CN105538301A - Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism - Google Patents
Single-degree-of-freedom movement polycyclic symmetrical coupling mechanism Download PDFInfo
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- CN105538301A CN105538301A CN201610035312.5A CN201610035312A CN105538301A CN 105538301 A CN105538301 A CN 105538301A CN 201610035312 A CN201610035312 A CN 201610035312A CN 105538301 A CN105538301 A CN 105538301A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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Abstract
The invention relates to a single-degree-of-freedom movement polycyclic symmetrical coupling mechanism. According to the geometric structure characteristics of all edges and vertexes of a spatial polyhedron ABCDA', two regular triangle components and three regular quadrangle components are connected through nine rod sets to obtain the coupling mechanism. Three revolute pair axes on each regular triangle component are located in a triangle plane, and the included angles formed between adjacent axes are 60 degrees. Four revolute pair axes of each regular quadrangle component are located in a plane where the component is located, the adjacent revolute pair axes are perpendicular, and the axes of opposite sides are parallel. Each rod set is obtained by connecting two auxiliary rods in series, the two auxiliary rods are same connecting rod pieces of the same structure, every two auxiliary rods comprise two connecting motion pairs which are revolute pairs, and the axes of the two revolute pairs are parallel. The mechanism has the beneficial effects of being large in rigidity, high in bearing capacity, stable in motion, simple in structure and convenient to assemble and maintain, and provides patent information and technical supports for domestic enterprises and research institutions.
Description
Technical field
The present invention is a kind of symmetrical coupled mechanism, relates to applied mechanism technical field, has particularly related to a kind of robot actuating mechanism with single-degree-of-freedom movement.
Background technology
Along with mechanism by simple to complexity, flat space-oriented, monocycle to the development of many rings, mechanics innovation is key and the study hotspot of the innovation of machine equipment all the time.In some high strength, heavily loaded occasion, replace the phenomenon of manual labor very general with industrial mechanical arm.These occasions often require that executing agency's intensity of mechanical arm is high, and structure is simple, and cost is low, easy to maintenance, and end performs component stable movement, holds manageable feature.It is strong that existing parallel institution has bearing capacity, and rigidity is large, the advantages such as inertia is low, but working space is limited; Serial mechanism working space is large, and structure is simply dexterous, but intensity is low, is not suitable for heavily loaded occasion; Series connection and parallel institution are carried out effective compound by hybrid mechanism, break through the shortcoming of each self-structure simultaneously, but the frame of hybrid mechanism and the connection between end effector normally exist to add a form being connected the Serial manipulator of lower platform on parallel institution, while this just makes whole mechanism obtain larger working space, the volume of self is dexterous not light, this gives the assembling of mechanism, and transport and execution are made troubles.
Summary of the invention
Based on above background, the single-degree-of-freedom that the invention provides a kind of mobile robot of can be used as executing agency moves symmetrical coupled mechanism, it is large that this mechanism has rigidity, bearing capacity is strong, stable movement, structure is simple, and assembling and feature easy to maintenance, for domestic enterprise and research institution provide patent information and technical support.
For achieving the above object, the present invention is based on the feature of regular polygon structure composition framework, adopt and a kind of there is the technical scheme that single-degree-of-freedom moves symmetrical coupled mechanism.According to the feature of composition regular polygon geometric element, select two physical dimension identical positive tetrahedron ABCD and A ' B ' C ' D ', each for these two positive tetrahedrons self-contained equilateral triangle face BCD and B ' C ' D ' is selected to overlap, obtain new space development model ABCDA ' or AB ' C ' D ' A ', wherein B and B ' overlaps, C and C ' overlaps, D and D ' overlaps.Replace B ', C ' and D ' respectively with three square components, replace A and A ' with equilateral triangle component, replace nine seamed edges of space development model by nine two bar three revolute pair bar groups, two bar three revolute pair bar groups of following proposal are referred to as bar group; According to all seamed edges of space development model ABCDA ' and the geometry feature on summit, connect two equilateral triangle components by nine bar groups and three square components obtain coupling mechanism.Three revolute pair axis on each equilateral triangle component are all positioned at triangle projective planum, and the angle between adjacent axis is 60 °.Four revolute pair axis of each square component are all positioned at component institute itself planar, and adjacent rotated secondary axis is mutually vertical, and opposite side axis is parallel to each other.Each bar group is connected by two second mate's bars and is obtained, and described second mate's bar is the identical same class connecting rod of structure, and two connection kinematic pairs that each second mate's bar comprises are revolute pair, and these two revolute pair axis parallel.
This mechanism comprises three branches and three coupling bar groups of frame (N1), moving platform (N5) and connection frame and moving platform.Three branches comprise the first branch, the second branch, the 3rd branch.Three coupling bar groups comprise the first coupling bar group, the second coupling bar group, the 3rd coupling bar group.Each coupling bar group is connected with wherein Liang Ge branch, three branches and three coupling bar group intervals are connected to form netted coupled structure, three square components of butt coupling bar group in each branch are all defined as node component, are respectively first node component (N4), Section Point component (N2) and the 3rd node component (N3).
First branch comprises the first revolute pair (R11), the first bar group (L1), first revolute pair (R41) of node component one, the 4th revolute pair (R44) of node component one, the 7th bar group (L7), moving platform first revolute pair (R51) of frame; First bar group (L1) is connected with first revolute pair (R11) of frame (N1) by frame, first bar group (L1) is connected with first revolute pair (R41) of node component one (N4) by node component one, and the 7th bar group (L7) is connected with the 4th revolute pair (R44) of node component one (N4) by node component one; Wherein the composition of the first bar group (L1) is expressed as simple serial kinematic chain-R11-R1-R41-, and the composition of the 7th bar group (L7) is expressed as simple serial kinematic chain-R44-R7-R51-.
Second branch comprises the second revolute pair (R12), the second bar group (L2), second revolute pair (R22) of node component two, the 4th revolute pair (R24) of node component two, the 8th bar group (L8), moving platform second revolute pair (R52) of frame; Second bar group (L2) is connected with second revolute pair (R12) of frame (N1) by frame, second bar group (L2) is connected with second revolute pair (R22) of node component two (N2) by node component two, and the 8th bar group (L8) is connected with the 4th revolute pair (R24) of node component two (N2) by node component two; Wherein the composition of the second bar group (L2) is expressed as simple serial kinematic chain-R12-R2-R22-, and the composition of the 8th bar group (L8) is expressed as simple serial kinematic chain-R24-R8-R52-.
3rd branch comprises the 3rd revolute pair (R13), the 3rd bar group (L3), the 3rd revolute pair (R33) of node component three, the 4th revolute pair (R34) of node component three, the 9th bar group (L9), the moving platform the 3rd revolute pair (R53) of frame; 3rd bar group (L3) is connected with the 3rd revolute pair (R13) of frame (N1) by frame, 3rd bar group (L3) is connected with the 3rd revolute pair (R33) of node component three (N3) by node component three, and the 9th bar group (L9) is connected with the 4th revolute pair (R34) of node component three (N3) by node component three; Wherein, the composition of the 3rd bar group (L3) is expressed as simple serial kinematic chain-R13-R3-R33-, and the composition of the 9th bar group (L9) is expressed as simple serial kinematic chain-R34-R9-R53-.
Equilateral triangle component (N5) is selected to be moving platform, first branch is connected to moving platform (N5) by first revolute pair (R51) of moving platform, second branch is connected to moving platform (N5) by second revolute pair (R52) of moving platform, 3rd branch is connected to moving platform (N5) by the 3rd revolute pair (R53) of moving platform, and described three branches are parallel on moving platform (N5).In addition, be of coupled connections by the first coupling bar group (M1) between first branch node component one (N4) and the second branch node component two (N2), be of coupled connections by the second coupling bar group (M2) between second branch node component two (N2) and the 3rd branch node component three (N3), be of coupled connections by the 3rd coupling bar group (M3) between the 3rd branch node component three (N3) and the first branch node component one (N4).Wherein the first coupling bar group is expressed as simple motion kinematic chain (-R42-R4-R21-), second coupling bar group is expressed as simple motion kinematic chain (-R23-R5-R32-), and the 3rd coupling bar group is expressed as simple motion kinematic chain (-R31-R6-R43-).
Compared with prior art, the present invention has the following advantages:
1, this mechanism's branched structure is simple and symmetrical, the node component of two kinds of forms and the assembling of second mate's bar component is only had to obtain, and whole institutional framework based on two positive tetrahedrons combine obtain space development model structure composition, early stage assembling and later period maintenance simple and convenient;
2, compared with realizing the mechanism of same kinetic property, this in-house structure is multi-ring network shape structure, has both the advantage of serial parallel mechanism, has bearing capacity high, and the feature such as the large and working space of rigidity is large, is applicable to the executing agency of heavy-duty machinery arm;
3, this mechanism has single-degree-of-freedom moving movement character, does the stretching motion of specific direction, stretches and draws in, be convenient to transport, can better adapt to special occasions, have good application prospect according to condition of work and environmental demand.
Accompanying drawing explanation
Two identical positive tetrahedrons are combined the space development model structural representation obtained by Fig. 1.
In figure: A, B, C, D are 4 summits of a positive tetrahedron, 4 summits that A ', B ', C ', D ' are another positive tetrahedron, make B and B ' coincidence, C and C ' coincidence, D and D ' overlap and obtain new space development model ABCDA ' or AB ' C ' D ' A '.
Fig. 2 is the schematic diagram moving Duo Huan symmetrical coupled mechanism based on the single-degree-of-freedom of space development model structural framing.
In figure: N1, frame N4, node component one N2, node component two N3, node component three N5, moving platform R11, first revolute pair R12 of frame, second revolute pair R13 of frame, 3rd revolute pair R21 of frame, first revolute pair R22 of node component two, second revolute pair R23 of node component two, 3rd revolute pair R24 of node component two, 4th revolute pair R31 of node component two, first revolute pair R32 of node component three, second revolute pair R33 of node component three, 3rd revolute pair R34 of node component three, 4th revolute pair R41 of node component three, first revolute pair R42 of node component one, second revolute pair R43 of node component one, 3rd revolute pair R44 of node component one, 4th revolute pair R51 of node component one, first revolute pair R52 of moving platform, second revolute pair R53 of moving platform, 3rd revolute pair R1 of moving platform, the central rotational secondary R2 of R11 and R41 is connected in bar group one (L1), the central rotational secondary R3 of R12 and R22 is connected in bar group two (L2), the central rotational secondary R4 of R13 and R33 is connected in bar group three (L3), the central rotational secondary R5 of R21 and R42 is connected in coupling bar group one (M1), the central rotational secondary R6 of R23 and R32 is connected in coupling bar group two (M2), the central rotational secondary R7 of R31 and R43 is connected in coupling bar group three (M3), the central rotational secondary R8 of R44 and R51 is connected in bar group seven (L7), the central rotational secondary R9 of R24 and R52 is connected in bar group eight (L8), the central rotational connecting R34 and R53 in bar group nine (L9) is secondary.
Detailed description of the invention
As shown in Figure 2, the first branch comprises the first revolute pair (R11), the first bar group (L1), first revolute pair (R41) of node component one, the 4th revolute pair (R44) of node component one, the 7th bar group (L7), moving platform first revolute pair (R51) of frame; First bar group (L1) is connected with first revolute pair (R11) of frame (N1) by frame, first bar group (L1) is connected with first revolute pair (R41) of node component one (N4) by node component one, and the 7th bar group (L7) is connected with the 4th revolute pair (R44) of node component one (N4) by node component one; Wherein the composition of the first bar group (L1) is expressed as simple serial kinematic chain-R11-R1-R41-, and the composition of the 7th bar group (L7) is expressed as simple serial kinematic chain-R44-R7-R51-.
Second branch comprises the second revolute pair (R12), the second bar group (L2), second revolute pair (R22) of node component two, the 4th revolute pair (R24) of node component two, the 8th bar group (L8), moving platform second revolute pair (R52) of frame; Second bar group (L2) is connected with second revolute pair (R12) of frame (N1) by frame, second bar group (L2) is connected with second revolute pair (R22) of node component two (N2) by node component two, and the 8th bar group (L8) is connected with the 4th revolute pair (R24) of node component two (N2) by node component two; Wherein the composition of the second bar group (L2) is expressed as simple serial kinematic chain-R12-R2-R22-, and the composition of the 8th bar group (L8) is expressed as simple serial kinematic chain-R24-R8-R52-.
3rd branch comprises the 3rd revolute pair (R13), the 3rd bar group (L3), the 3rd revolute pair (R33) of node component three, the 4th revolute pair (R34) of node component three, the 9th bar group (L9), the moving platform the 3rd revolute pair (R53) of frame; 3rd bar group (L3) is connected with the 3rd revolute pair (R13) of frame (N1) by frame, 3rd bar group (L3) is connected with the 3rd revolute pair (R33) of node component three (N3) by node component three, and the 9th bar group (L9) is connected with the 4th revolute pair (R34) of node component three (N3) by node component three; Wherein the composition of the 3rd bar group (L3) is expressed as simple serial kinematic chain-R13-R3-R33-, and the composition of the 9th bar group (L9) is expressed as simple serial kinematic chain-R34-R9-R53-.
Equilateral triangle component (N5) is selected to be moving platform, first branch is connected to moving platform (N5) by first revolute pair (R51) of moving platform, second branch is connected to moving platform (N5) by second revolute pair (R52) of moving platform, 3rd branch is connected to moving platform (N5) by the 3rd revolute pair (R53) of moving platform, and described three branches are parallel on moving platform (N5).In addition, be of coupled connections by the first coupling bar group (M1) between first branch node component one (N4) and the second branch node component two (N2), be of coupled connections by the second coupling bar group (M2) between second branch node component two (N2) and the 3rd branch node component three (N3), be of coupled connections by the 3rd coupling bar group (M3) between the 3rd branch node component three (N3) and the first branch node component one (N4).Wherein the first coupling bar group is expressed as simple motion kinematic chain (-R42-R4-R21-), second coupling bar group is expressed as simple motion kinematic chain (-R23-R5-R32-), and the 3rd coupling bar group is expressed as simple motion kinematic chain (-R31-R6-R43-).
Claims (6)
1. single-degree-of-freedom moves Duo Huan symmetrical coupled mechanism, it is characterized in that: according to the feature of composition regular polygon geometric element, select two physical dimension identical positive tetrahedron ABCD and A ' B ' C ' D ', each for these two positive tetrahedrons self-contained equilateral triangle face BCD and B ' C ' D ' is selected to overlap, obtain new space development model ABCDA ' or AB ' C ' D ' A ', wherein B and B ' overlaps, C and C ' overlaps, D and D ' overlaps; Replace B ', C ' and D ' respectively with three square components, replace A and A ' with equilateral triangle component, replace nine seamed edges of space development model by nine two bar three revolute pair bar groups, two bar three revolute pair bar groups of following proposal are referred to as bar group; According to all seamed edges of space development model ABCDA ' and the geometry feature on summit, connect two equilateral triangle components by nine bar groups and three square components obtain coupling mechanism; Three revolute pair axis on each equilateral triangle component are all positioned at triangle projective planum, and the angle between adjacent axis is 60 °; Four revolute pair axis of each square component are all positioned at component institute itself planar, and adjacent rotated secondary axis is mutually vertical, and opposite side axis is parallel to each other; Each bar group is connected by two second mate's bars and is obtained, and described second mate's bar is the identical same class connecting rod of structure, and two connection kinematic pairs that each second mate's bar comprises are revolute pair, and these two revolute pair axis parallel.
2. single-degree-of-freedom according to claim 1 moves Duo Huan symmetrical coupled mechanism, it is characterized in that: this mechanism comprises three branches and three coupling bar groups of frame (N1), moving platform (N5) and connection frame and moving platform; Three branches comprise the first branch, the second branch, the 3rd branch; Three coupling bar groups comprise the first coupling bar group, the second coupling bar group, the 3rd coupling bar group; Each coupling bar group is connected with wherein Liang Ge branch, three branches and three coupling bar group intervals are connected to form netted coupled structure, three square components of butt coupling bar group in each branch are all defined as node component, are respectively first node component (N4), Section Point component (N2) and the 3rd node component (N3).
3. single-degree-of-freedom according to claim 2 moves Duo Huan symmetrical coupled mechanism, it is characterized in that: the first branch comprises the first revolute pair (R11), the first bar group (L1), first revolute pair (R41) of node component one, the 4th revolute pair (R44) of node component one, the 7th bar group (L7), moving platform first revolute pair (R51) of frame; First bar group (L1) is connected with first revolute pair (R11) of frame (N1) by frame, first bar group (L1) is connected with first revolute pair (R41) of node component one (N4) by node component one, and the 7th bar group (L7) is connected with the 4th revolute pair (R44) of node component one (N4) by node component one; Wherein the composition of the first bar group (L1) is expressed as simple serial kinematic chain (-R11-R1-R41-), and the composition of the 7th bar group (L7) is expressed as simple serial kinematic chain (-R44-R7-R51-).
4. single-degree-of-freedom according to claim 2 moves Duo Huan symmetrical coupled mechanism, it is characterized in that: the second branch comprises the second revolute pair (R12), the second bar group (L2), second revolute pair (R22) of node component two, the 4th revolute pair (R24) of node component two, the 8th bar group (L8), moving platform second revolute pair (R52) of frame; Second bar group (L2) is connected with second revolute pair (R12) of frame (N1) by frame, second bar group (L2) is connected with second revolute pair (R22) of node component two (N2) by node component two, and the 8th bar group (L8) is connected with the 4th revolute pair (R24) of node component two (N2) by node component two; Wherein the composition of the second bar group (L2) is expressed as simple serial kinematic chain (-R12-R2-R22-), and the composition of the 8th bar group (L8) is expressed as simple serial kinematic chain (-R24-R8-R52-).
5. single-degree-of-freedom according to claim 2 moves Duo Huan symmetrical coupled mechanism, it is characterized in that: the 3rd branch comprises the 3rd revolute pair (R13), the 3rd bar group (L3), the 3rd revolute pair (R33) of node component three, the 4th revolute pair (R34) of node component three, the 9th bar group (L9), the moving platform the 3rd revolute pair (R53) of frame; 3rd bar group (L3) is connected with the 3rd revolute pair (R13) of frame (N1) by frame, 3rd bar group (L3) is connected with the 3rd revolute pair (R33) of node component three (N3) by node component three, and the 9th bar group (L9) is connected with the 4th revolute pair (R34) of node component three (N3) by node component three; Wherein, the composition of the 3rd bar group (L3) is expressed as simple serial kinematic chain (-R13-R3-R33-), and the composition of the 9th bar group (L9) is expressed as simple serial kinematic chain (-R34-R9-R53-).
6. single-degree-of-freedom according to claim 2 moves Duo Huan symmetrical coupled mechanism, it is characterized in that: select equilateral triangle component (N5) to be moving platform, first branch is connected to moving platform (N5) by first revolute pair (R51) of moving platform, second branch is connected to moving platform (N5) by second revolute pair (R52) of moving platform, 3rd branch is connected to moving platform (N5) by the 3rd revolute pair (R53) of moving platform, and described three branches are parallel on moving platform (N5); In addition, be of coupled connections by the first coupling bar group (M1) between first branch node component one (N4) and the second branch node component two (N2), be of coupled connections by the second coupling bar group (M2) between second branch node component two (N2) and the 3rd branch node component three (N3), be of coupled connections by the 3rd coupling bar group (M3) between the 3rd branch node component three (N3) and the first branch node component one (N4); Wherein the first coupling bar group is expressed as simple motion kinematic chain (-R42-R4-R21-), second coupling bar group is expressed as simple motion kinematic chain (-R23-R5-R32-), and the 3rd coupling bar group is expressed as simple motion kinematic chain (-R31-R6-R43-).
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| CN106346493A (en) * | 2016-11-09 | 2017-01-25 | 北京工业大学 | Space developable coupling mechanism of rhombic dodecahedron |
| CN108098739A (en) * | 2017-12-17 | 2018-06-01 | 北京工业大学 | A kind of symmetrical single-degree-of-freedom movement coupling mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105798889A (en) * | 2016-05-24 | 2016-07-27 | 北京工业大学 | Mobile and symmetrical coupling mechanism with single-degree-of-freedom for pentagonal bipyramid |
| CN105881509A (en) * | 2016-05-24 | 2016-08-24 | 北京工业大学 | Double-regular-tetrahedron superimposed symmetrical coupling mechanism with single-freedom-degree movement |
| CN105881509B (en) * | 2016-05-24 | 2018-12-07 | 北京工业大学 | Symmetrical coupled mechanism is superimposed with the mobile double positive tetrahedrons of single-degree-of-freedom |
| CN106313016A (en) * | 2016-11-09 | 2017-01-11 | 北京工业大学 | Symmetrical three-degree-of-freedom movement coupling mechanism |
| CN106346493A (en) * | 2016-11-09 | 2017-01-25 | 北京工业大学 | Space developable coupling mechanism of rhombic dodecahedron |
| CN106346493B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of space of granatohedron can open up coupling mechanism |
| CN108098739A (en) * | 2017-12-17 | 2018-06-01 | 北京工业大学 | A kind of symmetrical single-degree-of-freedom movement coupling mechanism |
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