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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- CN105563461A CN105563461A CN201410625175.1A CN201410625175A CN105563461A CN 105563461 A CN105563461 A CN 105563461A CN 201410625175 A CN201410625175 A CN 201410625175A CN 105563461 A CN105563461 A CN 105563461A
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Abstract
The invention belongs to the field of robots and particularly relates to a spatial decoupling hybrid mechanism. The mechanism mainly comprises a three-branch parallel mechanism (2T1R) and a two-branch parallel mechanism (1T1R), wherein the three-branch parallel mechanism comprises a fixed platform, a movable platform and three branches for connecting the fixed platform and the movable platform; the two-branch parallel mechanism comprises the movable platform, a mechanism tail end and two branches for connecting the movable platform and the mechanism tail end; the fixed platform has a rectangular bottom surface; sliding rails are mounted on the bottom surface of the fixed platform; the center lines of the sliding rails are parallel to the bottom surface of the fixed platform; the branch I comprises a sliding pair, a rotating pair, a parallelogram-shaped hinge, a universal hinge and connecting rods for connecting the sliding pair, the rotating pair, the parallelogram-shaped hinge and the universal hinge; the branch II comprises a sliding pair, a parallelogram-shaped hinge, two rotating pairs and connecting rods for connecting the sliding pair, the parallelogram-shaped hinge and the two rotating pairs; the branch III comprises three rotating pairs, a sliding pair and three connecting rods for connecting the three rotating pairs and the sliding pair; the branch IV comprises two perpendicular sliding pairs and a rotating pair; the branch V comprises three rotating pairs with parallel axes and a rotating pair perpendicular to the three rotating pairs. The spatial decoupling hybrid mechanism has a stable structure, can realize the effects of moving the movable platform in two directions parallel to the fixed platform and a direction perpendicular to the fixed platform and rotating the movable platform around an axis parallel to the fixed platform and an axis perpendicular to the fixed platform, realizes motion decoupling, is easy to control and has high bearing capacity.
Description
Art
The invention belongs to robot field, particularly the spatially decoupled hybrid mechanism of one.
Background technology
It is large, easy to control that series-parallel robot has serial manipulator working space concurrently simultaneously, parallel device people Stability Analysis of Structures, rigidity is large, the accumulation of error is few, dynamic property is good, easily try to achieve the respective advantage such as inverse kinematic, simple series and parallel configuration shortcoming can be avoided again simultaneously, in modern manufacturing industry, have more practicality.Also be one of new architecture source needed for the various complicated Advanced Equipment of innovation and development.
Minority carrier generation lifetime design and innovation are design important prerequisites of hybrid mechanism, and because series-parallel robot forgives parallel-connection structure, parallel institution exists the strong problem of sports coupling.The existence of series-parallel robot coupling makes mechanism there are problems in mechanism design, computational analysis and motion control etc.Therefore, for simplifying the control procedure of series-parallel robot, the decoupling improving hybrid mechanism has become the hot issue of theory of mechanisms research field.
In series-parallel robot research, professor Huang Tian design 4DOF TriVariant robot by a 2DOF parallel institution and a 2DOF rotary head in series, Harbin Measuring Tool & Cutting Tool Co., Ltd. is proposed a kind of machining center LINKS-EXE700 of brand new, and whole parallel connection part 3T and part in series 2R forms the series-parallel robot that has 5 frees degree.Decoupling research for five degree of freedom hybrid mechanism obtains some progress, such as, Chinese patent literature CN102133560A spray gun cooperating type more than a kind sprays five axle series-parallel robots, this kind five axle series-parallel connection spray robot have structure simple, easy to manufacture, control that decoupling zero, motion working space are large, positioning precision advantages of higher, high-quality, high efficiency spraying can be realized.Move two transhipments move although mechanism of foregoing invention mechanism moving platform can realize three, such mechanism is very rare, and the decoupling of most of mechanism does not solve very well.
Summary of the invention
The object of the present invention is to provide a kind of Stability Analysis of Structures, be easy to control, mobile decoupling three move two turns of series parallel robot in five degrees of freedom.It is primarily of three branch's parallel institutions (2T1R) and Ge Liang branch parallel institution (1T1R) composition (2T1R) & (1T1R) five degree of freedom decoupling zero hybrid mechanism, and three branch's parallel institutions are by fixed platform, moving platform and three branches connecting moving platform and moving platform.Two branch's parallel institutions are made up of moving platform, mechanism end and the Liang Ge branch that connects moving platform and end; Wherein fixed platform is rectangle structure, and the adjacent both sides of this fixed platform are provided with guide rail, and mutually vertically and all parallel with fixed platform bottom surface, moving platform is class triangular structure for the center line of two guide rails; Branch one by a moving sets and revolute pair parallelogram hinge, a universal hinge and connect they connecting rod composition; Branch two is made up of a moving sets and a parallelogram hinge and two revolute pairs and the connecting rod that is connected them; Branch three is made up of with three connecting rods being connected them three revolute pairs moving sets; Branch four is made up of the vertical moving sets of both direction and a revolute pair; Branch five is made up of the revolute pair that the revolute pair of three turns auxiliary shaft line parallels is vertical with it with.
Wherein, one end of the first connecting rod in its branch one is connected with fixed platform by moving sets, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and this parallelogram hinge other end is connected with moving platform one end by universal hinge; One end of first connecting rod in branch two is connected with fixed platform by moving sets, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and the other end of this parallelogram hinge is connected with moving platform by revolute pair; First connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by moving sets, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch four is connected with moving platform by moving sets, and the other end of this first connecting rod is connected with one end of second connecting rod by moving sets, and the other end of this second connecting rod is connected with mechanism end by revolute pair; In branch five, first connecting rod is connected with moving platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with mechanism end by revolute pair.
In branch one moving sets moving direction and except the axis being parallel of revolute pair be connected with moving platform, and with the axes normal of in universal hinge; In branch two, the moving direction of moving sets and the axis being parallel of revolute pair; In branch three, moving sets direction is parallel with fixed platform, except the revolute pair be connected with fixed platform, and the axis being parallel of other two revolute pairs, and the axes normal of the revolute pair be connected with fixed platform; The mutual vertical rotation pair of two moving sets and the turns auxiliary shaft line parallel be connected with end in branch five in branch four; In branch five, first three turns auxiliary shaft line parallel is perpendicular to the revolute pair axis be connected with end.
The moving sets be connected with fixed platform in branch one is driven by ball screw and realizes; Be connected moving sets in above-mentioned branch two to be driven by ball screw realize with fixed platform; The revolute pair be connected with fixed platform in above-mentioned branch three is realized by driven by servomotor; In above-mentioned branch four, moving sets is by air cylinder driven, and the revolute pair be connected with end in branch five passes through driven by servomotor.
The present invention compared with prior art tool has the following advantages:
1, Stability Analysis of Structures, kinematic pair has lower pair also to have compound motion secondary, and assembling is simple;
2, three, space one-movement-freedom-degree and two rotational freedom mobile decouplings are achieved;
3, all input queued switches are all connected with platform, which reduce the load of rod member, have good motility and stability and reaction speed faster.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention;
The overall schematic construction sketch of Fig. 2;
The overall schematic construction sketch of Fig. 3.
Detailed description of the invention
Move in two turns of five degree of freedom decoupling zero spatial series-parallel structural scheme of mechanism in the one three shown in Fig. 3, fixed platform 16 is rectangle structure, and moving platform 6 is class triangular structure.The adjacent both sides of this fixed platform are provided with right angle guide rail 1 and 15, and the center line of right angle slide rail is parallel with fixed platform bottom surface; One end of first connecting rod in branch one is connected with fixed platform by moving sets 2, and the other end of this connecting rod 3 is connected with one end of parallelogram hinge 5 by revolute pair 4, and the other end of this parallelogram hinge 5 is connected with moving platform 8 by universal hinge 7; First connecting rod in branch two is connected with fixed platform 16 by moving sets 14, and the other end of this first connecting rod 13 is connected with parallelogram hinge 11 one end by revolute pair 12, and the other end of this parallelogram hinge is connected with moving platform 8 by revolute pair 9; One end of first connecting rod 18 in branch three is connected with fixed platform by revolute pair 17, the other end of this first connecting rod is connected with one end of second connecting rod 20 by revolute pair 19, the other end of this second connecting rod is connected with one end of third connecting rod 22 by moving sets 21, and the other end of this third connecting rod is connected with moving platform by revolute pair 23.First connecting rod in branch four is connected with moving platform by moving sets 27, and the other end of this first connecting rod is connected with one end of second connecting rod 29 by moving sets 28, and the other end of this second connecting rod is connected with mechanism end 34 by revolute pair 30; In branch five, first connecting rod is connected with moving platform by revolute pair 24, the other end of this first connecting rod is connected with one end of second connecting rod 26 by revolute pair 25, the other end of this second connecting rod is connected with one end of third connecting rod 32 by revolute pair 31, and the other end of this third connecting rod is connected with mechanism end 34 by revolute pair 33.
It is vertical with the moving direction of the moving sets 14 in branch two, parallel with moving platform 8 all the time that the moving direction of the moving sets 2 in branch one is parallel to revolute pair 4,7 axis.In branch one revolute pair 4 and universal hinge 7 from the one end close to fixed platform parallel with from the one end close to moving platform vertical simultaneously with axis and revolute pair 12 axis being parallel of the revolute pair 9 be connected with moving platform in branch two, with revolute pair in branch 3 19,23 axis perpendicular, the revolute pair axis in branch one in parallelogram hinge 5 is parallel with revolute pair 4; In branch two, the direction of moving sets 14 is parallel with the revolute pair axis direction of revolute pair 9,12 and parallelogram hinge, simultaneously with revolute pair 17 axis being parallel in branch three.In branch three, revolute pair 17 axis being parallel is in fixed platform and moving sets 20 center line, revolute pair 19,23 axis direction and fixed platform perpendicular; Branch four moves 27 perpendicular to dynamic plane and in moving sets 29 central axis, and revolute pair axis 30 is parallel to dynamic plane and distinguishes vertical with moving sets 29,27 center line.Branch five revolute pair 24,25,31 axis is parallel to each other, is parallel to dynamic plane and moving sets 28, perpendicular to revolute pair 33 axis.
Claims (3)
1. three move two turns of five degree of freedom decoupling zero series-parallel robots, it mainly comprises three branch's parallel institutions and a Ge Liang branch parallel institution, and three branch's parallel institutions are by fixed platform, moving platform and three branches connecting moving platform and moving platform.Two branch's parallel institutions are made up of moving platform, mechanism end and the Liang Ge branch that connects moving platform and end; It is characterized in that: its fixed platform is rectangle structure, the adjacent both sides of this fixed platform are provided with guide rail, and the center line of two guide rails is mutually vertical and all parallel with fixed platform bottom surface; One end of first connecting rod in its branch one is connected with fixed platform by moving sets, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and this parallelogram hinge other end is connected with moving platform one end by universal hinge; One end of first connecting rod in branch two is connected with fixed platform by moving sets, and the other end of this first connecting rod is by revolute pair and parallelogram chain connection, and the other end of this parallelogram hinge is connected with moving platform by revolute pair; First connecting rod in branch three is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by moving sets, and the other end of this third connecting rod is connected with moving platform by revolute pair; First connecting rod in branch four is connected with moving platform by moving sets, and the other end of this first connecting rod is connected with one end of second connecting rod by moving sets, and the other end of this second connecting rod is connected with mechanism end by revolute pair; In branch five, first connecting rod is connected with moving platform by revolute pair, the other end of this first connecting rod is connected with one end of second connecting rod by revolute pair, the other end of this second connecting rod is connected with one end of third connecting rod by revolute pair, and the other end of this third connecting rod is connected with mechanism end by revolute pair.
2. three of a kind of decoupling zero according to claim 1 move two turns of series parallel robot in five degrees of freedom, it is characterized in that: in branch one, the moving direction of moving sets and the axis being parallel except the revolute pair be connected with moving platform, and with the axes normal of in universal hinge; In branch two, the moving direction of moving sets and the axis being parallel of revolute pair; In branch three, moving sets direction is parallel with fixed platform, except the revolute pair be connected with fixed platform, and the axis being parallel of other two revolute pairs, and the axes normal of the revolute pair be connected with fixed platform; In branch four, the mutual vertical rotation pair of two moving sets and the turns auxiliary shaft line parallel be connected with end in branch five; In branch five, first three turns auxiliary shaft line parallel is perpendicular to the revolute pair axis be connected with end.
3. three of a kind of decoupling zero according to claim 1 move two turns of series parallel robot in five degrees of freedom, it is characterized in that: the moving sets be connected with fixed platform in above-mentioned branch one is driven by ball screw and realizes; Be connected moving sets in above-mentioned branch two to be driven by ball screw realize with fixed platform; The revolute pair be connected with fixed platform in above-mentioned branch three is realized by driven by servomotor; In above-mentioned branch four, moving sets passes through air cylinder driven; The revolute pair be connected with end in branch five passes through driven by servomotor.
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| CN201410625175.1A CN105563461A (en) | 2014-11-07 | 2014-11-07 | (2T1R) & (1T1R) five-degree-of-freedom decoupling hybrid mechanism |
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Cited By (3)
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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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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019091425A1 (en) | 2017-11-10 | 2019-05-16 | 燕山大学 | Few-joint over-constrained five-freedom-degree hybrid connection robot |
| 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 |
| 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 |
| CN110103202B (en) * | 2019-04-04 | 2022-06-24 | 上海工程技术大学 | Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism |
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Application publication date: 20160511 |