CN105215975B - Asymmetric parallel institution with two turn of one shift three degrees of freedom - Google Patents
Asymmetric parallel institution with two turn of one shift three degrees of freedom Download PDFInfo
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- CN105215975B CN105215975B CN201510636276.3A CN201510636276A CN105215975B CN 105215975 B CN105215975 B CN 105215975B CN 201510636276 A CN201510636276 A CN 201510636276A CN 105215975 B CN105215975 B CN 105215975B
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Abstract
The present invention relates to industrial robot field of mechanisms, particularly to a kind of asymmetric parallel institution with two turn of one shift three degrees of freedom.There is the asymmetric parallel institution of two turn of one shift three degrees of freedom to add the form of the composition of two motion branches even using dynamic and static platform for this, and move one in branched chain by two and be set to combination chain, another is set to single open chain, the first prismatic pair, the 3rd revolute pair and the 8th cylindrical pair being installed on silent flatform are chosen as driving pair, wherein the first prismatic pair is vertical with the 3rd revolute pair and the 8th cylinder secondary axis.7th revolute pair and the tenth ball pair are connected with moving platform.Therefore, parallel institution moving platform of the invention can realize that bidimensional rotates one-dimensional movement output campaign.The Jacobian matrix of mechanism is 3 × 3 diagonal matrixs, therefore the output of moving platform greatly reduces the influence between each kinematic chain with being actively entered in one-to-one relationship, solves the problem of parallel robot decoupling is poor, control design case is difficult.
Description
Technical field
The present invention relates to industrial robot field of mechanisms, there is two turn of one shift three degrees of freedom particularly to a kind of
Asymmetric parallel institution.
Background technology
Parallel institution is also known as parallel robot, is one of the focus that theory of mechanisms and robot field study in recent years.It is in parallel
Mechanism has the advantages that rigidity is big, bearing capacity is strong, deviation accumulation is small, dynamic property is good, compact conformation, extensively should in recent years
For numerous technical fields.
Parallel robot is divided into six-DOF robot and Limited-DOF Parallel Robot.Relative to conventional serial mechanism,
There is parallel institution simple in construction, control to be relatively easy to, the low feature of manufacturing cost.The parallel institution configuration of current Three Degree Of Freedom
Design has attracted the interest of numerous researchers, and wherein has the Three Degree Of Freedom of two rotations and an one-movement-freedom-degree form simultaneously
Online structure turns into the study hotspot in the field because of its wide application potential.The parallel institution of the type is in high-speed picking-up, machine
The fields such as tool processing, space orientation, medicine equipment, micromanipulator, force snesor, rehabilitation nursing instrument have huge application valency
Value and commercial value.
Current scholars are rotating the 3-freedom parallel mechanism configuration with an one-movement-freedom-degree form with two
Design aspect has deployed keen competition to propose this type parallel institution with independent intellectual property right, function admirable.But
Such existing mechanism is such as：3-RPS parallel institutions, 3-PRS parallel institutions etc. exist straight chain kinematic pair number it is more, to zero
The links such as processing, the assembling of part, which require that higher, mechanism rotation exists to couple with translational motion, makes its kinematics solution very
The shortcomings of very complicated, the practical ranges of such mechanism are limited to a certain extent.How to design and meet functional requirement,
And kinematics control is simple, manufacturing cost is cheap new 3-freedom parallel mechanism is that mechanism researcher is badly in need of asking for solution
Topic.
The content of the invention
It is an object of the invention to provide a kind of asymmetric parallel institution with two turn of one shift three degrees of freedom, to solve simultaneously
Join the problem of robot decoupling is poor, control design case is difficult.
In order to solve the above problems, of the invention has the asymmetric parallel institution of two turn of one shift three degrees of freedom using following
Technical scheme：Asymmetric parallel institution with two turn of one shift three degrees of freedom, including silent flatform, moving platform and be connected to dynamic flat
One in two sub-chains between platform and silent flatform, two sub-chains is combination chain, and another is single open chain,
The combination chain includes the first sub-branch, the second sub-branch and the 7th revolute pair, and the first sub-branch is included by being opened from silent flatform
Begin the 3rd revolute pair, the 4th universal hinge, the 5th prismatic pair and the 6th universal hinge being sequentially connected in series, wherein the rotation of the 3rd revolute pair
Axis and the axis of the part adjacent thereto of the 4th universal hinge are orthogonal, are connected in the 4th universal hinge with the 5th prismatic pair
The pivot center of part of the partial pivot center with being connected in the 6th universal hinge with the 5th prismatic pair is parallel to each other, the two surplus
Remaining pivot center is also parallel to each other；Second sub-branch includes the first prismatic pair being sequentially connected in series since silent flatform and second turn
Dynamic pair, in the second sub-branch, the axis of the first prismatic pair and the pivot center of the second revolute pair are orthogonal, and first, second
Sub-branch's parallel connection is constituted connects and flat with moving by the 7th revolute pair after one turn of one shifting two degrees of freedom list closed chain with the 7th revolute pair
Platform is connected, and the axis of the second revolute pair and the axis of the 7th revolute pair are mutually perpendicular to, in combination chain, the first prismatic pair and the 3rd
Revolute pair is driving pair；Single open chain includes the 8th cylindrical pair, the 9th revolute pair and the being sequentially connected in series from silent flatform to moving platform
Ten ball pairs, the 8th cylindrical pair, the 9th revolute pair axis it is parallel to each other and each parallel to the axis of the 3rd revolute pair, the 8th circle
Post pair is driving pair.
Silent flatform is rectangular platform, and combination chain and single open chain are connected to the relative both sides of silent flatform.
The locus of 8th revolute pair is higher than the 3rd revolute pair and the first prismatic pair.
The asymmetric parallel institution with two turn of one shift three degrees of freedom of the present invention, is installed on the first movement on silent flatform
Secondary, the 3rd revolute pair and the 8th cylindrical pair are chosen as driving pair.Wherein the first prismatic pair and the 3rd revolute pair and the 8th cylindrical pair
Axis is vertical.7th revolute pair and the tenth ball pair are connected with moving platform.Therefore, parallel institution moving platform of the invention can realize two
Dimension rotates one-dimensional movement output campaign.The Jacobian matrix of mechanism is 3 × 3 diagonal matrixs, therefore the output of moving platform is with being actively entered
In one-to-one relationship, the influence between each kinematic chain is greatly reduced, solves that parallel robot decoupling is poor, control design case
Difficult the problem of.
Brief description of the drawings
Fig. 1 is the schematic diagram of the embodiment of the asymmetric parallel institution with two turn of one shift three degrees of freedom；
Fig. 2 is the structural representation of the embodiment of the asymmetric parallel institution with two turn of one shift three degrees of freedom.
Embodiment
The embodiment of the asymmetric parallel institution of two turn of one shift three degrees of freedom, as shown in Figure 1-2, the mechanism include silent flatform
8th, the combination chain and single open chain of moving platform 9 and connection silent flatform 8 and moving platform 9.Moving platform 9 uses deck plate.
Combination chain includes the single closed chain in space and the 7th revolute pair R7 connected in series, and the single closed chain in the space includes the
One sub-branch and the second sub-branch.
First sub-branch includes the 3rd revolute pair R3 that silent flatform 8 is set gradually to the 6th universal coupling U6, and the 4th is universal
Hinge U4 and the 5th prismatic pair P5.3rd revolute pair R3 and the 4th universal coupling U4 are connected by connecting rod 1, the 4th universal coupling U4
Connected with the 5th prismatic pair P5 by connecting rod 2, the 5th prismatic pair P5 and the 6th universal coupling U6 are connected by connecting rod 3.First son
The 3rd revolute pair R3 pivot center in the 4th universal coupling U4 with axis that connecting rod 1 is connected with being mutually perpendicular in branch, and the 4th
Universal coupling U4 and the connected pivot center of connecting rod 2 are parallel to each other with the axis that the 6th universal coupling U6 and connecting rod 3 are connected, its
He is also parallel to each other at two axis.Second sub-branch includes the first prismatic pair P1 on silent flatform 8 and is connected with the first prismatic pair
The second revolute pair R2, they are connected by connecting rod 5.First prismatic pair P1 axis and the second revolute pair R2 in second sub-branch
Axis be mutually perpendicular to.The first prismatic pair P1 and the 3rd revolute pair R3 in this side chain are respectively the driving pair of this parallel institution.
First sub-branch, the second sub-branch are connected by the revolute pair R7 of connecting rod 4 and the 7th with moving platform, and second turn
Dynamic secondary R2 and the 7th revolute pair R7 axis are mutually perpendicular to.
Single open chain includes the 8th cylindrical pair C8, the 9th revolute pair R9 and the tenth being sequentially connected in series by silent flatform 8 to moving platform 9
Ball secondary S10, wherein the 8th cylindrical pair C8 and the 9th revolute pair R9 are connected by connecting rod 7, the 9th revolute pair R9 and the tenth ball secondary S10
Connected by connecting rod 6.8th cylindrical pair C8 diameter parallels are in z-axis, the 8th cylindrical pair C8 axis and the 9th revolute pair R9 axle
Line is parallel, and the tenth ball secondary S10 is connected with moving platform 9, and the 8th cylindrical pair C8 being connected with silent flatform 8 is driving pair.
As the first prismatic pairs of Fig. 2 P1 guide rail 7, the 3rd revolute pair R3 cylindrical pair C8 of base 1 and the 8th guide rail 10 with
Silent flatform is connected.The axis of prismatic pair P1 axis and revolute pair R3 is mutually perpendicular to, and prismatic pair P1 axis is with cylindrical pair C8's
Axis is mutually perpendicular to.
Driving pair is that the drive mechanism of prismatic pair is that servomotor drives ball-screw to coordinate guide rail to realize that linear displacement is
It is actively entered, the drive mechanism of active cylindrical pair is that servomotor drives ball-screw to realize being actively entered simultaneously for linear displacement
The axis coaxle of one its axis of revolute pair of series connection and ball-screw, the secondary drive mechanism of active rotation is that motor drives deceleration
Machine.
A kind of full decoupled three-freedom parallel robot mechanism proposed by the present invention in the course of the work, when driving first
When prismatic pair P1, the 8th cylindrical pair C8 and the 3rd revolute pair R3, the moving platform can realize that space bidimensional rotates one-dimensional movement
Output.The Jacobian matrix of mechanism is 3 × 3 diagonal matrixs, therefore the output of moving platform is with being actively entered in one-to-one relationship.It is dynamic flat
One movement output of platform only needs a driver input control, greatly reduces the influence between each kinematic chain, solves simultaneously
Join the problem of poor control design case of robot decoupling is difficult.The drive mechanism of active moving sets is the screw mechanism that motor drives,
Either servomotor, the secondary drive mechanism of active rotation is the reductor that motor drives, can be when cylindrical pair is driving pair
A turning joint of being connected on leading screw axis realizes its set motion, and these are all the conventional designs of robot.The parallel institution can
For industrial robot, medical robot and micro-manipulating robot etc..
Claims (3)
1. the asymmetric parallel institution with two turn of one shift three degrees of freedom, including silent flatform, moving platform and it is connected to moving platform
Two sub-chains between silent flatform, it is characterised in that one in two sub-chains is combination chain, Ling Yizhi
For single open chain, the combination chain includes the first sub-branch, the second sub-branch and the 7th revolute pair, and the first sub-branch is included by certainly
Silent flatform starts the 3rd revolute pair, the 4th universal hinge, the 5th prismatic pair and the 6th universal hinge being sequentially connected in series, wherein the 3rd rotates
Secondary pivot center and the axis of the part adjacent thereto of the 4th universal hinge is orthogonal, with the 5th movement in the 4th universal hinge
The pivot center of part of the pivot center of the connected part of pair with being connected in the 6th universal hinge with the 5th prismatic pair is parallel to each other,
The remaining pivot center of the two is also parallel to each other；Second sub-branch includes the first prismatic pair being sequentially connected in series since silent flatform
With the second revolute pair, in the second sub-branch, the axis of the first prismatic pair and the pivot center of the second revolute pair are orthogonal, the
First, the parallel connection of the second sub-branch is connected and by the 7th revolute pair after constituting one turn of one shifting two degrees of freedom list closed chain with the 7th revolute pair
It is connected with moving platform, the axis of the second revolute pair and the axis of the 7th revolute pair are mutually perpendicular to, in combination chain, the first prismatic pair
It is driving pair with the 3rd revolute pair；Single open chain includes the 8th cylindrical pair, the 9th rotation being sequentially connected in series from silent flatform to moving platform
Secondary and the tenth ball pair, the 8th cylindrical pair, the 9th revolute pair axis it is parallel to each other and each parallel to the axis of the 3rd revolute pair,
8th cylindrical pair is driving pair, and the axis of the first prismatic pair is mutual with the axis of the 3rd revolute pair and the axis of the 8th cylindrical pair respectively
Perpendicular, the 7th revolute pair and the tenth ball pair are connected with moving platform.
2. the asymmetric parallel institution with two turn of one shift three degrees of freedom according to claim 1, it is characterised in that dynamic flat
Platform is rectangular platform, and combination chain and single open chain are connected to the relative both sides of moving platform.
3. the asymmetric parallel institution with two turn of one shift three degrees of freedom according to claim 1 or 2, it is characterised in that
The locus of 8th cylindrical pair is higher than the 3rd revolute pair and the first prismatic pair.
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| CN105215975B true CN105215975B (en) | 2017-11-03 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105522561B (en) * | 2016-01-11 | 2018-05-15 | 河南科技大学 | There is two turn of one shifting asymmetric parallel institution of completely isotropic |
| CN105522560B (en) * | 2016-01-11 | 2017-07-21 | 河南科技大学 | The asymmetric completely isotropic parallel robot mechanism of Three Degree Of Freedom |
| CN105479445A (en) * | 2016-01-26 | 2016-04-13 | 江南大学 | 2T1R hybrid robot mechanism based on topology structure |
| CN106840642B (en) * | 2017-04-01 | 2023-04-21 | 中北大学 | Reconfigurable parallel/series-parallel mechanism experimental device component system |
| CN107553472B (en) * | 2017-10-23 | 2023-05-16 | 河南科技大学 | Completely isotropic plane parallel mechanism with precisely constrained kinematic chain |
| CN108110424B (en) * | 2018-02-13 | 2023-10-10 | 河南科技大学 | Parallel satellite antenna attitude adjusting device |
| CN109531550B (en) * | 2019-01-23 | 2024-02-13 | 河南科技大学 | Coupling-free two-rotation parallel mechanism |
| CN109531552B (en) * | 2019-01-23 | 2024-03-22 | 河南科技大学 | Two-degree-of-freedom pure rotation parallel mechanism |
| CN115039572B (en) * | 2022-07-22 | 2023-11-14 | 农业农村部南京农业机械化研究所 | Six-degree-of-freedom series-parallel picking manipulator |
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