CN105538301B - Single-degree-of-freedom moves polycyclic symmetrical coupled mechanism - Google Patents
Single-degree-of-freedom moves polycyclic symmetrical coupled mechanism Download PDFInfo
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- CN105538301B CN105538301B CN201610035312.5A CN201610035312A CN105538301B CN 105538301 B CN105538301 B CN 105538301B CN 201610035312 A CN201610035312 A CN 201610035312A CN 105538301 B CN105538301 B CN 105538301B
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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
Single-degree-of-freedom moves polycyclic symmetrical coupled mechanism, according to space development model ABCDA ' all seamed edges and the geometry feature on summit, connects two equilateral triangle components with nine bar groups and three square components obtain coupling mechanism.Three revolute pair axis on each equilateral triangle component are respectively positioned in triangle projective planum, and the angle between adjacent axis is 60 °.Four revolute pair axis of each square component be respectively positioned on component in itself planar, and adjacent rotated secondary axis is mutually perpendicular to, and opposite side axis is parallel to each other.Each bar group is obtained by two two secondary bars series connection, and two secondary bar is structure identical same class connecting rod, and two connection kinematic pairs that each two secondary bar is included are revolute pair, and the two revolute pair axis are parallel.The mechanism has rigidity big, and bearing capacity is strong, and stable movement is simple in construction, and the characteristics of assembling and be easy to maintenance, is that domestic enterprise and research institution provide patent information and technical support.
Description
Technical field
The present invention is a kind of symmetrical coupled mechanism, is related to applied mechanism technical field, more particularly to it is a kind of have it is single
The robot actuating mechanism of free degree movement.
Background technology
With mechanism from simply to complicated, flat space-oriented, it is monocyclic continued to develop to polycyclic, mechanics innovation is machine all the time
The key and study hotspot of device equipment innovation.In some high intensity, heavily loaded occasion, showing for manual labor is replaced with industrial mechanical arm
As very universal.These occasions often require that executing agency's intensity of mechanical arm is high, and simple in construction, cost is low, easy to maintenance, and
And end performs component stable movement, the characteristics of being easily controlled.Existing parallel institution has bearing capacity strong, and rigidity is big, is used to
The low advantage of property, but working space is limited；Serial mechanism working space is big, dexterity simple in construction, but low intensity, is not suitable for
Heavily loaded occasion；Hybrid mechanism will be connected and is effectively combined with parallel institution, while the shortcoming of each self-structure is broken through, but it is mixed
String of the connection typically to add lower platform in a connection on parallel institution between the frame and end effector of online structure
The form for joining manipulator is present, while this just makes whole mechanism acquisition larger working space, and the volume of itself is not dexterous light enough
Just, this assembling for giving mechanism, transport and execution are made troubles.
The content of the invention
Based on background above, the invention provides it is a kind of can as mobile robot executing agency single-degree-of-freedom movement pair
Claim coupling mechanism, the mechanism has rigidity big, and bearing capacity is strong, and stable movement is simple in construction, assembling and spy easy to maintenance
Point, is that domestic enterprise and research institution provide patent information and technical support.
To achieve the above object, the characteristics of present invention is based on regular polygon structure composition framework, using one kind have it is single from
By the technical scheme of the mobile symmetrical coupled mechanism of degree.According to the characteristics of composition regular polygon geometric element, two structure chis are selected
Very little identical positive tetrahedron ABCD and A ' B ' C ' D ', are selected each self-contained equilateral triangle face of the two positive tetrahedrons
BCD and B ' C ' D ' is overlapped, and obtains new space development model ABCDA ' or A B ' C ' D ' A ', wherein B is overlapped with B ', C is overlapped with C ',
D is overlapped with D '.B ', C ' and D ' are replaced respectively with three square components, and A and A are replaced with equilateral triangle component ', with nine
Two bars three rotate nine seamed edges that secondary bar group replaces space development model, and two bars three of following proposal rotate secondary bar group and are referred to as bar
Group；According to space development model ABCDA ' all seamed edges and the geometry feature on summit, two positive three are connected with nine bar groups
Angular member and three square components obtain coupling mechanism.Three equal positions of revolute pair axis on each equilateral triangle component
In the angle in triangle projective planum, and between adjacent axis be 60 °.Four revolute pair axis of each square component are equal
Positioned at component in itself planar, and adjacent rotated secondary axis is mutually perpendicular to, and opposite side axis is parallel to each other.Each bar group is by two
The series connection of individual two secondary bar is obtained, and two secondary bar is structure identical same class connecting rod, include two of each two secondary bar
It is revolute pair to connect kinematic pair, and the two revolute pair axis are parallel.
The mechanism is coupled including frame (N1), moving platform (N5) and connection frame with three branches of moving platform and three
Bar group.Three branches include the first branch, the second branch, the 3rd branch.Three coupling bar groups include the first coupling bar group, second
Coupling bar group, the 3rd coupling bar group.Each coupling bar group is connected with two of which branch, between three branches and three coupling bar groups
Netted coupled structure is formed every connection, three square components that coupling bar group is connected in each branch are defined as node
Component, respectively first node component (N4), Section Point component (N2) and the 3rd node component (N3).
First branch includes the first revolute pair (R11), the first bar group (L1), the first revolute pair of node component one of frame
(R41), the 4th revolute pair (R44), the 7th bar group (L7), the revolute pair of moving platform first (R51) of node component one；First bar group
(L1) it is connected with frame (N1) by the first revolute pair (R11) of frame, the first bar group (L1) passes through with node component one (N4)
The first revolute pair (R41) connection of node component one, the 7th bar group (L7) passes through node component one with node component one (N4)
4th revolute pair (R44) is connected；The composition of wherein the first bar group (L1) is expressed as simple serial kinematic chain-R11-R1-R41-, the
The composition of seven bar groups (L7) is expressed as simple serial kinematic chain-R44-R7-R51-.
Second branch includes the second revolute pair (R12), the second bar group (L2), the second revolute pair of node component two of frame
(R22), the 4th revolute pair (R24), the 8th bar group (L8), the revolute pair of moving platform second (R52) of node component two；Second bar group
(L2) it is connected with frame (N1) by the second revolute pair (R12) of frame, the second bar group (L2) passes through with node component two (N2)
The second revolute pair (R22) connection of node component two, the 8th bar group (L8) passes through node component two with node component two (N2)
4th revolute pair (R24) is connected；The composition of wherein the second bar group (L2) is expressed as simple serial kinematic chain-R12-R2-R22-, the
The composition of eight bar groups (L8) is expressed as simple serial kinematic chain-R24-R8-R52-.
3rd branch includes the 3rd revolute pair (R13), the 3rd bar group (L3), the 3rd revolute pair of node component three of frame
(R33), the 4th revolute pair (R34), the 9th bar group (L9), the revolute pair (R53) of moving platform the 3rd of node component three；3rd bar group
(L3) it is connected with frame (N1) by the 3rd revolute pair (R13) of frame, the 3rd bar group (L3) passes through with node component three (N3)
The 3rd revolute pair (R33) connection of node component three, the 9th bar group (L9) passes through node component three with node component three (N3)
4th revolute pair (R34) is connected；Wherein, the composition of the 3rd bar group (L3) is expressed as simple serial kinematic chain-R13-R3-R33-,
The composition of 9th bar group (L9) is expressed as simple serial kinematic chain-R34-R9-R53-.
It is moving platform to select equilateral triangle component (N5), and the first branch is connected by the first revolute pair (R51) of moving platform
To moving platform (N5), the second branch is connected to moving platform (N5) by the second revolute pair (R52) of moving platform, and the 3rd branch passes through
3rd revolute pair (R53) of moving platform is connected to moving platform (N5), and three branches are parallel on moving platform (N5).In addition,
Coupled and connected by the first coupling bar group (M1) between first branch node component one (N4) and the second branch node component two (N2)
Connect, coupled between the second branch node component two (N2) and the 3rd branch node component three (N3) by the second coupling bar group (M2)
Connection, passes through the 3rd coupling bar group (M3) coupling between the 3rd branch node component three (N3) and the first branch node component one (N4)
Close connection.Wherein the first coupling bar group is expressed as simple motion kinematic chain (- R42-R4-R21-), and the second coupling bar group is expressed as
Simple motion kinematic chain (- R23-R5-R32-), the 3rd coupling bar group is expressed as simple motion kinematic chain (- R31-R6-R43-).
Compared with prior art, the present invention has advantages below：
1st, the mechanism branched structure is simple and symmetrical, and the node component and second mate's bar component of only two kinds forms are assembled
Arrive, and the space development model structure composition that whole institutional framework is obtained based on two positive tetrahedron combinations, early stage assembling is with after
Phase convenience easy to maintenance；
2nd, compared with realizing the mechanism of same kinetic property, the in-house structure is in polycyclic network structure, has both string simultaneously
The advantage of online structure, with high capacity, rigidity is big and the features such as big working space, it is adaptable to the execution machine of heavy-duty machinery arm
Structure；
3rd, the mechanism has single-degree-of-freedom moving movement property, does the stretching motion of specific direction, according to condition of work and
Environmental demand, which stretches, to be drawn in, is readily transported, can preferably be adapted to special occasions, there is good application prospect.
Brief description of the drawings
Fig. 1 is the space development model structural representation for obtaining two identical positive tetrahedron combinations.
In figure：A, B, C, D are 4 summits of a positive tetrahedron, and A ', B ', C ', D ' are 4 of another positive tetrahedron
Summit, makes B and B ' overlap, C is overlapped with C ', D is overlapped with D ' and obtained new space development model ABCDA ' or A B ' C ' D ' A '.
Fig. 2 moves the schematic diagram of polycyclic symmetrical coupled mechanism for the single-degree-of-freedom based on space development model structural framing.
In figure：N1, frame N4, the N2 of node component one, the N3 of node component two, the N5 of node component three, moving platform R11,
First revolute pair R12 of frame, the second revolute pair R13 of frame, the 3rd revolute pair R21 of frame, the of node component two
One revolute pair R22, the second revolute pair R23 of node component two, the 3rd revolute pair R24, the node component two of node component two
The 4th revolute pair R31, the first revolute pair R32 of node component three, the second revolute pair R33, the node structure of node component three
The 3rd revolute pair R34, the 4th revolute pair R41 of node component three, the first revolute pair R42 of node component one, the section of part three
Second revolute pair R43 of point component one, the 3rd revolute pair R44 of node component one, the 4th revolute pair of node component one
R51, the first revolute pair R52 of moving platform, the second revolute pair R53 of moving platform, the 3rd revolute pair R1 of moving platform, bar group
Connected in connection R11 and R41 central rotational secondary R2, bar group two (L2) in one (L1) R12 and R22 central rotational secondary R3,
Connection R21 and R42 centre turns in connection R13 and R33 central rotational secondary R4, coupling bar group one (M1) in bar group three (L3)
Connected in dynamic secondary R5, coupling bar group two (M2) in connection R23 and R32 central rotational secondary R6, coupling bar group three (M3) R31 with
The middle connection R44 and R51 of R43 central rotational secondary R7, bar group seven (L7) central rotational secondary R8, the middle connection of bar group eight (L8)
The middle connection R34 and R53 of R24 and R52 central rotational secondary R9, bar group nine (L9) central rotational pair.
Embodiment
As shown in Fig. 2 the first branch includes the first revolute pair (R11), the first bar group (L1), node component one of frame
First revolute pair (R41), the 4th revolute pair (R44), the 7th bar group (L7), the revolute pair of moving platform first of node component one
(R51)；First bar group (L1) is connected with frame (N1) by the first revolute pair (R11) of frame, the first bar group (L1) and node
Component one (N4) is connected by the first revolute pair (R41) of node component one, and the 7th bar group (L7) is led to node component one (N4)
Cross the 4th revolute pair (R44) connection of node component one；The composition of wherein the first bar group (L1) be expressed as simple serial kinematic chain-
R11-R1-R41-, the composition of the 7th bar group (L7) is expressed as simple serial kinematic chain-R44-R7-R51-.
Second branch includes the second revolute pair (R12), the second bar group (L2), the second revolute pair of node component two of frame
(R22), the 4th revolute pair (R24), the 8th bar group (L8), the revolute pair of moving platform second (R52) of node component two；Second bar group
(L2) it is connected with frame (N1) by the second revolute pair (R12) of frame, the second bar group (L2) passes through with node component two (N2)
The second revolute pair (R22) connection of node component two, the 8th bar group (L8) passes through node component two with node component two (N2)
4th revolute pair (R24) is connected；The composition of wherein the second bar group (L2) is expressed as simple serial kinematic chain-R12-R2-R22-, the
The composition of eight bar groups (L8) is expressed as simple serial kinematic chain-R24-R8-R52-.
3rd branch includes the 3rd revolute pair (R13), the 3rd bar group (L3), the 3rd revolute pair of node component three of frame
(R33), the 4th revolute pair (R34), the 9th bar group (L9), the revolute pair (R53) of moving platform the 3rd of node component three；3rd bar group
(L3) it is connected with frame (N1) by the 3rd revolute pair (R13) of frame, the 3rd bar group (L3) passes through with node component three (N3)
The 3rd revolute pair (R33) connection of node component three, the 9th bar group (L9) passes through node component three with node component three (N3)
4th revolute pair (R34) is connected；The composition of wherein the 3rd bar group (L3) is expressed as simple serial kinematic chain-R13-R3-R33-, the
The composition of nine bar groups (L9) is expressed as simple serial kinematic chain-R34-R9-R53-.
It is moving platform to select equilateral triangle component (N5), and the first branch is connected by the first revolute pair (R51) of moving platform
To moving platform (N5), the second branch is connected to moving platform (N5) by the second revolute pair (R52) of moving platform, and the 3rd branch passes through
3rd revolute pair (R53) of moving platform is connected to moving platform (N5), and three branches are parallel on moving platform (N5).In addition,
Coupled and connected by the first coupling bar group (M1) between first branch node component one (N4) and the second branch node component two (N2)
Connect, coupled between the second branch node component two (N2) and the 3rd branch node component three (N3) by the second coupling bar group (M2)
Connection, passes through the 3rd coupling bar group (M3) coupling between the 3rd branch node component three (N3) and the first branch node component one (N4)
Close connection.Wherein the first coupling bar group is expressed as simple motion kinematic chain (- R42-R4-R21-), and the second coupling bar group is expressed as
Simple motion kinematic chain (- R23-R5-R32-), the 3rd coupling bar group is expressed as simple motion kinematic chain (- R31-R6-R43-).
Claims (6)
1. single-degree-of-freedom moves polycyclic symmetrical coupled mechanism, it is characterised in that：According to the characteristics of composition regular polygon geometric element,
Two physical dimensions identical positive tetrahedron ABCD and A ' B ' C ' D ' are selected, are selected the two positive tetrahedrons are each self-contained
Equilateral triangle face BCD and B ' C ' D ' overlap, obtain new space development model ABCDA ' or A B ' C ' D ' A ', wherein B and B ' weight
Close, C is overlapped with C ', D is overlapped with D '；B ', C ' and D ' are replaced respectively with three square components, are replaced with equilateral triangle component
A and A ', nine seamed edges that secondary bar group replaces space development model are rotated with nine two bars three, and two bars three of following proposal rotate secondary bar
Group is referred to as bar group；According to space development model ABCDA ' all seamed edges and the geometry feature on summit, connected with nine bar groups
Connect two equilateral triangle components and three square components obtain coupling mechanism；Three rotations on each equilateral triangle component
Secondary axis is respectively positioned in triangle projective planum, and the angle between adjacent axis is 60 °；Four of each square component turn
Dynamic secondary axis be respectively positioned on component in itself planar, and adjacent rotated secondary axis is mutually perpendicular to, and opposite side axis is parallel to each other；Often
Individual bar group is obtained by two two secondary bars series connection, and two secondary bar is structure identical same class connecting rod, each two secondary bar
Comprising two connection kinematic pairs be revolute pair, and the two revolute pair axis are parallel.
2. single-degree-of-freedom according to claim 1 moves polycyclic symmetrical coupled mechanism, it is characterised in that：The mechanism includes machine
Three branches and three coupling bar groups of frame N1, moving platform N5 and connection frame and moving platform；Three branches include first point
Branch, the second branch, the 3rd branch；Three coupling bar groups include the first coupling bar group, the second coupling bar group, the 3rd coupling bar group；
Each coupling bar group is connected with two of which branch, and three branches and three coupling bar group intervals connect to form netted coupling knot
Three square components that coupling bar group is connected in each branch are defined as node component, respectively first node by structure
Component N4, Section Point component N2 and the 3rd node component N3.
3. single-degree-of-freedom according to claim 2 moves polycyclic symmetrical coupled mechanism, it is characterised in that：First branch includes
First revolute pair R11 of frame, the first bar group L1, the first revolute pair R41 of node component one, the 4th of node component one the rotate
Secondary R44, the 7th bar group L7, the first revolute pair of moving platform R51；The first revolute pair that first bar group L1 and frame N1 passes through frame
R11 connections, the first bar group L1 is connected with the N4 of node component one by the first revolute pair R41 of node component one, the 7th bar group L7
It is connected with the N4 of node component one by the 4th revolute pair R44 of node component one；Wherein the first bar group L1 composition is expressed as string
Join kinematic chain：- R11-R1-R41-, wherein, R11 and R41 central rotational pair, the 7th bar group are connected in the L1 of R1 indication rods group one
L7 composition is expressed as serial kinematic chain：- R44-R7-R51-, wherein, R44 and R51 centre is connected in the L7 of R7 indication rods group seven
Revolute pair.
4. single-degree-of-freedom according to claim 2 moves polycyclic symmetrical coupled mechanism, it is characterised in that：Second branch includes
Second revolute pair R12 of frame, the second bar group L2, the second revolute pair R22 of node component two, the 4th of node component two the rotate
Secondary R24, the 8th bar group L8, the second revolute pair of moving platform R52；The second revolute pair that second bar group L2 and frame N1 passes through frame
R12 connections, the second bar group L2 is connected with the N2 of node component two by the second revolute pair R22 of node component two, the 8th bar group L8
It is connected with the N2 of node component two by the 4th revolute pair R24 of node component two；Wherein the second bar group L2 composition is expressed as string
Join kinematic chain：- R12-R2-R22-, wherein, R12 and R22 central rotational pair is connected in the L2 of R2 indication rods group two；8th bar group
L8 composition is expressed as serial kinematic chain-R24-R8-R52-, wherein, R24 and R52 centre is connected in the L8 of R8 indication rods group eight
Revolute pair.
5. single-degree-of-freedom according to claim 2 moves polycyclic symmetrical coupled mechanism, it is characterised in that：3rd branch includes
3rd revolute pair R13 of frame, the 3rd bar group L3, the 3rd revolute pair R33 of node component three, the 4th rotation of node component three
Secondary R34, the 9th bar group L9, the revolute pair R53 of moving platform the 3rd；The 3rd revolute pair that 3rd bar group L3 and frame N1 passes through frame
R13 connections, the 3rd bar group L3 is connected with the N3 of node component three by the 3rd revolute pair R33 of node component three, the 9th bar group L9
It is connected with the N3 of node component three by the 4th revolute pair R34 of node component three；Wherein, the 3rd bar group L3 composition is expressed as string
Join kinematic chain：- R13-R3-R33-, wherein, R13 and R33 central rotational pair is connected in the L3 of R3 indication rods group three；9th bar group
L9 composition is expressed as serial kinematic chain：- R34-R9-R53-, wherein, R34 and R53 centre is connected in the L9 of R9 indication rods group nine
Revolute pair.
6. single-degree-of-freedom according to claim 2 moves polycyclic symmetrical coupled mechanism, it is characterised in that：Select equilateral triangle
Component N5 is moving platform, and the first branch is connected to moving platform N5 by the first revolute pair R51 of moving platform, and the second branch passes through dynamic
Second revolute pair R52 of platform is connected to moving platform N5, and the 3rd branch is connected to dynamic flat by the 3rd revolute pair R53 of moving platform
Platform N5, three branches are parallel on moving platform N5；In addition, the N4 of the first branch node component one and the second branch node component
It is of coupled connections between two N2 by the first coupling bar group M1, the N2 of the second branch node component two and the N3 of the 3rd branch node component three
Between be of coupled connections by the second coupling bar group M2, between the N3 of the 3rd branch node component three and the N4 of the first branch node component one
It is of coupled connections by the 3rd coupling bar group M3；Wherein the first coupling bar group is expressed as kinematic chain：- R42-R4-R21-, wherein, R4
Represent the central rotational pair of connection R21 and R42 in the M1 of coupling bar group one；Second coupling bar group is expressed as kinematic chain：-R23-R5-
R32-, wherein, R5 represents to connect R23 and R32 central rotational pair in the M2 of coupling bar group two；3rd coupling bar group is expressed as motion
Chain：- R31-R6-R43-, wherein, R6 represents to connect R31 and R43 central rotational pair in the M3 of coupling bar group three.
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| CN105798889B (en) * | 2016-05-24 | 2018-03-16 | 北京工业大学 | Five jiaos of double centrum symmetrical coupled mechanisms with single-degree-of-freedom 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 |
| CN106313016B (en) * | 2016-11-09 | 2018-10-09 | 北京工业大学 | A kind of symmetrical Three Degree Of Freedom movement coupling mechanism |
| 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 |
| CN108098739B (en) * | 2017-12-17 | 2020-10-16 | 北京工业大学 | Symmetrical single-degree-of-freedom mobile coupling mechanism |
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