CN105599002A - Four-branch-chain two-rotation parallel robot joint - Google Patents

Four-branch-chain two-rotation parallel robot joint Download PDF

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Publication number
CN105599002A
CN105599002A CN 201610171367 CN201610171367A CN105599002A CN 105599002 A CN105599002 A CN 105599002A CN 201610171367 CN201610171367 CN 201610171367 CN 201610171367 A CN201610171367 A CN 201610171367A CN 105599002 A CN105599002 A CN 105599002A
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sub
slider
platform
rotation
end
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CN 201610171367
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Chinese (zh)
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褚宏鹏
孙通帅
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褚宏鹏
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0266Two-dimensional joints comprising more than two actuating or connecting rods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0275Universal joints, e.g. Hooke, Cardan, ball joints

Abstract

The invention discloses a four-branch-chain two-rotation parallel robot joint which mainly comprises a fixed platform, a mobile platform, an annular guide rail and four motion branch chains connecting the fixed platform and the mobile platform, wherein each motion branch chain consists of a lower connecting rod, a slider and an upper connecting rod; the lower connecting rod is connected with the fixed platform through a rotary pair or a spherical pair; the lower connecting rod is connected with the slider through a rotary pair or a spherical pair; the slider is connected with the upper connecting rod through a rotary pair or a spherical pair; the upper connecting rod is connected with the mobile platform through a rotary pair or a spherical pair; sliders in the four motion branch chains are all connected with the annular guide rail through a moving pair; the sliders only can make circumferential slip along the annular guide rail; and the annular guide rail is of a ring shape. The four-branch-chain two-rotation parallel robot joint disclosed by the invention can realize spherical two-degree-of-freedom rotation of the mobile platform relative to the fixed platform, has the advantages of small volume, high rigidity, high precision, large rotation working space and the like and can be widely applied to the field of robots.

Description

四支链两转动并联机器人关节 Rotation of four-chain two parallel robot joint

技术领域 FIELD

[0001 ]本发明涉及一种机器人关节,特别涉及一种四支链两转动并联机器人关节。 [0001] The present invention relates to a robot joint, particularly, to a parallel four-chain two rotational joints of the robot.

技术背景 technical background

[0002]并联机构无累积误差,精度较高,驱动装置可置于定平台上或接近定平台的位置,这样运动部分重量轻、动态响应好、结构紧凑、刚度高、承载能力大,完全对称的并联机构还具有较好的各向同性。 [0002] Parallel Mechanism accumulated error, high precision, the drive means may be placed on a given platform or near the predetermined position of the platform, so that moving light weight part, good dynamic response, compact structure, high rigidity, load capacity, completely symmetrical the parallel mechanism also has good isotropy. 但并联机构的工作空间普遍较小,严重制约了并联机构在工业和机器人等领域的应用,因此研究具有大工作空间的并联机构,成为了并联机构领域一个重要的内容。 But the work space parallel mechanism is generally small, severely restricted the application of parallel institutions in the field of industry and robotics, so research institution in parallel with a large work space, become an important content areas parallel mechanism.

[0003]并联机构的自由度可分为移动自由度和转动自由度,其中移动工作空间可通过增大机构尺寸的办法增大,然而转动空间却不随机构尺寸的增大而增加。 DOF [0003] can be divided into parallel mechanism and rotational degrees freedom of movement, wherein the movement of the working space can be increased by increasing the size of the mechanism of the way, but not with the rotation mechanism space size increases. 国外对大工作空间转动类并联机构研究较早,美国专利US4651589提出了一种大工作空间三自由度并联机构,并成功应用于雷达追踪设备,美国专利US4686866公开了一种大工作空间两转动并联机构,并成功应用于工业喷涂机器人腕关节中,美国专利US7478576B2公开了一种三支链大工作空间两转动并联机构,并将其应用于机器人腕关节中。 Foreign large workspace rotation parallel mechanisms earlier research, US patent US4651589 proposes a large work space three degrees of freedom parallel mechanism, and successfully used in radar tracking devices, US Patent US4686866 discloses two parallel one kind of turning large work space mechanism, and successfully applied in industrial painting robot wrist, U.S. Patent No. US7478576B2 discloses a chain having three parallel working space two rotation mechanism, and applied to the robot wrist. 美国专利US6658962B1公开了一种四支链大工作空间两转动并联机构,并将其应用于仿生机器人肩关节中。 U.S. Patent US6658962B1 discloses a four-chain large workspace two parallel rotation mechanism, and applied to bio-robot shoulder joint. 国内对具有大转动工作空间并联机构研究成果较少,其中发明专利CN103217986A和发明专利CN103433916A对大工作空间两转动并联机构进行了研究,并取得了一些成果。 Domestic work with fewer large rotation parallel mechanism research, including patents and patent CN103433916A invention CN103217986A large workspace two rotation parallel mechanism research, and achieved some results. 但上述大转动工作空间的并联机构都属于非球面转动并联机构,机构的转动中心不唯一,使得动平台在转动过程中会产生附加的移动,这一性质严重限制了这类机构在机器人特别是仿生机器人领域的应用。 However, the rotation of the large parallel mechanism workspace belong aspherical parallel rotation mechanism, the center of rotation is not the only mechanism, such that the movable platform during rotation will produce an additional movement, this severely limits the nature of such bodies in particular robot application of bio-robot.

发明内容 SUMMARY

[0004]为解决上述问题,本发明提供一种四支链两转动并联机器人关节,可实现动平台相对定平台做球面两自由度转动,且该关节具有体积小、刚度大、转动工作空间大等优点,可广泛应用于机器人特别是仿生机器人等领域。 [0004] In order to solve the above problems, the present invention provides a four-chain two parallel robot joint rotation, the movable platform may be implemented to make the relative rotation of the spherical internet given two degrees of freedom, and the joint has a small volume, stiffness, large rotation workspace etc., it can be widely used in robotics especially bionic robots.

[0005]本发明的技术方案具体如下: [0005] The technical solutions of the present invention is as follows:

[0006]本发明主要包括定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其有三种连接方式: [0006] The present invention comprises a fixed platform, the movable platform, the ring rail, the movable connector, four motion branched given platform, which has three connections:

[0007]第一种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过转动副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 [0007] first connection: the same four motion branched structure, each branch by moving the lower link, the upper link consisting of the slider and the lower link fixed with one end rotatably connected to internet through the sub, lower link and the other end connected to the slider through the sub spherical end of the upper link connected to the movable platform is rotated through the sub, the upper link and the other end connected to the slider by rotation of the sub; all the sub-axis of rotation of the four motion branched chain intersect at point O, and Jie OS as the rotation center point of the joint; each slide motion branched chain and are moved by the ring guideway sub connector, the slider can slide along a circular ring guideway, is a circular ring guideway, the center an axis through the point O.

[0008]第二种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过转动副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 [0008] The second connection: the same four motion branched structure, the branched motion by each lower link, the upper link consisting of the slider and the lower link fixed at one end to the platform by connecting the sub-rotated lower link the other end of the sub-slider by rotation of connected, one end of the link and the movable platform is rotated by the sub-connector, the upper link and the other end connected to the slider via the sub-spherical; all the sub-axis of rotation of the four motion branched chain intersect at point O, and Jie OS as the rotation center point of the joint; each slide motion branched chain and are moved by the ring guideway sub connector, the slider can slide along a circular ring guideway, is a circular ring guideway, the center an axis through the point O.

[0009]第三种连接方式:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 [0009] A third connection: the same four motion branched structure, the branched motion by each lower link, the upper link consisting of the slider and the lower link fixed with one end rotatably connected to internet through the sub, lower link and the other end connected to the slider through the sub spherical end of the upper link connected to the movable platform is rotated through the sub, the upper link and the other end connected to the slider via the sub-spherical; all the sub-axis of rotation of the four motion branched chain intersect at point O, and Jie OS as the rotation center point of the joint; each slide motion branched chain and are moved by the ring guideway sub connector, the slider can slide along a circular ring guideway, is a circular ring guideway, the center an axis through the point O.

[0010]本发明与现有技术相比具有如下优点: [0010] The present invention and the prior art has the following advantages:

[0011] (I)动平台相对定平台具有球面两转动自由度,且转动中心唯一;(2)动平台相对定平台转动工作空间大,转动角度可达±90度;(3)关节体积小,刚度大;(4)关节的四条运动支链之间相互耦合,大大提高了关节的受力性能。 [0011] (I) movable relative to fixed platform having spherical internet two rotational degrees of freedom, and the rotational center of the sole; (2) relative to the movable platform rotatably fixed internet large working space, the rotation angle of up to ± 90 degrees; Small (3) the volume of the joint , stiffness; mutual coupling between the motion of a branched four (4) joint, greatly improving the mechanical performance of the joint.

附图说明 BRIEF DESCRIPTION

[0012]图1是本发明实施例1立体结构示意简图. [0012] FIG. 1 is a schematic diagram of a three-dimensional structure of the present embodiment of the invention.

[0013]图2是本发明实施例1偏转状态立体结构示意简图. [0013] FIG. 2 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0014]图3是本发明实施例2立体结构示意简图. [0014] FIG. 3 is a perspective schematic structural diagram of embodiment 2 of the present embodiment of the invention.

[0015]图4是本发明实施例2偏转状态立体结构示意简图. [0015] Example 2 FIG 4 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0016]图5是本发明实施例3立体结构示意简图. [0016] FIG. 5 is a schematic diagram of three-dimensional structure of the present embodiment of the invention.

[0017]图6是本发明实施例3偏转状态立体结构示意简图. [0017] Example 3 FIG. 6 is a perspective schematic structural diagram of a deflected state embodiment of the present invention.

[0018] 图中:1.定平台,2.动平台,(厶3,83,03,03).下连杆,(厶4,84,04,04).滑块,(八5,B5,C5,D5).上连杆,6.环形导轨。 [0018] FIG: a given platform, the movable platform 2, (Si 3,83,03,03) lower link (Si 4,84,04,04) slider (eight 5, B5... , C5, D5). upper link, 6 ring guideway.

具体实施方式 detailed description

[0019]下面结合附图和实施例对本发明作进一步说明,在所有实施例中,所述Rij表示一个转动副,sij表示一个球面副,P ij表示一个移动副,其中i,j为自然数。 [0019] The drawings and embodiments below in conjunction with the present invention will be further described, in all embodiments, the Rij designates a rotational sub, Sij represents a spherical joint, P ij denotes a mobile vice, where i, j is a natural number.

[0020] 实施例1 [0020] Example 1

[0021]如图1、图2所示是本发明公开的第I个实施例,一种四支链两转动并联机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0021] As shown in FIG 1, FIG 2 shows the present invention disclosed in Example I-th embodiment, a four-branched two parallel robot joint rotation, including a fixed platform, the movable platform 2, the annular rail 6, the movable connection, four sports branched given platform. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过转动副Rl I连接,下连杆A3另一端与滑块A4通过球面副S12连接;上连杆A5—端与滑块A4通过转动副R13连接,上连杆A5另一端与动平台2之间通过转动副R14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection I between I by the rotation of the sub-Rl, even under the other end of the rod A3 and A4 via the sub-slider spherical S12; A5- end of the upper link is connected to the slider by rotating the sub-A4 R13, the other end of the connecting link A5 and the movable platform 2 by rotation between the sub-R14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过转动副R21连接,下连杆B3另一端与滑块B4通过球面副S22连接;上连杆B5—端与滑块B4通过转动副R23连接,上连杆B5另一端与动平台2之间通过转动副R24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I internet connection by rotating the sub-R21, the other end of the lower link slide B3 and B4 by S22 spherical sub connector; B5- end of the upper link is connected to the slider by rotating the sub-B4 R23, the other end of the upper link B5 by rotation of the movable platform is connected between the two sub-R24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过转动副R31连接,下连杆C3另一端与滑块C4通过球面副S32连接;上连杆C5—端与滑块C4通过转动副R33连接,上连杆C5另一端与动平台2之间通过转动副R34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection by rotation between the sub-R31 I, the other end of the lower link by C3 and C4 slider S32 spherical sub connector; C5- end of the upper link connected to the slider by rotating the sub-C4 R33, C5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过转动副R41连接,下连杆D3另一端与滑块D4通过球面副S42连接;上连杆D5—端与滑块D4通过转动副R43连接,上连杆D5另一端与动平台2之间通过转动副R44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection by rotation between the sub-R41 I, the other end of the lower link via D3 and D4 the slider S42 spherical sub connector; D5- end of the upper link connected to the slider by rotating the sub-D4 R43, D5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R44.

[0022]第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 [0022] The first A4 motion branched slider 6 is connected with the annular guide rail by moving the sub-P15, A4 slide rail 6 can be slid along the circumference of the ring; the second motion B4 branched slider by moving the annular rail 6 P25 connected to the sub slider B4 rail 6 can slide along a circular ring; third motion slider branched C4 annular rail 6 is connected with the sub-P35 by moving the slider C4 rail 6 can slide along a circular ring; first D4 slider movement with the ring a branched four rail 6 through a mobile sub-P45, D4 slide rail 6 can slide along a circular ring.

[0023]所述转动副R11、转动副R13、转动副R14、转动副R21、转动副R23、转动副R24、转动副R31、转动副R33、转动副R34、转动副R41、转动副R43、转动副R44的轴线汇交于一点0,且点O即为关节的转动中心。 [0023] The rotation of the sub-R11, rotating pair R13, rotating pair R14, rotating pair R21, rotating pair R23, rotating pair R24, rotating pair R31, rotating pair R33, rotating pair R34, rotating pair R41, rotating pair R43, the rotation R44 intersect at the axis of the sub-1.0, and point O is the center of rotation of the joint. 所述环形导轨6为圆环形,其中心轴线过所述点O。 The annular rail 6 is circular, the central axis through the point O.

[0024] 实施例2 [0024] Example 2

[0025]如图3、图4所示是本发明公开的第2个实施例,一种四支链两转动并联机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0025] FIG. 3, FIG. 4 of the present invention is disclosed in the second embodiment, a rotation of the two parallel four-chain robot joints, including a fixed platform, the movable platform 2, the annular rail 6, the movable connection, four sports branched given platform. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过转动副Rl I连接,下连杆A3另一端与滑块A4通过转动副R12连接;上连杆A5—端与滑块A4通过球面副S13连接,上连杆A5另一端与动平台2之间通过转动副R14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection I between I by the rotation of the sub-Rl, even under the other end of the rod A3 and A4 connected to the slider by rotating the sub-R12; A5- end of the upper link connected to the slider by the sub S13 spherical A4, A5 and the upper link and the other end connected to the movable platform 2 by rotation between the sub-R14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过转动副R21连接,下连杆B3另一端与滑块B4通过转动副R22连接;上连杆B5—端与滑块B4通过球面副S23连接,上连杆B5另一端与动平台2之间通过转动副R24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I internet connection by rotating the sub-R21, the other end of the lower link slide B3 and B4 by R22 connected to the swivel joint; the end of the slide rod B5- B4 via the spherical sub S23, B5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过转动副R31连接,下连杆C3另一端与滑块C4通过转动副R32连接;上连杆C5—端与滑块C4通过球面副S33连接,上连杆C5另一端与动平台2之间通过转动副R34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection by rotation between the sub-R31 I, the other end of the lower link by C3 and C4 slider R32 connected to the swivel joint; C5- end of the upper link connected to the slider by the sub S33 spherical C4, C5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过转动副R41连接,下连杆D3另一端与滑块D4通过转动副R42连接;上连杆D5—端与滑块D4通过球面副S43连接,上连杆D5另一端与动平台2之间通过转动副R44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection by rotation between the sub-R41 I, the other end of the lower link via D3 and D4 the slider R42 connected to the swivel joint; D5- end of the upper link connected to the slider by the sub S43 spherical D4, D5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R44.

[0026] 第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 [0026] The first A4 slider motion branched annular rail 6 through a mobile sub-P15, A4 slide rail 6 can be slid along the circumference of the ring; the second motion B4 branched slider by moving the annular rail 6 P25 connected to the sub slider B4 rail 6 can slide along a circular ring; third motion slider branched C4 annular rail 6 is connected with the sub-P35 by moving the slider C4 rail 6 can slide along a circular ring; first D4 slider movement with the ring a branched four rail 6 through a mobile sub-P45, D4 slide rail 6 can slide along a circular ring.

[0027]所述转动副R11、转动副R12、转动副R14、转动副R21、转动副R22、转动副R24、转动副R31、转动副R32、转动副R34、转动副R41、转动副R42、转动副R44的轴线汇交于一点0,且点O即为关节的转动中心。 [0027] The rotation of the sub-R11, rotating pair R12, rotating pair R14, rotating pair R21, rotating pair R22, rotating pair R24, rotating pair R31, rotating pair R32, rotating pair R34, rotating pair R41, rotating pair R42, the rotation R44 intersect at the axis of the sub-1.0, and point O is the center of rotation of the joint. 所述环形导轨6为圆环形,其中心轴线过所述点O。 The annular rail 6 is circular, the central axis through the point O.

[0028] 实施例3 [0028] Example 3

[0029]如图5、图6所示是本发明公开的第3个实施例,一种四支链两转动并联机器人关节,主要包括定平台1、动平台2、环形导轨6,连接动、定平台的四条运动支链。 [0029] FIG. 5, FIG. 6 of the present invention is disclosed in the third embodiment, a rotation of the two parallel four-chain robot joints, including a fixed platform, the movable platform 2, the annular rail 6, the movable connection, four sports branched given platform. 四条运动支链结构相同,其中第一运动支链由下连杆A3、滑块A4和上连杆A5组成,下连杆A3—端与定平台I之间通过转动副Rl I连接,下连杆A3另一端与滑块A4通过球面副S12连接;上连杆A5—端与滑块A4通过球面副S13连接,上连杆A5另一端与动平台2之间通过转动副R14连接。 The same four motion branched structure, wherein the first motion branched lower link A3, A4 and the upper link sliders composition A5, and the fixed end of the lower link A3- internet connection I between I by the rotation of the sub-Rl, even under the other end of the rod A3 and A4 are connected by the sub-slider spherical S12; A5- end of the upper link connected to the slider by the sub S13 spherical A4, A5 and the upper link and the other end connected to the movable platform 2 by rotation between the sub-R14. 第二运动支链由下连杆B3、滑块B4和上连杆B5组成,下连杆B3—端与定平台I之间通过转动副R21连接,下连杆B3另一端与滑块B4通过球面副S22连接;上连杆B5—端与滑块B4通过球面副S23连接,上连杆B5另一端与动平台2之间通过转动副R24连接。 Branched by the second motion link B3, B4 and the upper link sliders composition B5, between the lower link and the fixed end B3- I internet connection by rotating the sub-R21, the other end of the lower link slide B3 and B4 by S22 spherical sub connector; B5- end of the upper link is connected to the slider by the sub S23 spherical B4, B5 and the other end of the upper link is connected by rotating the movable platform 2 between the sub-R24. 第三运动支链由下连杆C3、滑块C4和上连杆C5组成,下连杆C3—端与定平台I之间通过转动副R31连接,下连杆C3另一端与滑块C4通过球面副S32连接;上连杆C5—端与滑块C4通过球面副S33连接,上连杆C5另一端与动平台2之间通过转动副R34连接。 A third motion branched C3 lower link, upper link and slider C4 C5 form, with the fixed end of the lower link C3- internet connection by rotation between the sub-R31 I, the other end of the lower link by C3 and C4 slider S32 spherical sub connector; C5- end of the upper link connected to the slider by the sub S33 spherical C4, C5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R34. 第四运动支链由下连杆D3、滑块D4和上连杆D5组成,下连杆D3—端与定平台I之间通过转动副R41连接,下连杆D3另一端与滑块D4通过球面副S42连接;上连杆D5—端与滑块D4通过球面副S43连接,上连杆D5另一端与动平台2之间通过转动副R44连接。 Branched by the fourth motion link D3, D4, and the upper link slider D5 composition, with the fixed end of the lower link D3- internet connection by rotation between the sub-R41 I, the other end of the lower link via D3 and D4 the slider S42 spherical sub connector; D5- end of the upper link connected to the slider by the sub S43 spherical D4, D5 and the other end of the upper link connected to the movable platform 2 by rotation between the sub-R44.

[0030] 第一运动支链中滑块A4与环形导轨6通过移动副P15连接,滑块A4只能沿环形导轨 [0030] The first A4 motion branched slider 6 is connected with the annular guide rail by moving the sub-P15, can slide along the ring guideway A4

6做圆周滑动;第二运动支链中滑块B4与环形导轨6通过移动副P25连接,滑块B4只能沿环形导轨6做圆周滑动;第三运动支链中滑块C4与环形导轨6通过移动副P35连接,滑块C4只能沿环形导轨6做圆周滑动;第四运动支链中滑块D4与环形导轨6通过移动副P45连接,滑块D4只能沿环形导轨6做圆周滑动。 6 a circular slide; the second motion slider B4 branched annular rail 6 through a mobile sub-P25, B4 slide rail 6 can slide along a circular ring; C4 annular slider third motion branched chain rail 6 by moving the sub connector P35, C4 slide rail 6 can slide along a circular ring; D4 annular slider fourth motion branched chain rail 6 through a mobile sub-P45, D4 slider 6 can slide along the guide rail in a circular ring .

[0031 ]所述转动副Rl 1、转动副R14、转动副R21、转动副R24、转动副R31、转动副R34、转动副R41、转动副R44的轴线汇交于一点0,且点O即为关节的转动中心。 [0031] The rotation of the sub-Rl 1, rotation of the sub-R14, rotating pair R21, rotating pair R24, rotating pair R31, rotating pair R34, rotating pair of R41, R44 axis of rotation intersect at the sub-1.0, and point O is the the joint rotation center. 所述环形导轨6为圆环形,其中心轴线过所述点O。 The annular rail 6 is circular, the central axis through the point O.

Claims (3)

  1. 1.一种四支链两转动并联机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过转动副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 An exercise four branched-chain four parallel two rotational joints of the robot, which has a given platform, the movable platform, the ring rail, the movable connector, the fixed platform, wherein: the same four motion branched structure, each motor branch chain by the lower link, the upper link consisting of the slider and the lower link fixed with one end connected to the platform is rotated through the sub, and the lower link and the other end connected to the slider through the sub spherical end of the rod and the movable platform by rotating the sub connecting the upper link and the other end connected to the slider by rotation of the sub; all four axis of rotation of the sub branched chain motion intersect at point O, and the rotation center point of OS Jie joints; each slide motion branched chain the annular guide blocks are connected via a sliding pair, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis through the point O.
  2. 2.—种四支链两转动并联机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过转动副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 2.- four motion branched chain two kinds of four rotational joints parallel robot which has a given platform, the movable platform, the ring guideway, movable connection, given platform, wherein: the same four motion branched structure, each motor branch chain by the lower link, the upper link consisting of the slider and the lower link fixed at one end to the platform by a sub-connection rotation, the other end of the lower link sub-slider by rotation of the connector, one end of the rod by rotating the sub movable platform connecting the upper link and the other end connected to the slider via the sub-spherical; all four axis revolute motion branched chain intersect at point O, and the rotation center point of OS Jie joints; each slide motion branched chain the annular guide blocks are connected via a sliding pair, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis through the point O.
  3. 3.—种四支链两转动并联机器人关节,其有定平台、动平台、环形导轨,连接动、定平台的四条运动支链,其特征在于:四条运动支链结构相同,每条运动支链均由下连杆、滑块和上连杆组成,下连杆一端与定平台通过转动副连接,下连杆另一端与滑块通过球面副连接,上连杆一端与动平台通过转动副连接,上连杆另一端与滑块通过球面副连接;四条运动支链中的所有转动副的轴线汇交于一点O,且点OS卩为关节的转动中心;每条运动支链中的滑块均与环形导轨通过移动副连接,滑块只能沿环形导轨做圆周滑动,环形导轨为圆环形,其中心轴线过所述点O。 3.- four motion branched chain two kinds of four parallel robot joint rotation, which has a given platform, the movable platform, the ring rail, the movable connector, the fixed platform, wherein: the same four motion branched structure, each motor branch chain by the lower link, the upper link consisting of the slider and the lower link fixed with one end connected to the platform is rotated through the sub, and the lower link and the other end connected to the slider through the sub spherical end of the rod and the movable platform by rotating the sub connecting the upper link and the other end connected to the slider via the sub-spherical; all four axis revolute motion branched chain intersect at point O, and the rotation center point of OS Jie joints; each slide motion branched chain the annular guide blocks are connected via a sliding pair, the slider can slide along a circular ring guideway, is a circular ring guideway, its central axis through the point O.
CN 201610171367 2016-03-24 2016-03-24 Four-branch-chain two-rotation parallel robot joint CN105599002A (en)

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