CN105234933B - Dual-translation dual-rotation parallel-connection robot device - Google Patents
Dual-translation dual-rotation parallel-connection robot device Download PDFInfo
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- CN105234933B CN105234933B CN201510644918.4A CN201510644918A CN105234933B CN 105234933 B CN105234933 B CN 105234933B CN 201510644918 A CN201510644918 A CN 201510644918A CN 105234933 B CN105234933 B CN 105234933B
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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, are related to a kind of performs device of parallel robot manipulator.
Background technology
Parallel institution is led in robot, virtual-shaft machine tool, coordinate measuring machine, emulation platform, manipulator of parallel-connection structure etc.
Domain is applied widely, and it has the uniquenesses such as structural rigidity is big, movement velocity is high, error is not superimposed, and can make certainty of measurement
And the performance such as measurement efficiency is greatly improved.For 6-sps and 6-rss mechanism, the space of its end effector
Pose is more flexible, but because the structure of this mechanism is relatively complicated, causes the solution of its end effector and application more tired
Difficult.In commercial Application, often require the minority carrier generation lifetime with the 2-5 free degree, for example, realize space three translation functions
Delta operation hand, in high speed pick-and-place, positioning assembling, carrying, sorting, the technique such as loading and unloading, played good effect；
And there is the parallel manipulator of two translation two rotating function, under the occasion needing to adjust workpiece posture, even more indispensable.Mesh
Before, due to complex structure, motion/Dynamic Modeling and solution are difficult, lead to basic research imperfection for many parallel institutions, from
And so that such mechanism is not developed well and apply.
In sum, the development of manipulator of robot, virtual-shaft machine tool, coordinate measuring machine, parallel-connection structure etc. and practicality
Change, need to create the new architecture better than existing mechanism.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, provides a kind of new two translation two rotating parallel device people dress
Put, this device have forward kinematics solution can Analytical Expression, the decoupling of motion input/output section, structure is simple, working space is big
The advantages of.
The present invention is achieved by the following technical solutions.
A kind of two translation two rotating parallel device people's devices, by four of silent flatform, moving platform and the dynamic and static platform of connection
Side chain forms, and it is characterized in that: the i-th side chain and branched structure are identical, by a slide bar, a connecting rod and initial assembling
Moment axis orthogonal three kinematic pairs (moving sets, rotation pair, cylindrical pair) composition two-by-two, slide bar and connecting rod are with rotating pair
After connection, the other end of slide bar couples silent flatform with moving sets, and the other end of connecting rod is coupled and moving platform with cylindrical pair；The
Iii side chain rotates pair by four connecting rods and five and forms, and wherein, the secondary axis that rotates being connected on silent flatform is turned with adjacent
Dynamic secondary diameter parallel and vertical with one group of secondary pivot center of rotation of the other three diameter parallel；I-th v side chain is by two companies
Bar, two ball pairs and one rotate secondary composition, and two connecting rods are with, after the secondary connection of ball, one end is connected with moving platform ball pair, another
End is connected with rotating pair and silent flatform；Further, the i-th side chain and side chain are connected in the leading of two moving sets of silent flatform
Rail is parallel to each other and the pivot center secondary with the rotation being connected in silent flatform on the i-th ii side chain is vertical, and the i-th v side chain is connected in
The rotation pair of silent flatform can arbitrary disposition；The rotary shaft of two cylindrical pairs of moving platform is connected on the i-th side chain and side chain
Line overlap and with the i-th ii side chain on be connected in moving platform rotate secondary diameter parallel.
More specifically, a kind of two translation two rotating parallel device people's devices, dynamic and static by silent flatform, moving platform and connection
Four side chains composition of platform, is characterized in that: the i-th side chain and branched structure are identical, by a slide bar, connecting rod,
And initially assemble moment axis orthogonal three kinematic pairs two-by-two: moving sets, rotation pair, cylindrical pair composition, slide bar and company
After bar rotation duplicate invoice connects, the other end of slide bar couples silent flatform with moving sets, and the other end of connecting rod is coupled with cylindrical pair
With moving platform；I-th ii side chain rotates pair by four connecting rods and five and forms, and wherein, is connected in the rotation pair three on silent flatform
(r3) diameter parallel of axis and adjacent rotation pair four (r4) and secondary with one group of rotation of the other three diameter parallel: rotate secondary
Five (r5), the pivot center rotating secondary six (r6), rotating secondary seven (r7) are vertical；I-th v side chain by two connecting rods, two balls secondary and
One rotates secondary composition, and after two connecting rods are connected with ball is secondary, one end is connected with moving platform ball pair, and the other end is secondary and quiet with rotating
Platform connects；Be connected on i-th side chain and side chain the moving sets (p11) of silent flatform, moving sets (p21) guide rail mutually flat
Go and vertical with the pivot center of the rotation pair three (r3) that silent flatform is connected on the i-th ii side chain, the i-th v side chain is connected in quiet
Rotation pair eight (r8) arbitrary disposition of platform；Cylindrical pair one (c11), the circle of moving platform are connected on the i-th side chain and side chain
The pivot center of post pair two (c21) overlap and with the i-th ii side chain on be connected in moving platform rotation pair seven (r7) diameter parallel.
The present invention provide one kind two translate two rotating parallel device people's devices, by silent flatform (0), moving platform (1) and
Connection moving platform (1), four articles of side chains (the i-th side chain, side chain, the i-th ii side chain, i-th v side chain) composition of silent flatform (0), its
Feature is:
I-th side chain is successively by moving sets one (p11), slide bar one (2), secondary one (r11) of rotation, connecting rod one (3), cylindrical pair one
(c11) it is in series, one end of slide bar one (2) is coupled with silent flatform (0) with moving sets one (p11), the other end of slide bar one (2)
To be coupled by rotating secondary one (r11) with one end of connecting rod one (3), connecting rod one (3) other end cylindrical pair one (c11) and moving platform
(1) couple, in the initial assembling moment, should ensure that moving sets one (p11), rotate secondary one (r12), cylindrical pair one (c11) these three
The axis of kinematic pair is mutually perpendicular to two-by-two.
Side chain is successively by moving sets two (p21), slide bar two (4), secondary two (r21) of rotation, connecting rod two (5), cylindrical pair
Two (c21) are in series, and one end of slide bar two (4) is coupled with silent flatform (0) with moving sets two (p21), slide bar two (4) another
One end of coupler link two (5), connecting rod two (5) other end cylindrical pair two (c21) and moving platform are come in end with rotating secondary two (r21)
(1) couple, in the initial assembling moment, should ensure that moving sets two (p21), rotate secondary two (r21), cylindrical pair two (c21) these three
The axis of kinematic pair is mutually perpendicular to two-by-two.
I-th ii side chain is successively by secondary three (r3) of rotation, connecting rod three (6), secondary four (r4) of rotation, connecting rod four (7), rotation pair five
(r5), connecting rod five (8), secondary six (r6) of rotation, connecting rod six (9), secondary seven (r7) of rotation are in series, and one end of connecting rod three (6) is used
Rotate secondary three (r3) to couple with silent flatform (0), the other end of connecting rod three (6) is with rotating the one of secondary four (r4) coupler link four (7)
End, the other end of connecting rod four (7) is rotated with rotating one end of secondary five (r5) coupler link five (8), the other end of connecting rod five (8)
One end of secondary six (r6) coupler link six (9), the other end of connecting rod six (9) is coupled with moving platform (1) with rotating secondary seven (r7), turns
Dynamic pair three (r3), rotate secondary four (r4) this two and rotate secondary axis and be parallel to each other, rotate secondary four (r4), rotate secondary five (r5) this
Two rotate secondary axis and are mutually perpendicular to, and rotate secondary five (r5), secondary six (r6) of rotation, these three rotate pair to rotate secondary seven (r7)
Axis is parallel to each other.
I-th v side chain is successively by secondary eight (r8) of rotation, connecting rod seven (10), ball pair one (s1), connecting rod eight (11), ball pair two
(s2) it is in series, one end of connecting rod seven (10) to couple silent flatform (0), the other end of connecting rod seven (10) with rotating secondary eight (r8)
To be coupled with ball pair one (s1) with one end of connecting rod eight (11), the other end ball pair two (s2) and the moving platform of connecting rod eight (11)
(1) couple.
On moving sets one (p11) on i-th side chain and side chain the guide rail of moving sets two (p21) be parallel to each other and all with
The axis rotating secondary three (r3) on i-th ii side chain is vertical, the i-th v side chain rotates secondary eight (r8) can arbitrary disposition, on the i-th side chain
Cylindrical pair one (c11) and side chain on cylindrical pair two (c21) dead in line and with the i-th ii side chain on rotate secondary seven (r7)
Diameter parallel.
I-th v side chain of the present invention can be substituted with any no restricted type s-s-p or s-p-s side chain.
Rotation pair four (r4) on i-th ii side chain of the present invention and rotation secondary five (r5) can use Hooke's hinge or
Individual ball is secondary to be substituted.
On cylindrical pair one (c11) on i-th side chain of the present invention and side chain, cylindrical pair two (c21) all can use axle
What line overlapped rotates pair to substitute with combining of moving sets.
The present invention has that forward kinematics solution can Analytical Expression, the decoupling of motion input/output section, structure be simple, work is empty
Between big the advantages of.
Brief description
Accompanying drawing 1 is that the structure diagram of one of the embodiment of two translation two rotating parallel device people's devices of the present invention is illustrated
Figure.Wherein 0 is silent flatform, and 1 is moving platform, and 2 is slide bar one, and 3 is connecting rod one, and 4 is slide bar two, and 5 is connecting rod two, and 6 is connecting rod three,
7 is connecting rod four, and 8 is connecting rod five, and 9 is connecting rod six, and 10 is connecting rod seven, and 11 is connecting rod eight, and r11 is secondary one, the r21 of rotation is that rotation is secondary
Two, r3 are that to rotate secondary three, r4 be that to rotate secondary four, r5 be that to rotate secondary five, r6 be that to rotate secondary six, r7 be that to rotate secondary seven, r8 be to rotate
Secondary eight, p11 is moving sets one, and p21 is moving sets two, and c11 is cylindrical pair one, and c21 is cylindrical pair two, and s1 is ball pair one, and s2 is
Ball pair two.
Specific embodiment
Below by accompanying drawing and example, technical scheme is further described.
Parallel institution shown in accompanying drawing 1 can be one of embodiments of the invention, and its technical scheme is: a kind of two translate two turns
Dynamic parallel robot device, by silent flatform 0, moving platform 1 and connection moving platform 1, silent flatform 0 four side chains (the i-th side chain,
Side chain, the i-th ii side chain, the i-th v side chain) composition, it is characterized in that: the i-th side chain successively by moving sets one p11, slide bar 1, turn
A dynamic secondary r11, connecting rod 1, cylindrical pair one c11 are in series, one end moving sets one p11 and the silent flatform 0 of slide bar 1
Connect, the other end of slide bar 1 to be coupled by rotating a secondary r11 with one end of connecting rod 1, connecting rod 1 other end cylindrical pair one
C11 is coupled with moving platform 1, in the initial assembling moment, should ensure that moving sets one p11, rotate a secondary r11, cylindrical pair one c11 this three
The axis of individual kinematic pair is mutually perpendicular to two-by-two；Side chain is successively by moving sets two p21, slide bar 24, secondary two r21 of rotation, connecting rod
25, cylindrical pair two c21 is in series, and one end moving sets two p21 of slide bar 24 is coupled with silent flatform 0, slide bar 24 another
With rotating secondary two r21 come one end of coupler link 25, connecting rod 25 other end cylindrical pair two c21 is coupled with moving platform 1 at end,
The initial assembling moment, should ensure that moving sets two p21, rotate secondary two r21, cylindrical pair two these three kinematic pairs of c21 axis two-by-two
It is mutually perpendicular to；I-th ii side chain is successively by secondary three r3 of rotation, connecting rod 36, secondary four r4 of rotation, connecting rod 47, secondary five r5 of rotation, connecting rod
58, secondary six r6 of rotation, connecting rod 69, secondary seven r7 of rotation are in series, and one end of connecting rod 36 is with rotating secondary three r3 and silent flatform 0
Connection, with rotating one end of secondary four r4 coupler link 47, the other end of connecting rod 47 is with rotating secondary five r5 for the other end of connecting rod 36
One end of coupler link 58, the other end of connecting rod 58 with rotating one end of secondary six r6 coupler link 69, connecting rod 69 another
End is rotated secondary seven r7 and is coupled with moving platform 1, rotates secondary three r3, secondary four r4 of rotation this two rotate secondary axis and are parallel to each other,
Rotate secondary four r4, secondary five r5 of rotation this two rotate secondary axis and are mutually perpendicular to, secondary five r5 of rotation, secondary six r6 of rotation, rotation are secondary
The secondary axis of these three rotations of seven r7 is parallel to each other；I-th v side chain is successively by secondary eight r8 of rotation, connecting rod 7 10, ball pair one s 1, company
Bar 8 11, ball pair two s2 are in series, and one end of connecting rod 7 10 secondary eight r8 of rotation couple silent flatform 0, connecting rod 7 10 another
One end is coupled with ball pair one s1 with one end of connecting rod 8 11, and other end ball pair two s2 of connecting rod 8 11 are coupled with moving platform 1；
Further, on moving sets one p11 on the i-th side chain and side chain the guide rail of moving sets two p21 be parallel to each other and all with the i-th ii
The axis rotating secondary three r3 on side chain is vertical, the i-th v side chain rotates secondary eight r8 can arbitrary disposition, the cylindrical pair one on the i-th side chain
On c11 and side chain the dead in line of cylindrical pair two c21 and with the i-th ii side chain on rotate the diameter parallel of secondary seven r7.
When four kinematic pairs p11, p21, r3, the r8 coupling with silent flatform 0 are when driving so that it may make moving platform 1 realize hanging down
The straight two-dimension translational output in the axis rotating a secondary r11 and around rotating a secondary r11 axis and the axis around cylindrical pair one c11
Two-dimensional rotary exports, and further, moving platform 1 is around rotation output and moving sets one p11, the moving sets of the axis rotating a secondary r11
The amount of movement of two p21 is relevant, and unrelated with the anglec of rotation driving secondary r3, r8.
Claims (4)
1. a kind of two translation two rotating parallel device people's devices, by four of silent flatform, moving platform and the dynamic and static platform of connection
Chain forms, and it is characterized in that: the i-th side chain and branched structure are identical, when assembling by a slide bar, a connecting rod and initially
Carve axis orthogonal three kinematic pairs two-by-two: moving sets, rotation pair, cylindrical pair composition, slide bar and connecting rod are with rotating duplicate invoice
After connecing, the other end of slide bar couples silent flatform with moving sets, and the other end of connecting rod is coupled and moving platform with cylindrical pair；The
Iii side chain rotates pair by four connecting rods and five and forms, and wherein, is connected in the axis of rotation pair three (r3) and the phase on silent flatform
The diameter parallel of rotation pair four (r4) of neighbour and one group of rotation pair with the other three diameter parallel: secondary five (r5) of rotation, rotation are secondary
Six (r6), the pivot center rotating secondary seven (r7) are vertical；I-th v side chain rotates secondary group by two connecting rods, two ball pairs and one
Become, after two connecting rods are connected with ball is secondary, one end is secondary with moving platform ball to be connected, and the other end is with rotating secondary and silent flatform connection；I-th
Be connected on side chain the moving sets on the moving sets of silent flatform and side chain be connected in silent flatform guide rail be parallel to each other and with
The pivot center being connected in the rotation pair three (r3) of silent flatform on i-th ii side chain is vertical, and the i-th v side chain is connected in silent flatform
Rotate secondary eight (r8) arbitrary disposition；Cylindrical pair one (c11), the cylindrical pair two of moving platform are connected on the i-th side chain and side chain
(c21) pivot center overlap and with the i-th ii side chain on be connected in moving platform rotation pair seven (r7) diameter parallel.
2. two translation two rotating parallel device people's devices according to claim 1, is characterized in that the i-th described v side chain is used
Arbitrarily no restricted type s-s-p or s-p-s side chain substitute.
3. two translation two rotating parallel device people's devices according to claim 1, is characterized in that on the i-th described ii side chain
Rotation pair four (r4) and rotate secondary five (r5) Hooke's hinge or the secondary replacement of ball.
4. two translation two rotating parallel device people's devices according to claim 1, is characterized in that on the i-th described side chain
Cylindrical pair two (c21) combination replacements rotating pair and moving sets of dead in line on cylindrical pair one (c11) and side chain.
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| CN201510644918.4A CN105234933B (en) | 2015-10-08 | 2015-10-08 | Dual-translation dual-rotation parallel-connection robot device |
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| CN105234933A CN105234933A (en) | 2016-01-13 |
| CN105234933B true CN105234933B (en) | 2017-01-18 |
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| CN105856192B (en) * | 2016-05-10 | 2018-04-03 | 燕山大学 | In the presence of four side chain two degrees of freedom one-rotation parallel mechanisms of two continuous pivot centers |
| CN106363608B (en) * | 2016-10-28 | 2018-12-04 | 南昌大学 | There are two types of the parallel robot devices of operation mode for tool |
| CN106840642B (en) * | 2017-04-01 | 2023-04-21 | 中北大学 | Reconfigurable parallel/series-parallel mechanism experimental device 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 |
| CN108044276B (en) * | 2018-01-10 | 2024-05-17 | 南昌大学 | Robot device for welding two intersecting cylinders |
| 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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| CN101100065A (en) * | 2007-07-26 | 2008-01-09 | 北京交通大学 | Revolute joints non-overconstraint four-freedom parallel robot mechanism |
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