CN105619378A - (2T)&3R five-degree-of-freedom decoupling hybrid mechanism - Google Patents

(2T)&3R five-degree-of-freedom decoupling hybrid mechanism Download PDF

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Publication number
CN105619378A
CN105619378A CN201410625132.3A CN201410625132A CN105619378A CN 105619378 A CN105619378 A CN 105619378A CN 201410625132 A CN201410625132 A CN 201410625132A CN 105619378 A CN105619378 A CN 105619378A
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China
Prior art keywords
rod
branch
platform
parallel
moving
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Pending
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CN201410625132.3A
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Chinese (zh)
Inventor
曹毅
秦友蕾
陈海
曹浩峰
李可
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Jiangnan University
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Jiangnan University
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Priority to CN201410625132.3A priority Critical patent/CN105619378A/en
Publication of CN105619378A publication Critical patent/CN105619378A/en
Pending legal-status Critical Current

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Abstract

The invention belongs to the field of robots, and particularly relates to a space decoupling hybrid mechanism. A (2T)&3R five-degree-of-freedom decoupling hybrid mechanism mainly comprises a two-branch parallel mechanism (2T) and three revolving heads 3R connected in series with the two-branch parallel mechanism (2T) and connected with the upper end of the two-branch parallel mechanism (2T). The two-branch parallel mechanism comprises a bottom platform, a movable platform and two branches used for connecting the movable platform with the bottom platform. The first branch comprises a sliding pair, a parallelogram hinge and two revolving pairs of which the axes are parallel to each other. The second branch comprises two sliding pairs of which the center lines are perpendicular to each other and a revolving pair. The third branch comprises three revolving pairs of which the axes are perpendicular to one another. The (2T)&3R five-degree-of-freedom decoupling hybrid mechanism is simple in structure, high in rigidity, large in operation space, and easy to control, and realizes the motion decoupling.

Description

A kind of (2T) &3R five degree of freedom decoupling hybrid mechanism
Art
The invention belongs to robot field, particularly to a kind of spatially decoupled hybrid mechanism.
Background technology
It is big, easy to control that series-parallel robot has serial manipulator work space concurrently simultaneously, parallel device people's Stability Analysis of Structures, rigidity is big, the accumulation of error is few, dynamic property is good, easily try to achieve the respective advantages such as inverse kinematic, it is avoided that again simple series and parallel configuration shortcoming simultaneously, modern manufacturing industry has more practicality
Owing to series-parallel robot forgives parallel-connection structure, there is the problem that motion coupling is strong in parallel institution. The existence of series-parallel robot coupling makes mechanism there are problems in mechanism's design, computational analysis and motor control etc. Therefore, for simplifying the control process of series-parallel robot, the decoupling improving hybrid mechanism has become as the hot issue of theory of mechanisms research field.
In series parallel robot in five degrees of freedom is studied, the FANUCRobotMiA/6s of FANUC company is on 3 moving platforms translating Delta mechanisms, then the 4DOF series-parallel robot FANUCRobotMiA/6A robot that constitutes of the 1R that connects is the 6DOF series-parallel robot that the swinging head of 3R constitutes of connecting again on 3 moving platforms translating Delta mechanisms. Decoupling research for hybrid mechanism obtains some progress, for instance, Chinese patent literature CN102085660A proposes a kind of Three-degree-of-freedom decoupling hybrid robot and is made up of revolute pair one two-degree-of-freedom plane parallel structure of concatenation, moves full decoupled. Chinese patent literature CN102120205A proposes a kind of single spray gun spraying five axle series-parallel robot, and this mechanism not only programs easily, manufactures and control accuracy also easily improves, full decoupled. Foregoing invention mechanism is but without being capable of three turn of two hybrid mechanism moved, and decoupling is also without fine solution.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, easily controllable, mobile decoupling two move three turns of series parallel robot in five degrees of freedom. It is mainly by Ge Liang branch parallel institution (2T) be serially connected in parallel institution and connect three rotary head 3R of its upper end and form (2T) hybrid mechanism. Two branch's parallel institutions are made up of the Liang Ge branch of end platform, moving platform and connection moving platform and end platform; Branch one is made up of a moving sets and a parallelogram hinge and two axis revolute pairs parallel to each other; Branch two is made up of two orthogonal moving sets of centrage and a revolute pair; Branch three is made up of three orthogonal revolute pairs of axis.
Branch one is made up of a moving sets and a parallelogram hinge and two axis revolute pairs parallel to each other, one end of first connecting rod is connected with end platform by moving sets, the other end of this connecting rod and parallelogram chain connection, the other end of parallelogram hinge and second connecting rod connect, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, and the 3rd the connecting rod other end is connected with moving platform by revolute pair. Branch two is mutually perpendicular to moving sets by two centrages and a revolute pair forms, one end of first connecting rod is connected with moving platform by moving sets and direction is perpendicular to fixed platform, the other end of this first connecting rod is connected by moving sets and second connecting rod, the other end of this second connecting rod is connected with moving platform by revolute pair, and two moving directions are mutually perpendicular to; Branch three is concatenated three mutually perpendicular revolute pairs of axis by moving platform and forms. First connecting rod is connected with moving platform by revolute pair, and the first connecting rod other end is connected with second connecting rod by revolute pair, and second connecting rod other end is connected with mechanism end by revolute pair.
The present invention compared with prior art has the advantage that
1, simple in construction, kinematic pair is all lower pair, and assembling is simple, it is possible to reduce manufacturing cost;
2, two, space one-movement-freedom-degree and three rotational freedom decouplings are achieved.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Fig. 2 entirety schematic construction sketch.
Detailed description of the invention
Move in three turns of five degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one two shown in Fig. 2, in parallel institution branch one, one end of first connecting rod 3 is connected with end platform upper rail 1 by moving sets 2, the other end of first connecting rod is connected with parallelogram hinge 4, the parallelogram hinge other end is connected with second connecting rod 7 by revolute pair 6, and the connecting rod other end is connected with moving platform 9 by revolute pair 8; One end of branch two side chain first connecting rod 11 is connected with end platform by moving sets 10, and the other end of first connecting rod is connected with connecting rod 13 by moving sets 12, and the connecting rod other end is connected with moving platform 9 by revolute pair 14; Being connected with moving platform by revolute pair 15 with first connecting rod 16 one end in the branch three of moving platform concatenation, the connecting rod other end is connected with second connecting rod 18 by revolute pair 15, and second connecting rod other end is connected with mechanism end by revolute pair 19.
Moving sets 2 centerline parallel in branch one is in baseplane, and the axis dynamic axis direction of secondary 4 parallel to each other and mobile of revolute pair 6,8 is parallel and is parallel to baseplane, and parallelogram hinge axes is parallel to moving sets 2 centrage; In branch two, moving sets 10 central axis is parallel in baseplane, and moving sets 12 centerline parallel is in baseplane and is parallel to moving sets 2 centrage and revolute pair 6,8 axis, is perpendicular to moving sets 10 centrage. Revolute pair 14 axis is parallel to baseplane and is perpendicular to moving sets 10,12 centrage, is perpendicular to revolute pair 6,8 axis; In the branch three concatenated with moving platform, revolute pair 15 axis is perpendicular to moving platform, and revolute pair 17 axis is perpendicular to revolute pair 14,15 axis. Revolute pair 19 axis is respectively perpendicular to revolute pair 15,17 axis.

Claims (1)

1. one kind two is moved three turns of five degree of freedom decoupling hybrid mechanisms, it mainly includes a Ge Liang branch parallel institution and is connected to concatenation branch three composition of parallel institution upper end, and two branch's parallel institutions are made up of the Liang Ge branch of end platform, moving platform and connection moving platform and end platform. It is characterized in that: branch one is made up of a moving sets and a parallelogram hinge and two axis revolute pairs parallel to each other, one end of first connecting rod is connected with end platform by moving sets, the other end of this connecting rod and parallelogram chain connection, the other end of parallelogram hinge and second connecting rod connect, second connecting rod other end is connected with the 3rd connecting rod by revolute pair, and the 3rd the connecting rod other end is connected with moving platform by revolute pair; Branch two is made up of two moving sets and a revolute pair, one end of first connecting rod is connected with moving platform by moving sets, the other end of this first connecting rod is connected by moving sets and second connecting rod, the other end of this second connecting rod is connected with moving platform by revolute pair, and two moving directions are mutually perpendicular to; Branch three is concatenated three mutually perpendicular revolute pairs of axis by moving platform and forms. First connecting rod is connected with moving platform by revolute pair, and the first connecting rod other end is connected with second connecting rod by revolute pair, and second connecting rod other end is connected with mechanism end by revolute pair.
CN201410625132.3A 2014-11-07 2014-11-07 (2T)&3R five-degree-of-freedom decoupling hybrid mechanism Pending CN105619378A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410625132.3A CN105619378A (en) 2014-11-07 2014-11-07 (2T)&3R five-degree-of-freedom decoupling hybrid mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410625132.3A CN105619378A (en) 2014-11-07 2014-11-07 (2T)&3R five-degree-of-freedom decoupling hybrid mechanism

Publications (1)

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CN105619378A true CN105619378A (en) 2016-06-01

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01252379A (en) * 1988-03-31 1989-10-09 Shin Meiwa Ind Co Ltd Multi-dimensional manipulator
JPH03264280A (en) * 1990-03-13 1991-11-25 Toshiba Corp Industrial robot
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01252379A (en) * 1988-03-31 1989-10-09 Shin Meiwa Ind Co Ltd Multi-dimensional manipulator
JPH03264280A (en) * 1990-03-13 1991-11-25 Toshiba Corp Industrial robot
CN2700063Y (en) * 2003-12-16 2005-05-18 广东工业大学 Three freedom degree moving parallel robot mechanism
CN101066593A (en) * 2007-06-01 2007-11-07 浙江理工大学 Four-freedom redundantly driven parallel robot mechanism

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
史巧硕: "并联机器人机构构型方法研究", 《中国优秀博士学位论文全文数据库 信息科技辑》 *

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Application publication date: 20160601