CN105643594A - 1T&(1T1R)&1T1R five-degree-of-freedom decoupling parallel-series connection mechanism - Google Patents

1T&(1T1R)&1T1R five-degree-of-freedom decoupling parallel-series connection mechanism Download PDF

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Publication number
CN105643594A
CN105643594A CN201410625211.4A CN201410625211A CN105643594A CN 105643594 A CN105643594 A CN 105643594A CN 201410625211 A CN201410625211 A CN 201410625211A CN 105643594 A CN105643594 A CN 105643594A
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CN
China
Prior art keywords
platform
parallel
branch
moving
revolute pair
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CN201410625211.4A
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Chinese (zh)
Inventor
曹毅
秦友蕾
陈海
李佳桐
李可
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江南大学
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Priority to CN201410625211.4A priority Critical patent/CN105643594A/en
Publication of CN105643594A publication Critical patent/CN105643594A/en

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Abstract

The invention belongs to the field of robots and particularly relates to a space decoupling parallel-series connection mechanism. The space decoupling parallel-series connection mechanism mainly comprises a two-branch parallel connection mechanism (1T1R), fixed guide rails (1T) connected to the lower end of the parallel connection mechanism and a third series connection branch 1T1R connected to the upper end of the parallel connection mechanism. The two-branch parallel connection mechanism is composed of a bottom platform, a movable platform and two branches, and the two branches are connected with the movable platform and the bottom platform. The fixed guide rails are connected with the bottom platform through a moving pair. The first branch is composed of a moving pair and a rotary pair. The second branch is composed of a parallelogram hinge and three rotary pairs. The third movable platform series connection branch is composed of a moving pair and a rotary pair. According to the space decoupling parallel-series connection mechanism, a three-moving two-rotary function is achieved, the structure is simple, the operation space is large, motion decoupling is achieved, and control is easy.

Description

A kind of 1T& (1T1R) &1T1R 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, Chinese patent literature CN103433168A proposes a kind of its serial kinematic unit of five degree of freedom series-parallel connection spray robot and has three rotational freedoms and an one-movement-freedom-degree, and spraying operation unit in parallel has by two one-movement-freedom-degrees. There is easily fabricated, convenient control, it is easy to realize the features such as modularity. The 5DOF series-parallel connection heavy type series-parallel connection forging and pressing operating machine etc. of Shanghai Communications University's peak invention. Decoupling research for five degree of freedom hybrid mechanism obtains some progress, such as, Chinese patent literature CN102120205A proposes a kind of single spray gun spraying five axle series-parallel robot, and this mechanism's 2DOF plane parallel mechanism concatenates a 3DOF serial mechanism and constitutes. Not only programming is easily, manufactures and control accuracy also easily improves, although mechanism of foregoing invention mechanism moving platform can realize three shifting two transhipments and move, but such mechanism is very rare, and the decoupling of major part mechanism does not solve very well.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, easily controllable, mobile decoupling three move two turns of five degree of freedom hybrid mechanisms. It is mainly by Ge Liang branch parallel institution (1T1R) be connected to the fixing guide rail 1T in parallel institution lower end and connect its upper end series branch three 1T1R and form 1T& (1T1R) five degree of freedom decoupling 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;Fixing guide rail is connected with end platform by moving sets, and its Mobility Center line is parallel with baseplane.
Branch one is made up of a moving sets and a revolute pair, and one end of first connecting rod is connected with end platform by moving sets and direction is perpendicular to baseplane, and the other end of this connecting rod is connected by revolute pair moving platform; Branch two is made up of a parallelogram hinge and three revolute pairs, one end of first connecting rod is connected with end platform by revolute pair and is oriented parallel to baseplane, the other end of this first connecting rod and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod by revolute pair, and the other end of connecting rod is connected with moving platform by revolute pair; Moving platform concatenates branch three and is made up of a moving sets and a revolute pair, and first connecting rod is connected with moving platform by moving sets, and first connecting rod other end is connected with mechanism end by revolute pair, and its pivot center is perpendicular to moving platform.
Fixing guide rail is connected with end platform by moving sets, and its Mobility Center line is parallel with baseplane. In branch one, moving sets central axis is in baseplane, and revolute pair axis is parallel to baseplane and is perpendicular to moving sets centrage; First revolute pair and moving sets centerline parallel in branch one in branch two, revolute pair axis in parallelogram hinge is perpendicular to first axis and parallel in baseplane, and the parallel revolute pair of hinge two axis subsequently is with to rotate secondary axis in hinge parallel; In branch three, moving sets centerline parallel is in moving platform, and revolute pair axis is vertical with moving platform.
The present invention compared with prior art has the advantage that
1, simple and stable structure, kinematic pair is all lower pair, and assembling is simple, it is possible to reduce manufacturing cost;
2, three, space one-movement-freedom-degree and two 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 two turns of five degree of freedom decoupling spatial series-parallel structural scheme of mechanism in the one three shown in Fig. 2, fixing guide rail 1,8 is connected with end platform 3 by moving sets 2,9, in branch one, one end of first connecting rod 5 is connected with on end platform 3 by moving sets 4, and the other end of first connecting rod is connected with moving platform 7 by revolute pair 6. One end of branch two side chain first connecting rod 11 is connected with end platform by revolute pair 10, and the other end of first connecting rod is connected with parallelogram hinge 12, and the parallelogram hinge other end is connected with second connecting rod 15 by revolute pair 14. Connecting rod 15 other end is connected with moving platform by revolute pair 16. Being connected with moving platform by moving sets 17 by the first connecting rod 18 in side chain with the branch three of moving platform series connection, mechanism end 20 is connected with the other end of connecting rod 18 by revolute pair 19.
Moving sets 2,9 centerline parallel is in baseplane. Moving sets 4 central axis in branch one is in baseplane. Revolute pair 6 axis is parallel to baseplane and is perpendicular to the mobile dynamic centrage of secondary 2; In branch two, in baseplane and to be parallel to the centrage of moving sets 2,9 vertical with the axis of revolute pair 6 for revolute pair 9 centerline parallel. Parallelogram hinge 12 rotates secondary axis and is parallel to the axis of revolute pair 6. Revolute pair 15,16 axis is parallel to each other and is parallel to the axis of revolute pair 6 and is perpendicular to the axis of revolute pair 10; In the branch three connected with moving platform, moving sets 17 centerline parallel is in the axis of revolute pair 6,15,16, is perpendicular to moving sets 2,9 axis centre line;Revolute pair 19 axis is perpendicular to moving platform and is parallel to moving sets 4 centrage.

Claims (1)

1. 1T& (1T1R) five degree of freedom decoupling hybrid mechanism, it mainly includes a Ge Liang branch parallel institution and is connected to the fixing guide rail in parallel institution lower end and connects its upper end series branch three composition. 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: fixing guide rail is connected with end platform by moving sets, and its Mobility Center line is parallel with baseplane. Branch one is made up of a moving sets and a revolute pair, and one end of first connecting rod is connected with end platform by moving sets and direction is perpendicular to baseplane, and the other end of this connecting rod is connected by revolute pair moving platform; Branch two is made up of a parallelogram hinge and three revolute pairs, one end of first connecting rod is connected with end platform by revolute pair and is oriented parallel to baseplane, the other end of this first connecting rod and parallelogram chain connection, this parallelogram hinge other end is connected with second connecting rod by revolute pair, and the other end of connecting rod is connected with moving platform by revolute pair; Moving platform concatenates branch three and is made up of a moving sets and a revolute pair, and first connecting rod is connected with moving platform by moving sets, and first connecting rod other end is connected with mechanism end by revolute pair, and its pivot center is perpendicular to moving platform.
CN201410625211.4A 2014-11-07 2014-11-07 1T&(1T1R)&1T1R five-degree-of-freedom decoupling parallel-series connection mechanism CN105643594A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106671087A (en) * 2017-02-28 2017-05-17 中国地质大学(武汉) Unfolding unit with two-layer two-circle coupling connecting rods and umbrella-shaped unfolding mechanism based on unfolding unit
CN106836505A (en) * 2017-02-28 2017-06-13 中国地质大学(武汉) A kind of closed-loop link unit containing coupling side chain and the umbrella development agency based on this

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JPH01252379A (en) * 1988-03-31 1989-10-09 Shin Meiwa Ind Co Ltd Multi-dimensional manipulator
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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
CN102294691A (en) * 2011-06-30 2011-12-28 燕山大学 Two-freedom-degree rotating decoupling parallel robot mechanism
CN102699908A (en) * 2012-03-19 2012-10-03 燕山大学 Two-freedom-degree mobile decoupling parallel robot mechanism

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106671087A (en) * 2017-02-28 2017-05-17 中国地质大学(武汉) Unfolding unit with two-layer two-circle coupling connecting rods and umbrella-shaped unfolding mechanism based on unfolding unit
CN106836505A (en) * 2017-02-28 2017-06-13 中国地质大学(武汉) A kind of closed-loop link unit containing coupling side chain and the umbrella development agency based on this
CN106836505B (en) * 2017-02-28 2019-04-23 中国地质大学(武汉) It is a kind of containing coupling branch closed-loop link unit and based on this umbrella development agency

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