has the beneficial effects that control is simple, positive and negative solutions of the kinematics are easy to solve, and the motion output is completely decoupled.

Description

A kind of full decoupled two move three rotating parallel robot mechanisms
Art
The invention belongs to robot field, particularly one full decoupled two moves three rotating parallel robot mechanisms.
Background technology
In industrial robot, series and parallel connections Liang Lei mechanism is most widely used.Serial mechanism is a kind of single open chain structure, has that working space is large, flexibility advantages of higher, and shortcoming is that precision is low, inertia is large.Parallel institution is by a kind of closed loop configuration formed of many side chains, therefore it the has advantage such as good rigidly, precision are high, fast response time.Minority carrier generation lifetime is more and more paid attention in the industries such as lathe, inching operation platform, torque sensor, flight simulator.
Current three, six-degree-of-freedom parallel connection mechanism and the application of five degree of freedom hybrid mechanism comparatively extensive, and two of most application potential to move three one-rotation parallel mechanisms less.Chinese invention patent document CN10141899A has invented a kind of bidimensional and has moved and Three dimensional rotation parallel institution, has high accuracy, and low-cost and easy-to is in the advantage manufactured, but the coupling of this mechanism kinematic, control complicated.Chinese invention patent document CN1462672A has invented a kind of five degree of freedom decoupling parallel mechanism, but this mechanism can only realize the unconditional decoupling motion that three move two rotations, find, also not for realizing the research that two move the decoupling zero of three rotations, therefore to need a kind of new technical method to solve the problem through retrieval.
Summary of the invention
The present invention is directed to vacancy and the deficiency of prior art, there is provided a kind of full decoupled two to move three rotating parallel robot mechanisms, this mechanism have control simple, the positive and negative solution of kinematics is easily asked, can realize mechanism end two dimension moving three dimension rotates five degree of freedom motion constrained input one_to_one corresponding.
Technical scheme of the present invention is: parallel robot mechanism of the present invention is made up of fixed platform, moving platform and five side chains connected between fixed platform and moving platform, it is characterized in that: described fixed platform 1 and moving platform 25 are all rectangles, side chain one is made up of a moving sets and five revolute pairs 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 two is made up of two revolute pairs moving sets and a universal hinge and connecting rod, and the universal hinge be connected with moving platform in side chain two is positioned at moving platform center.Side chain three, four, five is made up of six revolute pairs and the connecting rod connected between them, and wherein side chain three is identical with side chain four kinematic pair structure.Side chain one, three, four, five, is arranged in four limits of fixed platform respectively.
The present invention have beneficial effect: provide and a kind of full decoupledly have two and move and three rotating parallel robot mechanisms, this mechanism has that structure is comparatively simple and kinematic pair is simple motion pair, and cost is low and be easy to assembling; Respectively contain a driving pair and be positioned on fixed platform in five side chains and reduce motional inertia, there is good stability; This mechanism end motion Jacobian matrix is 5 × 5 diagonal matrix, achieves two and moves man-to-man control planning between three rotation five degree of freedom motion input and output, controls simple. do not produce while mechanism rotates with mobile.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
The invention provides and a kind of full decoupledly have two and move and three rotating parallel robot mechanisms.As shown in Figure 1, mechanism is made up of fixed platform 1, moving platform 25 and five side chains connected between them.
Side chain one is by moving sets P 11with five revolute pair R 11, R 12, R 13, R 14, R 15and connecting rod 2,3,4,5 forms, one end of connecting rod 2 is by moving sets P 11be connected with fixed platform 1, the other end of connecting rod 2 is connected with connecting rod 3 by revolute pair R11, and connecting rod 3 other end is connected with connecting rod 4 by revolute pair R12, and connecting rod 4 other end is by revolute pair R 13be connected with connecting rod 5, connecting rod 5 other end is connected with connecting rod 6 by revolute pair R14, and connecting rod 6 is by revolute pair R 15with moving platform.Wherein moving sets P 11moving direction and revolute pair R 11, R 12, R 13axis being parallel, revolute pair R 13, R 14, R 15axis is mutually vertical.
Side chain two is by two revolute pair R 21, R 22, a moving sets P 21, a universal hinge U xYand connecting rod 7,8,9 forms, one end of connecting rod 7 is by revolute pair R 21be connected with fixed platform, the other end of connecting rod 7 is by revolute pair R 22be connected with connecting rod 8, connecting rod 8 other end is connected with connecting rod 9 by moving sets P21, and connecting rod 9 other end is by universal hinge U xYbe connected with moving platform.Wherein revolute pair R 21, R 22perpendicular to fixed platform, moving sets P 21be parallel to fixed platform, universal hinge U xYparallel and the moving platform of two axial lines.
Side chain three is by six revolute pair R 31, R 32, R 33, R 34, R 35, R 36and connecting rod 10,11,12,13,14 forms, one end of connecting rod 10 is by revolute pair R 31be connected with fixed platform 1, the other end of connecting rod 10 is connected with connecting rod 11 by revolute pair R32, and connecting rod 11 other end is by revolute pair R 33be connected with connecting rod 12, connecting rod 12 other end is connected with connecting rod 13 by revolute pair R34, and connecting rod 13 other end is by revolute pair R 35be connected with connecting rod 14, connecting rod 14 is by revolute pair R 36be connected with moving platform.Wherein revolute pair R 31axis being parallel is in revolute pair R 31, revolute pair R 34, R 35, R 36axis is parallel to each other, and connecting rod 10,11 two ends revolute pair axis is mutually vertical.Side chain four is identical with side chain three, and side chain three, four is in 90 °ly arranged in fixed platform.
Side chain five is by six revolute pair R 51, R 52, R 53, R 54, R 55, R 56and connecting rod 20,21,22,23,24 forms, one end of connecting rod 20 is by revolute pair R 51be connected with fixed platform 1, the other end of connecting rod 20 is connected with connecting rod 21 by revolute pair R52, and connecting rod 21 other end is by revolute pair R 53be connected with connecting rod 22, connecting rod 22 other end is connected with connecting rod 23 by revolute pair R54, and connecting rod 23 other end is by revolute pair R 55be connected with connecting rod 24, connecting rod 24 is connected with moving platform by revolute pair R56.Wherein revolute pair R 51axes normal is in fixed platform, and connecting rod 20 two ends revolute pair axis is mutually vertical, revolute pair R 52, R 53axis being parallel, connecting rod 22 two ends revolute pair is vertical, revolute pair R 54, R 55, R 56axis is parallel to each other.
The moving sets P be connected with fixed platform silent flatform in side chain one 11for driving pair, controlling organization movement in X direction, its driving mechanism is by linear servo-actuator or driven by motor screw body; In side chain two, driving pair is revolute pair R 21controlling organization along the movement of Y-direction, by driven by servomotor; In side chain three, driving pair is revolute pair R 31, controlling organization around the rotation being parallel to Y-axis line, by driven by servomotor; In side chain four, driving pair is revolute pair R 41, controlling organization around the rotation being parallel to X, by driven by servomotor.In side chain five, driving pair is revolute pair R 51, controlling organization around the rotation being parallel to Z, by driven by servomotor.Finally realizing this mechanism two, to move three rotation five degree of freedom movement outputs full decoupled.

Claims (3)

1. full decoupled two move three rotating parallel robot mechanisms, it comprises fixed platform 1, moving platform 25 and connects five side chains between them, it is characterized in that: side chain one is by moving sets P 11with five revolute pair R 11, R 12, R 13, R 14, R 15and connecting rod 2,3,4,5 forms, wherein moving sets P 11moving direction and revolute pair R 11, R 12, R 13axis being parallel, revolute pair R 13, R 14, R 15axis is mutually vertical; Side chain two is by two revolute pair R 21, R 22, a moving sets P 21, a universal hinge U xYand connecting rod 7,8,9 forms, wherein revolute pair R 21, R 22perpendicular to fixed platform, moving sets P 21be parallel to fixed platform, universal hinge U xYparallel and the moving platform of two axial lines.Side chain three is by six revolute pair R 31, R 32, R 33, R 34, R 35, R 36and connecting rod 10,11,12,13,14 forms, wherein revolute pair R 31axis being parallel is in moving sets P 11, revolute pair R 34, R 35, R 36axis is parallel to each other, and connecting rod 10,11 two ends revolute pair axis is mutually vertical.Side chain four is identical with side chain three, and side chain three, four is in 90 °ly arranged in fixed platform.Side chain five is by six revolute pair R 51, R 52, R 53, R 54, R 55, R 56and connecting rod 20,21,22,23,24 forms, wherein revolute pair R 51axes normal is in fixed platform, and connecting rod 20 two ends revolute pair axis is mutually vertical, revolute pair R 52, R 53axis being parallel, connecting rod 22 two ends revolute pair is vertical, revolute pair R 54, R 55, R 56axis is parallel to each other.
2. move three rotating parallel robot mechanisms according to one according to claim 1 full decoupled two, it is characterized in that: the revolute pair R be connected with fixed platform in side chain three, four, five 31, R 41, R 51axis is mutually vertical, and connecting rod 5,12,17,22 two ends revolute pair can replace by universal hinge.
3. move three rotating parallel robot mechanisms according to one according to claim 1 full decoupled two, it is characterized in that: the moving sets P be connected with fixed platform 11, revolute pair R 21, R 31, R 41, R 51, be five active drive kinematic pairs of parallel institution.
CN201510557501.4A 2015-09-06 2015-09-06 Completely-decoupling two-movement three-rotation parallel robot mechanism Pending CN105082111A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing 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
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
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

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105437214A (en) * 2015-12-17 2016-03-30 天津大学 Multi-closed-loop three-rotation catching and releasing 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
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
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
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
CN107116538B (en) * 2017-06-30 2020-02-04 燕山大学 Three-rotation one-movement generalized decoupling parallel robot mechanism

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