CN105150197B - Planar motion type hybrid drive parallel robot - Google Patents
Planar motion type hybrid drive parallel robot Download PDFInfo
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- CN105150197B CN105150197B CN201510677950.2A CN201510677950A CN105150197B CN 105150197 B CN105150197 B CN 105150197B CN 201510677950 A CN201510677950 A CN 201510677950A CN 105150197 B CN105150197 B CN 105150197B
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Abstract
The invention provides a planar motion type hybrid drive parallel robot, which comprises a fixed platform, a motion workbench and three branched chains, and is characterized in that: the first branch chain comprises a first driving telescopic rod and a disc sliding block, one end of the first driving telescopic rod is connected with the moving workbench through a driven revolute pair, the other end of the first driving telescopic rod is fixedly connected with one side of the disc sliding block, the disc sliding block and a fixed platform form a plane moving pair together, the second branch chain comprises a second driving telescopic rod, two ends of the second driving telescopic rod are respectively connected with the moving workbench and the fixed platform through a spherical hinge, the third branch chain comprises a first driven telescopic rod and a second driven telescopic rod, one end of the first driven telescopic rod is connected with the fixed platform through the driving revolute pair, the other end of the first driven telescopic rod is connected with one end of the second driven telescopic rod, and the other end of the second driven telescopic rod is fixedly. The invention can realize the decoupling control of the rotational freedom degree and the moving freedom degree, and is beneficial to improving the real-time performance of the robot control.
Description
Technical Field
The invention belongs to the technical field of machine manufacturing, and particularly relates to a planar motion type hybrid drive parallel robot.
Background
Compared with the traditional serial robot, the parallel robot has the advantages of large structural rigidity, high bearing capacity, small inertia, high response speed, high precision and the like, and has wide application prospect in the field of mechanical manufacturing.
The parallel robot with less freedom degree attracts domestic and foreign scholars to research by the characteristics and application potentials of the parallel robot, and a large-stroke two-translation one-rotation precision positioning platform is developed by Tianjin university Tianlingling and the like, consists of a base and a movable platform arranged in the base, has the characteristics of simple and compact structure, large output displacement, high axial rigidity and the like, can be used as an auxiliary positioning platform of a nanometer micro-operation system, and has the functions of micro-feeding and precision positioning. The asymmetrical parallel robot mechanism with three degrees of freedom, including movable platform, frame and three connected branches, has been developed by Tnhua front et al of Beijing university of industry. The two branches with the same structure are composed of a cylindrical pair, two rotating pairs and two connecting rods for connecting the two rotating pairs, and the other branch is composed of four rotating pairs and three connecting rods for connecting the four rotating pairs.
The above research results relate to different types of parallel robots, but there are still many parallel robots with few degrees of freedom to be developed, and among them, there are still few types of parallel robots with two translations and one rotation.
Disclosure of Invention
The object of the invention is to provide a parallel robot with two degrees of freedom of movement and one degree of freedom of rotation, with the axes of rotation perpendicular to the plane of movement. The technical scheme is as follows:
the utility model provides a plane motion type hybrid drive parallel robot, includes fixed platform, motion workstation and connects three branched chains between fixed platform and motion workstation, its characterized in that: the fixed platform is provided with three mutually orthogonal planes, one plane comprises a rectangular hollow structure, a first branch chain comprises a first driving telescopic rod and a disc sliding block, one end of the first driving telescopic rod is connected with the moving workbench through a driven revolute pair, the other end of the first driving telescopic rod is fixedly connected with one surface of the disc sliding block, the disc sliding block is movably embedded into the rectangular hollow structure of the fixed platform through balls embedded at the edge and forms a plane moving pair together with the fixed platform, the normal line of the moving plane corresponding to the plane moving pair is parallel to the central axis of the first driving telescopic rod, the rotation axis of the driven revolute pair is vertical to the central axis of the first driving telescopic rod, a second branch chain comprises a second driving telescopic rod, two ends of the second driving telescopic rod are respectively connected with the moving workbench and the fixed platform through a spherical hinge, and a third branch chain comprises a first driven telescopic rod and a second driven telescopic, the one end of first driven telescopic link is connected with fixed platform through initiative revolute pair, and the other end is connected with the one end of the driven telescopic link of second, the other end and the motion workstation rigid coupling of the driven telescopic link of second, and the axis of rotation of initiative revolute pair and driven revolute pair is parallel to each other, the axis of rotation of the equal perpendicular to initiative revolute pair of the central axis of first driven telescopic link and the driven telescopic link of second, and contained angle between them is nonzero.
Compared with the prior art, the invention has the advantages that: (1) the robot has short moving branched chain and simple structure, and is convenient to realize the requirements of high rigidity and high precision; (2) two driving telescopic rods and one driving revolute pair are used as driving joints, decoupling control of the rotational freedom degree of the moving workbench can be achieved, and meanwhile one of the two moving freedom degrees has a decoupling movement characteristic, so that the requirement for improving the real-time performance of movement is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
In the figure: 1. the device comprises a second driving telescopic rod 2, a moving workbench 3, a driven revolute pair 4, a first driving telescopic rod 5, a fixed platform 5.1, a rear plane 5.2, a left plane 5.3, a lower plane 6, balls 7, a disc sliding block 8, a spherical hinge 9, a second driven telescopic rod 10, a first driven telescopic rod 11 and a driving revolute pair.
Detailed Description
The fixed platform (5) is provided with three mutually orthogonal planes, one plane contains a rectangular hollow structure, a first branch chain comprises a first driving telescopic rod (4) and a disc sliding block (7), one end of the first driving telescopic rod (4) is connected with the moving workbench (2) through a driven revolute pair (3), the other end of the first driving telescopic rod is fixedly connected with one surface of the disc sliding block (7), the disc sliding block (7) is movably embedded into the rectangular hollow structure of the fixed platform (5) through a ball (6) embedded at the edge to form a plane kinematic pair together with the fixed platform (5), the normal line of the moving plane corresponding to the plane kinematic pair is parallel to the central axis of the first driving telescopic rod (4), the rotating axis of the driven revolute pair (3) is vertical to the central axis of the first driving telescopic rod (4), and the second branch chain comprises a second driving telescopic rod (1), the both ends of second initiative telescopic link (1) are connected with motion workstation (2) and fixed platform (5) through a ball pivot (8) respectively, the third branch chain includes first driven telescopic link (10) and second driven telescopic link (9), the one end of first driven telescopic link (10) is connected with fixed platform (5) through initiative revolute pair (11), the other end is connected with the one end of second driven telescopic link (9), the other end and motion workstation (2) rigid coupling of second driven telescopic link (9), the axis of rotation of initiative revolute pair (11) and driven revolute pair (3) is parallel to each other, the axis of rotation of the equal perpendicular to initiative revolute pair (11) of the central axis of first driven telescopic link (10) and second driven telescopic link (9), and contained angle between them is nonzero.
Claims (1)
1. The utility model provides a plane motion type hybrid drive parallel robot, includes fixed platform (5), motion workstation (2) and connects three branched chains between fixed platform (5) and motion workstation (2), its characterized in that: the fixed platform (5) is provided with three mutually orthogonal planes which are a rear plane (5.1), a left plane (5.2) and a lower plane (5.3), wherein the rear plane (5.1) contains a rectangular hollow structure, a first branch chain comprises a first driving telescopic rod (4) and a disc sliding block (7), one end of the first driving telescopic rod (4) is connected with the moving workbench (2) through a driven rotating pair (3), the other end of the first driving telescopic rod is fixedly connected with one surface of the disc sliding block (7), the disc sliding block (7) is movably embedded into the rectangular hollow structure of the rear plane (5.1) of the fixed platform (5) through a ball (6) embedded at the edge to form a plane moving pair together with the fixed platform (5), the normal line of the moving plane corresponding to the plane moving pair is parallel to the central axis of the first driving telescopic rod (4), the rotating axis of the driven rotating pair (3) is vertical to the central axis of the first driving telescopic rod (4), the second branch chain comprises a second driving telescopic rod (1), two ends of the second driving telescopic rod (1) are respectively connected with the moving workbench (2) and the left plane (5.2) of the fixed platform (5) through a spherical hinge (8), the third branch chain comprises a first driven telescopic rod (10) and a second driven telescopic rod (9), one end of the first driven telescopic rod (10) is connected with the lower plane (5.3) of the fixed platform (5) through a driving revolute pair (11), the other end of the first driven telescopic rod is connected with one end of the second driven telescopic rod (9), the other end of the second driven telescopic rod (9) is fixedly connected with the moving workbench (2), the rotating axes of the driving revolute pair (11) and the driven revolute pair (3) are parallel to each other, and the central axes of the first driven telescopic rod (10) and the second driven telescopic rod (9) are perpendicular to the rotating axis of the driving revolute pair (11), and the included angle between the two is not zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677950.2A CN105150197B (en) | 2015-10-20 | 2015-10-20 | Planar motion type hybrid drive parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677950.2A CN105150197B (en) | 2015-10-20 | 2015-10-20 | Planar motion type hybrid drive parallel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105150197A CN105150197A (en) | 2015-12-16 |
| CN105150197B true CN105150197B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510677950.2A Expired - Fee Related CN105150197B (en) | 2015-10-20 | 2015-10-20 | Planar motion type hybrid drive parallel robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1585144A1 (en) * | 1988-10-18 | 1990-08-15 | Ереванский политехнический институт им.К.Маркса | Manipulator |
| US5125759A (en) * | 1991-02-04 | 1992-06-30 | Chun Wendell H | Adjustable compliant robotic wrist using an electro-rheological fluid |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN200991901Y (en) * | 2006-12-28 | 2007-12-19 | 山东理工大学 | Three flat-moving orthogonal decoupling paralled connecting micromovement platform |
| CN201096563Y (en) * | 2007-11-02 | 2008-08-06 | 山东理工大学 | Parallel decoupling structure three-dimensional moment sensor |
| CN101249651A (en) * | 2008-04-09 | 2008-08-27 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| JP2011045984A (en) * | 2009-08-28 | 2011-03-10 | Tokyo Institute Of Technology | Parallel mechanism with six-degree of freedom |
-
2015
- 2015-10-20 CN CN201510677950.2A patent/CN105150197B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1585144A1 (en) * | 1988-10-18 | 1990-08-15 | Ереванский политехнический институт им.К.Маркса | Manipulator |
| US5125759A (en) * | 1991-02-04 | 1992-06-30 | Chun Wendell H | Adjustable compliant robotic wrist using an electro-rheological fluid |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN1472046A (en) * | 2003-07-16 | 2004-02-04 | 刘辛军 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
| CN200991901Y (en) * | 2006-12-28 | 2007-12-19 | 山东理工大学 | Three flat-moving orthogonal decoupling paralled connecting micromovement platform |
| CN201096563Y (en) * | 2007-11-02 | 2008-08-06 | 山东理工大学 | Parallel decoupling structure three-dimensional moment sensor |
| CN101249651A (en) * | 2008-04-09 | 2008-08-27 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| JP2011045984A (en) * | 2009-08-28 | 2011-03-10 | Tokyo Institute Of Technology | Parallel mechanism with six-degree of freedom |
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| CN105150197A (en) | 2015-12-16 |
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