CN105215984A - Grouping decoupled parallel machine people is rotated in three translations one containing planar contact pair - Google Patents
Grouping decoupled parallel machine people is rotated in three translations one containing planar contact pair Download PDFInfo
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- CN105215984A CN105215984A CN201510764030.4A CN201510764030A CN105215984A CN 105215984 A CN105215984 A CN 105215984A CN 201510764030 A CN201510764030 A CN 201510764030A CN 105215984 A CN105215984 A CN 105215984A
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Abstract
The invention provides a kind of three translations one containing planar contact pair and rotate grouping decoupled parallel machine people, comprise fixed platform, motion platform and the three groups of side chains be connected between fixed platform and motion platform, it is characterized in that: fixed platform and motion platform all have three mutually orthogonal planes, first group of side chain contains two strip side chains, second group of side chain and the 3rd group of side chain are all containing a strip side chain, wherein first group of side chain is all connected with motion platform by revolute pair with the sub-side chain in second group of side chain, sub-side chain in 3rd group of side chain and motion platform affixed, every strip side chain in three groups of side chains is all containing expansion link and disk slide block, one end of expansion link and the one side of disk slide block affixed.The present invention is by driving the expansion link on every strip side chain, constitute the grouping Decoupling Mode of input and output, enormously simplify robot kinematics's model and Control System Design, the short-chain branch version simultaneously containing planar contact pair effectively can improve rigidity and the kinematic accuracy of robot.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically relate to a kind of three translations one containing planar contact pair and rotate grouping decoupled parallel machine people.
Background technology
Parallel robot and serial manipulator are in duality relation in stuctures and properties feature, and compared with traditional serial manipulator, it is large that parallel robot has the rigidity of structure, bearing capacity is high, and inertia is little, fast response time, precision advantages of higher, is widely used in the association areas such as machine-building.
In parallel robot, the research of six-DOF robot is comparatively comprehensively with deep, and application is in the industry comparatively extensive.Limited-DOF Parallel Robot have structure simple, control and the feature such as low cost of manufacture, therefore Limited-DOF Parallel Robot has attracted domestic and international large quantities of scholar to study with the features and application potentiality of himself.The strong coupling feature of parallel robot often causes its Configuration Design, analytical calculation and Control System Design more complicated, thus the effect had influence in Practical Project, and there is parallel robot that is full decoupled or partly decoupled characteristic can effectively overcome these shortcomings.University On The Mountain Of Swallows have developed a kind of two and moves a rotating decoupling parallel robot mechanism, comprise fixed platform, moving platform and connect their three branches, the identical Liang Ge branch of structure is by a cylindrical pair and two revolute pairs and two the connecting rod compositions being connected them, and another branch is made up of with three connecting rods being connected them four revolute pairs.BJ University of Aeronautics & Astronautics have developed the six degree of freedom connection in series-parallel micro-manipulating robot of two-stage decoupling zero, and Hebei University of Technology have developed the 6-PSS type microoperation platform of orthohormbic structure decoupling zero.
Dissimilar Limited-DOF Parallel Robot is related in above-mentioned achievement in research, but the parallel robot kind with three translational degree of freedom and a rotational freedom still needs to expand, structure still needs further simplification, and to have this kind of robot that is full decoupled or partly decoupled characteristic rarer simultaneously.
Summary of the invention
The object of this invention is to provide that a kind of structure is simple, rigidity is large, grouping decoupled parallel machine people are rotated in three translations one containing planar contact pair that precision is high.Its technical scheme is:
Grouping decoupled parallel machine people is rotated in a kind of three translations one containing planar contact pair, comprise fixed platform, motion platform and the three groups of side chains be connected between fixed platform and motion platform, it is characterized in that: fixed platform and motion platform all have three mutually orthogonal planes, each plane of fixed platform is all containing rectangular hollow structure, three groups of side chains correspondence is connected between the mutually orthogonal plane of fixed platform and motion platform three, first group of side chain contains two strip side chains, second group of side chain and the 3rd group of side chain are all containing a strip side chain, wherein first group of side chain is all connected with motion platform by revolute pair with the sub-side chain in second group of side chain, sub-side chain in 3rd group of side chain and motion platform affixed, every strip side chain in three groups of side chains is all containing expansion link and disk slide block, wherein disk slide block is by inside the movable rectangular hollow structure being embedded into fixed platform of the ball that is embedded in edge, jointly planar kinematic pair is formed with fixed platform, one end of expansion link and the one side of disk slide block affixed, the normal parallel of the plane of movement that the central axis of expansion link is corresponding with the planar kinematic pair that the disk slide block affixed with it and fixed platform form, the central axis of the expansion link that three strip side chains in first group of side chain and second group of side chain are corresponding is all perpendicular to the central axis of expansion link corresponding to the 3rd group of side chain neutron side chain, the pivot center of three revolute pairs is parallel to each other.
Compared with prior art, its advantage is in the present invention: (1), by introducing planar contact pair, simplify branched structure, the version of this short-chain branch effectively can improve rigidity and the kinematic accuracy of robot; (2) by driving the expansion link on every strip side chain, motion platform can obtain three translational degree of freedom and a rotational freedom, this robot architecture's feature makes the input motion of robot and exports the characteristic that motion has grouping decoupling zero simultaneously, namely the motion in three translational degree of freedom directions is controlled by the expansion link being parallel to corresponding free degree direction respectively, rotational freedom is controlled by the expansion link of two strip side chains in first group of side chain completely, thus constitute the grouping Decoupling Mode of input and output, enormously simplify robot kinematics's model and Control System Design.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure: 1, fixed platform 2, motion platform 3, revolute pair 4, expansion link 5, disk slide block 6, ball.
Detailed description of the invention
Fixed platform 1 and motion platform 2 all have three mutually orthogonal planes, each plane of fixed platform 1 is all containing rectangular hollow structure, three groups of side chains correspondence is connected between the mutually orthogonal plane of fixed platform 1 and motion platform 2 three, first group of side chain contains two strip side chains, second group of side chain and the 3rd group of side chain are all containing a strip side chain, wherein first group of side chain is all connected with motion platform 2 by revolute pair 3 with the sub-side chain in second group of side chain, sub-side chain in 3rd group of side chain and motion platform 2 affixed, every strip side chain in three groups of side chains is all containing expansion link 4 and disk slide block 5, wherein disk slide block 5 is by inside the movable rectangular hollow structure being embedded into fixed platform 1 of the ball 6 that is embedded in edge, jointly planar kinematic pair is formed with fixed platform 1, one end of expansion link 4 and the one side of disk slide block 5 affixed, the normal parallel of the plane of movement that the central axis of expansion link 4 is corresponding with the planar kinematic pair that the disk slide block 5 affixed with it and fixed platform 1 form, the central axis of the expansion link 4 that three strip side chains in first group of side chain and second group of side chain are corresponding is all perpendicular to the central axis of expansion link 4 corresponding to the 3rd group of side chain neutron side chain, the pivot center of three revolute pairs is parallel to each other.
Claims (1)
1. grouping decoupled parallel machine people is rotated in three translations one containing planar contact pair, comprise fixed platform (1), motion platform (2) and the three groups of side chains be connected between fixed platform (1) and motion platform (2), it is characterized in that: fixed platform (1) and motion platform (2) all have three mutually orthogonal planes, each plane of fixed platform (1) is all containing rectangular hollow structure, three groups of side chain correspondences are connected between the mutually orthogonal plane of fixed platform (1) and motion platform (2) three, first group of side chain contains two strip side chains, second group of side chain and the 3rd group of side chain are all containing a strip side chain, wherein first group of side chain is all connected with motion platform (2) by revolute pair (3) with the sub-side chain in second group of side chain, sub-side chain in 3rd group of side chain and motion platform (2) affixed, every strip side chain in three groups of side chains is all containing expansion link (4) and disk slide block (5), wherein disk slide block (5) is by inside the movable rectangular hollow structure being embedded into fixed platform (1) of the ball (6) that is embedded in edge, jointly planar kinematic pair is formed with fixed platform (1), one end of expansion link (4) and the one side of disk slide block (5) affixed, the normal parallel of the plane of movement that the central axis of expansion link (4) is corresponding with the planar kinematic pair that the disk slide block (5) affixed with it and fixed platform (1) form, the central axis of the expansion link (4) that three strip side chains in first group of side chain and second group of side chain are corresponding is all perpendicular to the central axis of expansion link (4) corresponding to the 3rd group of side chain neutron side chain, the pivot center of three revolute pairs is parallel to each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510764030.4A CN105215984B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation grouping decoupling parallel robot containing plane pair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510764030.4A CN105215984B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation grouping decoupling parallel robot containing plane pair |
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| Publication Number | Publication Date |
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| CN105215984A true CN105215984A (en) | 2016-01-06 |
| CN105215984B CN105215984B (en) | 2020-03-13 |
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| CN201510764030.4A Expired - Fee Related CN105215984B (en) | 2015-11-11 | 2015-11-11 | Three-translation one-rotation grouping decoupling parallel robot containing plane pair |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1145806A2 (en) * | 2000-04-12 | 2001-10-17 | Consiglio Nazionale Delle Ricerche | "Parallel manipulator with isotropic behaviour and purely translational movement of the platform" |
| WO2002016092A1 (en) * | 2000-08-20 | 2002-02-28 | Berliner Elektronenspeichering-Gesellschaft Für Synchrotronstrahlung M.B.H. | Device for multi-axis fine adjustable bearing of a component |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
| CN2603274Y (en) * | 2003-03-07 | 2004-02-11 | 赵宗春 | Support device capable of freely moving |
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2015
- 2015-11-11 CN CN201510764030.4A patent/CN105215984B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1145806A2 (en) * | 2000-04-12 | 2001-10-17 | Consiglio Nazionale Delle Ricerche | "Parallel manipulator with isotropic behaviour and purely translational movement of the platform" |
| WO2002016092A1 (en) * | 2000-08-20 | 2002-02-28 | Berliner Elektronenspeichering-Gesellschaft Für Synchrotronstrahlung M.B.H. | Device for multi-axis fine adjustable bearing of a component |
| CN2603274Y (en) * | 2003-03-07 | 2004-02-11 | 赵宗春 | Support device capable of freely moving |
| CN1462671A (en) * | 2003-06-06 | 2003-12-24 | 河北工业大学 | parallel decoupling mechanism with 4 degree of freedom |
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| CN105215984B (en) | 2020-03-13 |
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