CN105563461A - (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism - Google Patents
(2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism Download PDFInfo
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Abstract
本发明属于机器人领域，特别涉及一种空间解耦混联机构。其主要包括一个三分支并联机构(2T1R)和一个两分支并联机构(1T1R)，三分支并联机构由定平台、动平台、以及连接动平台和动平台的三个分支。两分支并联机构由动平台、机构末端、以及连接动平台和末端的两个分支组成；所述定平台为长方形底面，定平台的底面两边安装滑轨，所述导轨的中心线与定平台底面平行，分支一由一个移动副和一个转动副一个平行四边形铰链，一个万向铰以及连接它们的连杆组成；分支二由一个移动副和一个平行四边形铰链以及两个转动副以及连接它们的连杆组成。分支三由三个转动副一个移动副和连接它们的三个连杆组成；分支四由两个方向垂直的移动副及一个转动副组成；分支五由三个转动副轴线平行的转动副和一个与之垂直的一个转动副组成。本发明结构稳定，能够实现动平台沿平行于定平台方向及垂直于定平台的三个移动和绕平行于定平台轴线和垂直于定平台的两个转动，各运动解耦，易于控制，承载力强。
The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism. It mainly includes a three-branch parallel mechanism (2T1R) and a two-branch parallel mechanism (1T1R). The three-branch parallel mechanism consists of a fixed platform, a moving platform, and three branches connecting the moving platform and the moving platform. The two-branch parallel mechanism consists of a moving platform, the end of the mechanism, and two branches connecting the moving platform and the end; the fixed platform has a rectangular bottom surface, and slide rails are installed on both sides of the bottom surface of the fixed platform, and the center line of the guide rail is connected to the bottom surface of the fixed platform. Parallel, branch one consists of a moving pair, a rotating pair, a parallelogram hinge, a universal hinge and connecting rods connecting them; branch two consists of a moving pair, a parallelogram hinge, two rotating pairs and the connecting rod connecting them Rod composition. Branch 3 is composed of three rotating pairs, a moving pair and three connecting rods connecting them; branch 4 is composed of two vertical moving pairs and a rotating pair; branch 5 is composed of three rotating pairs whose axes are parallel and a It is composed of a rotating pair perpendicular to it. The invention has a stable structure, and can realize three movements of the moving platform along the direction parallel to the fixed platform and perpendicular to the fixed platform, and two rotations around the axis parallel to the fixed platform and perpendicular to the fixed platform. Strong.
Description
所属技术领域 Technical field
本发明属于机器人领域，特别涉及一种空间解耦混联机构。 The invention belongs to the field of robots, in particular to a space decoupling hybrid mechanism.
背景技术 Background technique
混联机器人同时兼具串联机器人工作空间大、易控制，并联器人结构稳定、刚度大、误差积累少、动态性能好、易求得运动学反解等各自的优点，同时又能避免单纯串、并联构型缺点，在现代制造业中更具有实用性。也是创新发展各种复杂先进装备所需的新机型来源之一。 At the same time, the hybrid robot has the advantages of large working space and easy control of the serial robot, and the parallel robot has the advantages of stable structure, high rigidity, less error accumulation, good dynamic performance, and easy kinematic inverse solution. , Parallel configuration disadvantages, more practical in modern manufacturing. It is also one of the sources of new models required for the innovative development of various complex and advanced equipment.
少自由度并联机构设计与创新是混联机构的设计一个重要前提，由于混联机器人包涵并联结构，并联机构存在运动耦合性强的问题。混联机器人耦合性的存在使得机构在机构设计、计算分析和运动控制等方面存在着诸多问题。因此，为简化混联机器人的控制过程，提高混联机构的解耦性已经成为机构学研究领域的热点问题。 The design and innovation of parallel mechanisms with few degrees of freedom is an important prerequisite for the design of hybrid mechanisms. Since hybrid robots include parallel structures, parallel mechanisms have the problem of strong kinematic coupling. Due to the coupling of hybrid robots, there are many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of hybrid robots, improving the decoupling of hybrid mechanisms has become a hot issue in the field of mechanism research.
在混联机器人研究中，黄田教授设计的4自由度TriVariant机器人由一个2自由度并联机构和一个2自由度转动头串联构成，哈尔滨量具刃具集团有限责任公司推出了一种全新结构的加工中心LINKS-EXE700，整个并联部分3T和串联部分2R构成一个具有5个自由度的混联机器人。对于五自由度混联机构的解耦性研究取得一些进展，例如，中国专利文献CN102133560A一种多喷枪协同式喷涂五轴混联机器人，该种五轴混联喷涂机器人具有结构简单、制造容易、控制解耦、运动工作空间大、定位精度高等优点，能实现高质量、高效率的喷涂。上述发明机构虽然机构动平台能实现三移两转运动，但是该类机构十分稀少，大部分机构的解耦性并没有很好解决。 In the research of hybrid robots, the 4-DOF TriVariant robot designed by Professor Huang Tian is composed of a 2-DOF parallel mechanism and a 2-DOF rotating head in series. Harbin Measuring Tools Group Co., Ltd. has launched a new structure of the machining center LINKS -EXE700, the entire parallel part 3T and series part 2R constitute a hybrid robot with 5 degrees of freedom. Some progress has been made in the research on the decoupling of the five-degree-of-freedom hybrid mechanism. For example, Chinese patent document CN102133560A is a multi-spray gun cooperative spraying five-axis hybrid robot. This five-axis hybrid spraying robot has simple structure, easy manufacture, With the advantages of control decoupling, large motion working space, and high positioning accuracy, it can achieve high-quality and high-efficiency spraying. Although the above-mentioned inventive mechanism can realize three-shift and two-turn motions, such mechanisms are very rare, and the decoupling of most mechanisms has not been well resolved.
发明内容 Contents of the invention
本发明的目的在于提供一种结构稳定、易于控制、运动解耦的三移两转五自由度混联机器人。其主要由一个三分支并联机构(2T1R)和一个两分支并联机构(1T1R)组成(2T1R)&(1T1R)五自由度解耦混联机构，三分支并联机构由定平台、动平台、以及连接动平台和动平台的三个分支。两分支并联机构由动平台、机构末端、以及连接动平台和末端的两个分支组成；其中定平台为长方形结构，该定平台的相邻两边设有导轨，两导轨的中心线相互垂直且均平行与定平台底面，动平台为类三角形结构；分支一由一个移动副和一个转动副一个平行四边形铰链，一个万向铰以及连接它们的连杆组成；分支二由一个移动副和一个平行四边形铰链以及两个转动副以及连接它们的连杆组成；分支三由三个转动副一个移动副和连接它们的三个连杆组成；分支四由两个方向垂直的移动副及一个转动副组成；分支五由三个转动副轴线平行的转动副和一个与之垂直的一个转动副组成。 The object of the present invention is to provide a three-transfer, two-rotation, five-degree-of-freedom hybrid robot with stable structure, easy control, and motion decoupling. It mainly consists of a three-branch parallel mechanism (2T1R) and a two-branch parallel mechanism (1T1R) (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism. The three branches of the moving platform and the moving platform. The two-branch parallel mechanism consists of a moving platform, the end of the mechanism, and two branches connecting the moving platform and the end; the fixed platform is a rectangular structure, and there are guide rails on the adjacent two sides of the fixed platform, and the centerlines of the two guide rails are perpendicular to each other and uniform. Parallel to the bottom surface of the fixed platform, the moving platform is a triangular-like structure; branch one consists of a moving pair, a rotating pair, a parallelogram hinge, a universal hinge and connecting rods connecting them; branch two consists of a moving pair and a parallelogram The hinge, two rotating pairs and the connecting rods connecting them; the third branch consists of three rotating pairs, one moving pair and three connecting rods connecting them; the fourth branch consists of two vertical moving pairs and one rotating pair; Branch five consists of three revolving pairs parallel to the axis of the revolving pair and one revolving pair perpendicular to it.
其中，其分支一中的第一连杆的一端通过移动副与定平台连接，该第一连杆的另一端通过转动副与平行四边形铰链连接，该平行四边形铰链另一端通过万向铰与动平台一端连接；分支二中的第一连杆的一端通过移动副与定平台连接，该第一连杆的另一端通过转动副与平行四边形铰链连接，该平行四边形铰链的另一端通过转动副与动平台连接；分支三中的第一连杆通过转动副与定平台连接，该第一连杆的另一端通过转动副与第二连杆的一端连接，该第二连杆的另一端通过移动副与第三连杆的一端连接，该第三连杆的另一端通过转动副与动平台连接；分支四中的第一连杆通过移动副与动平台连接，该第一连杆的另一端通过移动副与第二连杆的一端连接，该第二连杆的另一端通过转动副与机构末端连接；分支五中第一连杆通过转动副与动平台连接，该第一连杆的另一端通过转动副与第二连杆的一端连接，该第二连杆的另一端通过转动副与第三连杆的一端连接，该第三连杆的另一端通过转动副与机构末端连接。 Among them, one end of the first connecting rod in branch one is connected to the fixed platform through a moving pair, the other end of the first connecting rod is connected to a parallelogram hinge through a rotating pair, and the other end of the parallelogram hinge is connected to the moving platform through a universal hinge. One end of the platform is connected; one end of the first connecting rod in branch two is connected to the fixed platform through a moving pair, the other end of the first connecting rod is connected to the parallelogram hinge through a rotating pair, and the other end of the parallelogram hinge is connected to the fixed platform through a rotating pair. The first connecting rod in branch three is connected to the fixed platform through a rotating pair, the other end of the first connecting rod is connected to one end of the second connecting rod through a rotating pair, and the other end of the second connecting rod is connected by moving The pair is connected with one end of the third connecting rod, and the other end of the third connecting rod is connected with the moving platform through the rotating pair; the first connecting rod in branch 4 is connected with the moving platform through the moving pair, and the other end of the first connecting rod One end of the second connecting rod is connected through the moving pair, and the other end of the second connecting rod is connected with the end of the mechanism through the rotating pair; the first connecting rod in branch five is connected with the moving platform through the rotating pair, and the other end of the first connecting rod One end is connected with one end of the second connecting rod through a rotating pair, the other end of the second connecting rod is connected with one end of the third connecting rod through a rotating pair, and the other end of the third connecting rod is connected with the end of the mechanism through a rotating pair.
分支一中移动副的移动方向和除与动平台连接的转动副的轴线平行，且与和万向铰中一个的轴线垂直；在分支二中，移动副的移动方向和转动副的轴线平行；在分支三中，移动副方向与定平台平行，除与定平台连接的转动副外，其它两个转动副的轴线平行，且与和定平台连接的转动副的轴线垂直；分支四中两移动副相互垂直转动副与分支五中与末端连接的转动副轴线平行；分支五中前三个转动副轴线平行垂直于与末端连接的转动副轴线。 In branch one, the moving direction of the moving pair is parallel to the axis of the rotating pair connected to the moving platform, and perpendicular to the axis of one of the universal hinges; in branch two, the moving direction of the moving pair is parallel to the axis of the rotating pair; In branch three, the direction of the moving pair is parallel to the fixed platform, except for the rotating pair connected to the fixed platform, the axes of the other two rotating pairs are parallel and perpendicular to the axis of the rotating pair connected to the fixed platform; in branch four, the two moving pairs The revolving pairs perpendicular to each other are parallel to the axis of the revolving pair connected to the end in branch five; the axes of the first three revolving pairs in branch five are parallel to and perpendicular to the axis of the revolving pair connected to the end.
分支一中与定平台连接的移动副通过滚珠丝杆驱动实现；上述分支二中与定平台连接移动副通过滚珠丝杆驱动实现；上述分支三中与定平台连接的转动副通过伺服电机驱动实现；上述分支四中移动副通过气缸驱动，分支五中与末端连接的转动副通过伺服电机驱动。 The moving pair connected to the fixed platform in branch one is driven by a ball screw; the moving pair connected to the fixed platform in the above branch two is driven by a ball screw; the rotating pair connected to the fixed platform in the above branch three is driven by a servo motor ; The moving pair in the fourth branch is driven by a cylinder, and the rotating pair connected to the end in the fifth branch is driven by a servo motor.
本发明与现有技术相比具有如下优点： Compared with the prior art, the present invention has the following advantages:
1、结构稳定，运动副有低副也有复合运动副，装配简单； 1. The structure is stable, the kinematic pair has low-level and compound kinematic pairs, and the assembly is simple;
2、实现了空间三个移动自由度和两个转动自由度运动解耦； 2. Realized the motion decoupling of three degrees of freedom of movement and two degrees of freedom of rotation in space;
3、所有输入驱动全部与平台相连，这样减少了杆件的负载，具有良好的运动性和稳定性及较快的反应速度。 3. All input drives are connected to the platform, which reduces the load on the rod, and has good mobility, stability and fast response speed.
附图说明 Description of drawings
图1是本发明的立体示意简图； Fig. 1 is the three-dimensional schematic diagram of the present invention;
图2整体示意结构简图； Fig. 2 overall schematic structural diagram;
图3整体示意结构简图。 Figure 3 is a schematic diagram of the overall structure.
具体实施方式 detailed description
在图3所示的一种三移两转五自由度解耦空间混联机构示意图中，定平台16为长方形结构，动平台6为类三角形结构。该定平台的相邻两边设有直角导轨1和15，直角滑轨的中心线与定平台底面平行；分支一中的第一连杆的一端通过移动副2与定平台连接，该连杆3的另一端通过转动副4与平行四边形铰链5的一端连接，该平行四边形铰链5的另一端通过万向铰7与动平台8连接；分支二中的第一连杆通过移动副14与定平台16连接，该第一连杆13的另一端通过转动副12与平行四边形铰链11一端连接，该平行四边形铰链的另一端通过转动副9与动平台8连接；分支三中的第一连杆18的一端通过转动副17与定平台连接，该第一连杆的另一端通过转动副19与第二连杆20的一端连接，该第二连杆的另一端通过移动副21与第三连杆22的一端连接，该第三连杆的另一端通过转动副23与动平台连接。分支四中的第一连杆通过移动副27与动平台连接，该第一连杆的另一端通过移动副28与第二连杆29的一端连接，该第二连杆的另一端通过转动副30与机构末端34连接；分支五中第一连杆通过转动副24与动平台连接，该第一连杆的另一端通过转动副25与第二连杆26的一端连接，该第二连杆的另一端通过转动副31与第三连杆32的一端连接，该第三连杆的另一端通过转动副33与机构末端34连接。 In the schematic diagram of a three-shift, two-rotation, five-degree-of-freedom decoupling space hybrid mechanism shown in FIG. 3 , the fixed platform 16 is a rectangular structure, and the moving platform 6 is a quasi-triangular structure. The adjacent two sides of this fixed platform are provided with right-angled guide rails 1 and 15, and the center line of right-angled slide rail is parallel with the bottom surface of fixed platform; The other end of the parallelogram hinge 5 is connected with one end of the parallelogram hinge 5 through the rotating pair 4, and the other end of the parallelogram hinge 5 is connected with the moving platform 8 through the universal hinge 7; the first connecting rod in the branch two is connected with the fixed platform through the moving pair 14 16 connection, the other end of the first connecting rod 13 is connected with one end of the parallelogram hinge 11 through the rotating pair 12, and the other end of the parallelogram hinge is connected with the moving platform 8 through the rotating pair 9; the first connecting rod 18 in the branch three One end of the first connecting rod is connected with the fixed platform through the rotating pair 17, the other end of the first connecting rod is connected with one end of the second connecting rod 20 through the rotating pair 19, and the other end of the second connecting rod is connected with the third connecting rod through the moving pair 21 22, and the other end of the third connecting rod is connected with the moving platform through the rotating pair 23. The first connecting rod in the branch four is connected with the moving platform through the moving pair 27, the other end of the first connecting rod is connected with one end of the second connecting rod 29 through the moving pair 28, and the other end of the second connecting rod is connected through the rotating pair 30 is connected with the end 34 of the mechanism; the first connecting rod in branch five is connected with the moving platform through the rotating pair 24, and the other end of the first connecting rod is connected with one end of the second connecting rod 26 through the rotating pair 25, and the second connecting rod The other end of the third connecting rod is connected with one end of the third connecting rod 32 through the rotating pair 31 , and the other end of the third connecting rod is connected with the mechanism end 34 through the rotating pair 33 .
分支一中的移动副2的移动方向平行于转动副4、7轴线与分支二中的移动副14的移动方向垂直，都始终与动平台8平行。分支一中转动副4和万向铰7离定平台近的一端平行与离动平台近的一端垂直同时与分支二中与动平台连接的转动副9的轴线与转动副12轴线平行，与分支3中转动副19、23轴线相垂直，分支一中平行四边形铰链5中的转动副轴线与转动副4平行；分支二中移动副14的方向与转动副9、12以及平行四边形铰链的转动副轴线方向平行，同时与分支三中转动副17轴线平行。分支三中转动副17轴线平行于定平台和移动副20中心线，转动副19、23轴线方向与定平台相垂直；分支四移动27垂直于动平面且于移动副29中心线垂直，转动副轴线30平行于动平面且与移动副29、27中心线分别垂直。分支五转动副24、25、31轴线互相平行，平行于动平面和移动副28，垂直于转动副33轴线。 The moving direction of the moving pair 2 in the branch one is parallel to the axes of the turning pairs 4 and 7 and perpendicular to the moving direction of the moving pair 14 in the branch two, and is always parallel to the moving platform 8 . The end of the rotating pair 4 and universal hinge 7 in the branch one is parallel to the end near the fixed platform and perpendicular to the end near the moving platform. At the same time, the axis of the rotating pair 9 connected with the moving platform in the branch two is parallel to the axis of the rotating pair 12. The axes of revolving pairs 19 and 23 in 3 are perpendicular to each other, and the axes of revolving pairs in parallelogram hinge 5 in branch one are parallel to revolving pair 4; The direction is parallel, and is parallel to the axis of the revolving pair 17 in branch three at the same time. The axes of the rotating pair 17 in the third branch are parallel to the center line of the fixed platform and the moving pair 20, and the directions of the axes of the rotating pair 19 and 23 are perpendicular to the fixed platform; The axis 30 is parallel to the moving plane and perpendicular to the center lines of the moving pairs 29 and 27 respectively. The axes of the branch five rotating pairs 24, 25, and 31 are parallel to each other, parallel to the moving plane and the moving pair 28, and perpendicular to the axis of the rotating pair 33.
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| CN108274114A (en) * | 2018-01-25 | 2018-07-13 | 苏州小男孩智能科技有限公司 | Laser ablation telecentricity stabilizing mechanism |
| WO2019091425A1 (en) | 2017-11-10 | 2019-05-16 | 燕山大学 | Few-joint over-constrained five-freedom-degree hybrid connection robot |
| CN110103202A (en) * | 2019-04-04 | 2019-08-09 | 上海工程技术大学 | A kind of multi-mode series-parallel mechanical arm based on Motion Bifurcation mechanism |
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