CN105234933A - Dual-translation dual-rotation parallel-connection robot device - Google Patents
Dual-translation dual-rotation parallel-connection robot device Download PDFInfo
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Abstract
Disclosed is a dual-translation dual-rotation parallel-connection robot device. The dual-translation dual-rotation parallel-connection robot device is composed of a static platform, a moving platform and four branch chains which are connected with the moving platform and the static platform, wherein the branch chains I and II are the same in structure and composed of sliding pairs, revolute pairs and cylindrical pairs, the sliding pairs and the cylindrical pairs are connected with the static platform and the moving platform respectively, and axes of the three kinematic pairs are pairwise perpendicular at the initial assembling moment; the branch chain III is composed of five revolute pairs, and the axis of the revolute pair connected to the static platform is parallel to the axis of the adjacent revolute pair and perpendicular to the axes of the other three revolute pairs of which the axes are parallel; the branch chain IV is composed of a revolute pair and two ball pairs; guide ways of the two sliding pairs on the branch chains I and II are mutually parallel and perpendicular to the axis of the revolute pair, connected to the static platform, of the branch chain III; the axes of the two cylindrical pairs on the branch chains I and II coincide and are parallel to the axis of the revolute pair, connected to the moving platform, of the branch chain III. The dual-translation dual-rotation parallel-connection robot device has the advantages of forward position kinematics analytical expression, partial decoupling and the like.
Description
Technical field
Robotics of the present invention, relates to a kind of actuating unit of parallel robot operator.
Background technology
Parallel institution is applied widely in the field such as manipulator of robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, parallel-connection structure, it has the uniquenesses such as structural rigidity is large, movement velocity is high, error does not superpose, and can make certainty of measurement and measure the performances such as efficiency to be greatly improved.At present, for 6-SPS and 6-RSS mechanism, the spatial pose of its end effector is relatively more flexible, but due to the structure of this mechanism relatively complicated, cause its end effector solve and apply more difficult.In commercial Application, normal requirement has the minority carrier generation lifetime of the 2-5 free degree, and such as the Delta operator of implementation space three translation functions, has played good effect in the techniques such as high speed pick-and-place, orientation assemble, carrying, sorting, loading and unloading; And there is the parallel manipulator of two translation two rotating functions, and needing under the occasion adjusting workpiece posture, indispensable especially.At present, many parallel institutions are due to complex structure, and motion/Dynamic Modeling and solve difficulty, causes basic research imperfection, thus make such mechanism not obtain good development & application.
In sum, the development of the manipulator of robot, virtual-shaft machine tool, coordinate measuring machine, parallel-connection structure etc. and practical, needs to create the new architecture being better than existing mechanism.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of two translation two rotating parallel device people devices newly, this device has forward kinematics solution can Analytical Expression, the advantages such as input-output decoupling zero, structure is simple, working space is large of moving.
The present invention is achieved by the following technical solutions.
A kind of two translation two rotating parallel device people devices, be made up of silent flatform, moving platform and four side chains connecting dynamic and static platform, it is characterized in that: I side chain is identical with the IIth branched structure, axis orthogonal three kinematic pairs (moving sets, revolute pair, cylindrical pair) composition is between two carved by a slide bar, a connecting rod and initial loading timing, after slide bar and connecting rod connect by revolute pair, the other end moving sets of slide bar connects silent flatform, and the other end cylindrical pair of connecting rod connects and moving platform; III side chain is made up of four connecting rods and five revolute pairs, wherein, is connected in the axis of the revolute pair on silent flatform with the pivot center of one group of revolute pair of another three axis being parallel vertical with the axis being parallel of adjacent revolute pair; IV side chain is made up of two connecting rods, two ball pairs and a revolute pair, and after two connecting rods connect by ball pair, one end is connected with moving platform ball pair, and other end revolute pair is connected with silent flatform; Further, I side chain is parallel to each other with the guide rail the IIth side chain being connected in two moving sets of silent flatform and vertical with pivot center III side chain being connected in the revolute pair of silent flatform, and revolute pair IV side chain being connected in silent flatform can arbitrary disposition; Pivot center I side chain and the IIth side chain being connected in two cylindrical pairs of moving platform overlap and with III side chain on be connected in the axis being parallel of the revolute pair of moving platform.
More specifically, a kind of two translation two rotating parallel device people devices, be made up of silent flatform, moving platform and four side chains connecting dynamic and static platform, it is characterized in that: I side chain is identical with the IIth branched structure, axis orthogonal three kinematic pairs are between two carved: moving sets, revolute pair, cylindrical pair form by a slide bar, a connecting rod and initial loading timing, after slide bar and connecting rod connect by revolute pair, the other end moving sets of slide bar connects silent flatform, and the other end cylindrical pair of connecting rod connects and moving platform; III side chain is made up of four connecting rods and five revolute pairs, wherein, be connected in the axis of the revolute pair three (R3) on silent flatform with the axis being parallel of adjacent revolute pair four (R4) and with one group of revolute pair of another three axis being parallel: the pivot center of revolute pair five (R5), revolute pair six (R6), revolute pair seven (R7) is vertical; IV side chain is made up of two connecting rods, two ball pairs and a revolute pair, and after two connecting rods connect by ball pair, one end is connected with moving platform ball pair, and other end revolute pair is connected with silent flatform; I side chain with the IIth side chain is connected in the moving sets (P11) of silent flatform, the guide rail of moving sets (P21) is parallel to each other and vertical with the pivot center of the revolute pair three (R3) III side chain being connected in silent flatform, IV side chain is connected in revolute pair eight (R8) arbitrary disposition of silent flatform; I side chain and the IIth side chain are connected in the cylindrical pair one (C11) of moving platform, the pivot center of cylindrical pair two (C21) overlap and with III side chain on be connected in the axis being parallel of the revolute pair seven (R7) of moving platform.
A kind of two translation two rotating parallel device people devices provided by the invention, by silent flatform (0), moving platform (1) and connect moving platform (1), silent flatform (0) four articles of side chains (I side chain, the IIth side chain, III side chain, IV side chain) form, it is characterized in that:
I side chain is successively by moving sets one (P11), slide bar one (2), revolute pair one (R11), connecting rod one (3), cylindrical pair one (C11) is in series, one end of slide bar one (2) connects with silent flatform (0) with moving sets one (P11), the other end of slide bar one (2) is connected by revolute pair one (R11) with one end of connecting rod one (3), connecting rod one (3) other end cylindrical pair one (C11) connects with moving platform (1), carve in initial loading timing, moving sets one (P11) should be ensured, revolute pair one (R12), the axis of cylindrical pair one (C11) these three kinematic pairs is mutually vertical between two.
IIth side chain is successively by moving sets two (P21), slide bar two (4), revolute pair two (R21), connecting rod two (5), cylindrical pair two (C21) is in series, one end of slide bar two (4) connects with silent flatform (0) with moving sets two (P21), the other end revolute pair two (R21) of slide bar two (4) comes one end of coupler link two (5), connecting rod two (5) other end cylindrical pair two (C21) connects with moving platform (1), carve in initial loading timing, moving sets two (P21) should be ensured, revolute pair two (R21), the axis of cylindrical pair two (C21) these three kinematic pairs is mutually vertical between two.
III side chain is successively by revolute pair three (R3), connecting rod three (6), revolute pair four (R4), connecting rod four (7), revolute pair five (R5), connecting rod five (8), revolute pair six (R6), connecting rod six (9), revolute pair seven (R7) is in series, one end of connecting rod three (6) connects with silent flatform (0) by revolute pair three (R3), the other end of connecting rod three (6) one end of revolute pair four (R4) coupler link four (7), the other end of connecting rod four (7) one end of revolute pair five (R5) coupler link five (8), the other end of connecting rod five (8) one end of revolute pair six (R6) coupler link six (9), the other end of connecting rod six (9) connects with moving platform (1) by revolute pair seven (R7), revolute pair three (R3), the axis of revolute pair four (R4) these two revolute pairs is parallel to each other, revolute pair four (R4), the axis of revolute pair five (R5) these two revolute pairs is mutually vertical, revolute pair five (R5), revolute pair six (R6), the axis of revolute pair seven (R7) these three revolute pairs is parallel to each other.
IV side chain is in series by revolute pair eight (R8), connecting rod seven (10), ball pair one (S1), connecting rod eight (11), ball pair two (S2) successively, one end revolute pair eight (R8) of connecting rod seven (10) connects silent flatform (0), the other end of connecting rod seven (10) connects with one end ball pair one (S1) of connecting rod eight (11), and the other end of connecting rod eight (11) connects with moving platform (1) by ball pair two (S2).
On moving sets one (P11) on I side chain and the IIth side chain the guide rail of moving sets two (P21) be parallel to each other and all with the axes normal of revolute pair on III side chain three (R3), on IV side chain, revolute pair eight (R8) can arbitrary disposition, on the cylindrical pair one (C11) on I side chain and the IIth side chain cylindrical pair two (C21) dead in line and with the axis being parallel of revolute pair on III side chain seven (R7).
IV side chain of the present invention can with substituting without restricted type S-S-P or S-P-S side chain arbitrarily.
Revolute pair four (R4) on III side chain of the present invention and the available Hooke's hinge of revolute pair five (R5) or a ball pair substitute.
On cylindrical pair one (C11) on I side chain of the present invention and the IIth side chain, cylindrical pair two (C21) all can substitute with the combination of the revolute pair of dead in line and moving sets.
The present invention has forward kinematics solution can Analytical Expression, the advantages such as input-output decoupling zero, structure is simple, working space is large of moving.
Accompanying drawing explanation
Accompanying drawing 1 is the structure diagram schematic diagram of one of the embodiment of two translation two rotating parallel device people devices of the present invention.Wherein 0 is silent flatform, and 1 is moving platform, and 2 is slide bar one, 3 is connecting rod one, and 4 is slide bar two, and 5 is connecting rod two, 6 is connecting rod three, and 7 is connecting rod four, and 8 is connecting rod five, 9 is connecting rod six, and 10 is connecting rod seven, and 11 is connecting rod eight, R11 is revolute pair one, R21 be revolute pair two, R3 is revolute pair three, R4 is revolute pair four, R5 be revolute pair five, R6 is revolute pair six, R7 is revolute pair seven, R8 is revolute pair eight, P11 be moving sets one, P21 is moving sets two, C11 is cylindrical pair one, C21 is cylindrical pair two, S1 be ball pair one, S2 is ball pair two.
Detailed description of the invention
Below by accompanying drawing and example, technical scheme of the present invention is further described.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, its technical scheme is: a kind of two translation two rotating parallel device people devices, by silent flatform 0, moving platform 1 and connection moving platform 1, four articles of side chain (I side chains of silent flatform 0, IIth side chain, III side chain, IV side chain) composition, it is characterized in that: I side chain is successively by moving sets one P11, slide bar 1, revolute pair one R11, connecting rod 1, cylindrical pair one C11 is in series, one end moving sets one P11 of slide bar 1 connects with silent flatform 0, the other end of slide bar 1 is connected by revolute pair one R11 with one end of connecting rod 1, connecting rod 1 other end cylindrical pair one C11 connects with moving platform 1, carve in initial loading timing, moving sets one P11 should be ensured, revolute pair one R11, the axis of these three kinematic pairs of cylindrical pair one C11 is mutually vertical between two, IIth side chain is in series by moving sets two P21, slide bar 24, revolute pair two R21, connecting rod 25, cylindrical pair two C21 successively, one end moving sets two P21 of slide bar 24 connects with silent flatform 0, other end revolute pair two R21 of slide bar 24 comes one end of coupler link 25, connecting rod 25 other end cylindrical pair two C21 connects with moving platform 1, carve in initial loading timing, should ensure moving sets two P21, revolute pair two R21, these three kinematic pairs of cylindrical pair two C21 axis mutually vertical between two, III side chain is successively by revolute pair three R3, connecting rod 36, revolute pair four R4, connecting rod 47, revolute pair five R5, connecting rod 58, revolute pair six R6, connecting rod 69, revolute pair seven R7 is in series, one end revolute pair three R3 of connecting rod 36 connects with silent flatform 0, the other end of connecting rod 36 one end of revolute pair four R4 coupler link 47, the other end of connecting rod 47 one end of revolute pair five R5 coupler link 58, the other end of connecting rod 58 one end of revolute pair six R6 coupler link 69, other end revolute pair seven R7 of connecting rod 69 connects with moving platform 1, revolute pair three R3, the axis of these two revolute pairs of revolute pair four R4 is parallel to each other, revolute pair four R4, the axis of these two revolute pairs of revolute pair five R5 is mutually vertical, revolute pair five R5, revolute pair six R6, the axis of these three revolute pairs of revolute pair seven R7 is parallel to each other, IV side chain is in series by revolute pair eight R8, connecting rod 7 10, the secondary S1 of ball, connecting rod 8 11, secondary two S2 of ball successively, one end revolute pair eight R8 of connecting rod 7 10 connects silent flatform 0, the other end of connecting rod 7 10 connects with the secondary S1 of one end ball of connecting rod 8 11, and secondary two S2 of other end ball of connecting rod 8 11 connect with moving platform 1, further, on moving sets one P11 on I side chain and the IIth side chain the guide rail of moving sets two P21 be parallel to each other and all with the axes normal of revolute pair three R3 on III side chain, on IV side chain, revolute pair eight R8 can arbitrary disposition, on cylindrical pair one C11 on I side chain and the IIth side chain cylindrical pair two C21 dead in line and with the axis being parallel of revolute pair seven R7 on III side chain.
When four kinematic pairs P11, P21, R3, R8 connecting with silent flatform 0 are for driving, moving platform 1 just can be made to realize exporting perpendicular to the two-dimension translational of the axis of revolute pair one R11 and exporting around revolute pair one R11 axis with around the two-dimensional rotary of the axis of cylindrical pair one C11, further, moving platform 1 is relevant with the amount of movement of moving sets one P11, moving sets two P21 around the rotation output of the axis of revolute pair one R11, and has nothing to do with driving the anglec of rotation of secondary R3, R8.
Claims (4)
1. a translation two rotating parallel device people device, be made up of silent flatform, moving platform and four side chains connecting dynamic and static platform, it is characterized in that: I side chain is identical with the IIth branched structure, axis orthogonal three kinematic pairs are between two carved: moving sets, revolute pair, cylindrical pair form by a slide bar, a connecting rod and initial loading timing, after slide bar and connecting rod connect by revolute pair, the other end moving sets of slide bar connects silent flatform, and the other end cylindrical pair of connecting rod connects and moving platform; III side chain is made up of four connecting rods and five revolute pairs, wherein, be connected in the axis of the revolute pair three (R3) on silent flatform with the axis being parallel of adjacent revolute pair four (R4) and with one group of revolute pair of another three axis being parallel: the pivot center of revolute pair five (R5), revolute pair six (R6), revolute pair seven (R7) is vertical; IV side chain is made up of two connecting rods, two ball pairs and a revolute pair, and after two connecting rods connect by ball pair, one end is connected with moving platform ball pair, and other end revolute pair is connected with silent flatform; I side chain with the IIth side chain is connected in the moving sets (P11) of silent flatform, the guide rail of moving sets (P21) is parallel to each other and vertical with the pivot center of the revolute pair three (R3) III side chain being connected in silent flatform, IV side chain is connected in revolute pair eight (R8) arbitrary disposition of silent flatform; I side chain and the IIth side chain are connected in the cylindrical pair one (C11) of moving platform, the pivot center of cylindrical pair two (C21) overlap and with III side chain on be connected in the axis being parallel of the revolute pair seven (R7) of moving platform.
2. two translation two rotating parallel device people devices according to claim 1, is characterized in that described IV side chain is with substituting without restricted type S-S-P or S-P-S side chain arbitrarily.
3. two translation two rotating parallel device people devices according to claim 1, is characterized in that revolute pair four (R4) on described III side chain and revolute pair five (R5) Hooke's hinge or a ball pair substitute.
4. two translation two rotating parallel device people devices according to claim 1, is characterized in that cylindrical pair two (C21) revolute pair of dead in line and the combination replacement of moving sets on cylindrical pair one (C11) on described I side chain and the IIth side chain.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105856192A (en) * | 2016-05-10 | 2016-08-17 | 燕山大学 | Four-branch-chain and two-degree-of-freedom rotary parallel mechanism with two continuous rotating axes |
| CN106363608A (en) * | 2016-10-28 | 2017-02-01 | 南昌大学 | Parallel robot device with two operation modes |
| CN106840642A (en) * | 2017-04-01 | 2017-06-13 | 中北大学 | Restructural parallel/hybrid mechanism experimental provision component system |
| CN107419705A (en) * | 2017-05-18 | 2017-12-01 | 江苏电力装备有限公司 | A kind of 3T2R trashes based on hybrid mechanism |
| CN108044276A (en) * | 2018-01-10 | 2018-05-18 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
| CN110450137A (en) * | 2019-08-02 | 2019-11-15 | 天津大学 | A kind of two degrees of freedom one-rotation parallel mechanism of partly decoupled |
| CN114102560A (en) * | 2021-11-26 | 2022-03-01 | 南昌大学 | Parallel robot device with spherical surface translation and one-dimensional rotation |
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| CN108044276B (en) * | 2018-01-10 | 2024-05-17 | 南昌大学 | Robot device for welding two intersecting cylinders |
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| CN110450137B (en) * | 2019-08-02 | 2024-02-02 | 天津大学 | Partially-decoupled two-degree-of-freedom rotary parallel mechanism |
| CN114102560A (en) * | 2021-11-26 | 2022-03-01 | 南昌大学 | Parallel robot device with spherical surface translation and one-dimensional rotation |
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