CN105666471A - SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot - Google Patents
SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot Download PDFInfo
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- CN105666471A CN105666471A CN201610186667.4A CN201610186667A CN105666471A CN 105666471 A CN105666471 A CN 105666471A CN 201610186667 A CN201610186667 A CN 201610186667A CN 105666471 A CN105666471 A CN 105666471A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 15
- 238000013519 translation Methods 0.000 description 8
- 230000014616 translation Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Provided is an SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot. The robot comprises a base, a movable platform, an SPS type support chain, an RPR type support chain, two RPS type support chains of the identical structure, a connecting rod and two T type shafts. The middle of the connecting rod is rotationally connected with the middle of the base, the two ends of the connecting rod are rotationally connected with the lower ends of the two RPS type support chains, and the upper ends of the two RPS type support chains are connected with ball pairs of the movable platform. The SPS type support chain and the RPR type support chain are symmetrically arranged on the two sides of the connecting rod, the two ends of the SPS type support chain are connected with the base and another ball pair of the movable platform, and the two ends of the RPR type support chain are connected with the movable platform and a universal pair of the base through the two T type shafts. The movable platform has the four-freedom-degree kinetic characteristic, and four freedom degrees comprise three horizontal-moving freedom degrees and one freedom degree of rotation around the connecting rod. The SPS+UPU+(2RPS+R) type four-freedom-degree parallel robot is simple in structure; the working space for the position and the gesture of the movable platform is large, flexibility is good, precision is high, bearing capacity is high, and control is easy.
Description
Technical field
The invention belongs to robot field, particularly to a kind of parallel robot.
Background technology
For the ease of illustrating, if S, U, P and R represent ball pair, universal pair, moving sets and revolute pair respectively. Over nearly 20 years, four-freedom parallel mechanism becomes focus and the forward position of domestic and international robot field research always. Some four-freedom parallel mechanisms are successfully used for manufacturing parallel machine, armarium, micro-electromechanical device, multi-dimensional force parallel sensor etc. at present. What inquire authorizes patent of invention as follows about the China of four-freedom parallel connection robot mechanism in recent years: publication number a kind of four-freedom parallel mechanism that has been the patent disclosure of CN100586666, has three-dimensional mobile and a rotation; Publication number a kind of fork four-freedom parallel connection robot mechanism that has been the patent disclosure of CN100553899, has 4 PRPU side chains; Publication number has been the patent disclosure of CN1170658C, and a kind of four-freedom parallel connection robot mechanism has 2 UPS side chains and 2 RPS side chains; The four-freedom parallel connection robot mechanism that publication number a kind of two-dimensional translation and two-dimensional that has been the patent disclosure of CN100411826C rotates, have 2 PUU side chains intersected and 2 non-pitch PUU side chains; Publication number has been the patent disclosure of CN100354068C has passive bound branch four-freedom parallel connection robot mechanism, has 4 SPS branches and 1 passive branch of SP; The publication number Novel spatially-symmetricafour-degree-of-freedparallel four-degree-of-freedparallel parallel mechanism that has been the patent disclosure of CN102601793B, has 4 PSS branches and 1 passive branch in centre; Publication number has been the patent disclosure of CN102601794B has the high rigidity four-freedom parallel mechanism of posture adjustment ability, has 4 branches of PRUP type branch, and the first of each branch drives moving sets to couple with support, and the first moving sets is for posture adjustment; Publication number a kind of four-freedom parallel mechanism that has been the patent disclosure of CN100513062, has 2 UPS type branches of branch and 2 branches of UPR type branch; Publication number has been the patent disclosure of CN1211185C for two translation two rotation four-freedom parallel mechanisms of virtual-axis nc machine tool and robot, and its moving platform is 3 secondary bars, and support is fourth officer bar.
In sum, above-mentioned four-freedom parallel mechanism differs from one another, existing three move in one turn of class parallel institution, and its moving platform rotates the rotation being substantially around support or moving platform normal, thus cause that each movement branched chain compliant platform simultaneously reverses around support or moving platform normal.When torsion angle is bigger, each movement branched chain easily interferes, and reduces real work space, reduces parallel institution rigidity, is derived from mechanical advantage limited. Existing four-freedom parallel mechanism moving platform is respectively to the translation not same sex, and translation work space is limited. How structural texture is simple, work space big, four-freedom-degree parallel-connection robot flexibly of moving, and improves its rigidity, it is thus achieved that bigger mechanical advantage, is always up the direction that robot field is meaningful and is continually striving to.
Summary of the invention
It is an object of the invention to provide a kind of simple in construction, moving platform position and locus orientation-workspace are big, motility is good, to any direction translation performance same sex, bears SPS+UPU+ (2RPS+R) the type four-freedom-degree parallel-connection robot that big live load ability is strong. The relative support of moving platform of the present invention has three translations and the four-degree-of-freedom kinetic characteristic around link rotatable.
The present invention includes support, moving platform, connecting rod, T-shaped axle that RPS type side chain, SPS type side chain, RPR type side chain and two structures that two structures are identical are identical.
Described support is rectangular slab, is provided with open slot on rectangle support, is provided with through hole A on the sidewall of open slot; Horizontal through hole B it is provided with in the middle part of support, being provided with ball pair bearing in support back center, described moving platform is provided with the open slot corresponding with pedestal, is provided with through hole C on the sidewall of open slot, moving platform is additionally provided with three ball pair bearings, through hole C and three ball pair bearings and is distributed on same circumference;
Described SPS type side chain is mobile electric cylinder, and its two ends are coupled with the ball pair bearing of support and moving platform by ball pair;
Described connecting rod through the through hole B in the middle part of support, this connecting rod be respectively arranged at two ends with through hole, this through hole is parallel to each other and vertical links, is equipped with axle in through hole; Said two RPS type side chain is mobile electric cylinder, and its one end is coupled with moving platform ball pair bearing by ball pair, and its other end connects and composes revolute pair with the axle in above-mentioned connecting rod through hole, and this revolute pair is perpendicular to mobile electric cylinder;
Described T-shaped axle is made up of major axis and short axle, and short axle is located at major axis one end, and is perpendicular to major axis, and one end of the major axis of T-shaped axle I and T-shaped axle II is rotationally connected with the through hole A of support open slot and the through hole C of moving platform open slot respectively; Described RPR type side chain is mobile electric cylinder, and its two ends rotate with the short axle of above-mentioned T-shaped axle I and T-shaped axle II respectively and couple.
The present invention compared with prior art has the advantage that
1, the relative support of moving platform has three translations and around link rotatable characteristic, and work space is big, motility good, have each advantage to the translation same sex.
2, moving platform is fourth officer bar, and support is the parallel institution of the face symmetrical expression of three secondary bars, has essence different from existing four-freedom parallel mechanism.
3, overall structure is symmetrical simple, and all side chains are all straight line side chains, and bearing capacity is big, and rigidity is high.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
In figure: 1-support, 2-moving platform, 3-RPS type side chain, 4-RPR type side chain, 5-SPS type side chain, 6-connecting rod, 7-T profile shaft I, 8-T profile shaft II.
Detailed description of the invention
In SPS+UPU+ (2RPS+R) the type four-freedom-degree parallel-connection robot schematic diagram shown in Fig. 1, support 1 is rectangular slab, is provided with open slot on rectangle support, is provided with through hole A on the sidewall of open slot; It is provided with in the middle part of support and is respectively provided on two sides with a projection, projection is equipped with and above-mentioned through hole B parallel for through hole A, it is provided with ball pair bearing in pedestal back center, moving platform 2 is provided with the open slot corresponding with support, the sidewall of open slot is provided with through hole C, moving platform is additionally provided with three ball pair bearings, through hole C and three ball pair bearings and is distributed on same circumference;SPS type side chain 5 is mobile electric cylinder, and its two ends are coupled with the ball pair bearing of support and moving platform by ball pair; Connecting rod 6 through the through hole B on support projection, this connecting rod be respectively arranged at two ends with through hole, this through hole is parallel to each other and vertical links, is equipped with axle in through hole; The RPS type side chain 3 that two structures are identical is mobile electric cylinder, and its one end is coupled with moving platform ball pair bearing by ball pair, and the axle in its other end and above-mentioned connecting rod through hole connects and composes revolute pair, and this revolute pair is perpendicular to mobile electric cylinder; T-shaped axle I7 and T-shaped axle II8 that structure is identical are made up of major axis and short axle, and short axle is located at major axis one end, and is perpendicular to major axis, and one end of the major axis of T-shaped axle I and T-shaped axle II rotates with the through hole C of the through hole A of support open slot and moving platform open slot respectively and couples; RPR type side chain 4 is mobile electric cylinder, and its two ends rotate with the short axle of above-mentioned T-shaped axle I and T-shaped axle II respectively and couple.
Claims (1)
1. SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot, it is characterised in that: it includes support, moving platform, connecting rod, T-shaped axle that RPS type side chain, SPS type side chain, RPR type side chain and two structures that two structures are identical are identical; Described support is rectangular slab, is provided with open slot on rectangle support, is provided with through hole A on the sidewall of open slot; Horizontal through hole B it is provided with in the middle part of support, being provided with ball pair bearing in pedestal back center, described moving platform is provided with the open slot corresponding with support, is provided with through hole C on the sidewall of open slot, moving platform is additionally provided with three ball pair bearings, through hole C and three ball pair bearings and is distributed on same circumference; Described SPS type side chain is mobile electric cylinder, and its two ends are coupled with the ball pair bearing of support and moving platform by ball pair; Described connecting rod through the through hole B in the middle part of support, this connecting rod be respectively arranged at two ends with through hole, this through hole is parallel to each other and vertical links, is equipped with axle in through hole; Said two RPS type side chain is mobile electric cylinder, and its one end is coupled with moving platform ball pair bearing by ball pair, and its other end couples composition revolute pair with the axle in above-mentioned connecting rod through hole, and this revolute pair is perpendicular to mobile electric cylinder; Described T-shaped axle is made up of major axis and short axle, and short axle is located at major axis one end, and is perpendicular to major axis; Major axis one end of T-shaped axle I rotates with the through hole A of support open slot and couples, and major axis one end of T-shaped axle II rotates with the through hole C of moving platform open slot and couples; Described RPR type side chain is mobile electric cylinder, and its two ends rotate with the short axle of above-mentioned T-shaped axle I and T-shaped axle II respectively and couple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186667.4A CN105666471B (en) | 2016-03-29 | 2016-03-29 | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610186667.4A CN105666471B (en) | 2016-03-29 | 2016-03-29 | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666471A true CN105666471A (en) | 2016-06-15 |
| CN105666471B CN105666471B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610186667.4A Expired - Fee Related CN105666471B (en) | 2016-03-29 | 2016-03-29 | A kind of SPS+UPU+ (2RPS+R) type four-freedom-degree parallel-connection robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106049345A (en) * | 2016-06-28 | 2016-10-26 | 徐香庭 | Self-stabilization movement supporting device for cleaning bullet train tracks |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN106120496A (en) * | 2016-06-28 | 2016-11-16 | 王祁 | A kind of high-speed railway rail intelligence polishing cleaning equipment |
| CN106120495A (en) * | 2016-06-28 | 2016-11-16 | 王祁 | A kind of railroad track special grinding cleans intelligent integrated machine |
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A kind of big corner 2T2R four-freedom parallel mechanism |
| CN110666086A (en) * | 2019-10-12 | 2020-01-10 | 燕山大学 | Over-constrained six-degree-of-freedom parallel mechanism forging machine |
| CN112454337A (en) * | 2020-12-07 | 2021-03-09 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN112518721A (en) * | 2020-12-01 | 2021-03-19 | 中国民航大学 | Four-degree-of-freedom complete decoupling compound drive parallel mechanism |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113478464A (en) * | 2021-07-22 | 2021-10-08 | 中北大学 | Parallel bionic moving platform with adjustable gravity center |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
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| CN1418763A (en) * | 2002-12-24 | 2003-05-21 | 北方交通大学 | Four-freedom parallel robot mechanism having two motions and one rotation |
| CA2385602A1 (en) * | 2002-04-25 | 2003-10-25 | Leila Notash | Four degree-of-freedom wire actuated parallel robot |
| US20040091348A1 (en) * | 2002-11-12 | 2004-05-13 | Xianwen Kong | Parallel manipulators with four degrees of freedom |
| CN101244559A (en) * | 2008-03-17 | 2008-08-20 | 燕山大学 | Dual drive four-freedom space parallel mechanism |
| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
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| CN1267582A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Four-axial parallel machine tool structure with two-dimensional shift and two-dimensional rotation |
| CA2385602A1 (en) * | 2002-04-25 | 2003-10-25 | Leila Notash | Four degree-of-freedom wire actuated parallel robot |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106120496A (en) * | 2016-06-28 | 2016-11-16 | 王祁 | A kind of high-speed railway rail intelligence polishing cleaning equipment |
| CN106120495A (en) * | 2016-06-28 | 2016-11-16 | 王祁 | A kind of railroad track special grinding cleans intelligent integrated machine |
| CN106120496B (en) * | 2016-06-28 | 2017-10-31 | 石家庄铁道大学 | A kind of high-speed railway rail intelligence polishing cleaning equipment |
| CN106120495B (en) * | 2016-06-28 | 2017-11-21 | 金可丹 | A kind of railroad track special grinding cleans intelligent integrated machine |
| CN106049345A (en) * | 2016-06-28 | 2016-10-26 | 徐香庭 | Self-stabilization movement supporting device for cleaning bullet train tracks |
| CN106112979A (en) * | 2016-07-25 | 2016-11-16 | 燕山大学 | A kind of 2 (2RRPR+R) type four-freedom parallel mechanism |
| CN106112979B (en) * | 2016-07-25 | 2018-06-08 | 燕山大学 | One kind contains two orthogonal plane branch four-freedom parallel mechanisms |
| CN108858141B (en) * | 2018-06-30 | 2023-12-19 | 福州大学 | Space two-rotation one-translation redundancy constraint parallel mechanism and working method thereof |
| CN108858141A (en) * | 2018-06-30 | 2018-11-23 | 福州大学 | A kind of the redundant constaint parallel institution and its working method of space two rotation-translation |
| CN108908296A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | Parallel institution with two kinds of motor patterns of 3R1T and 2R2T |
| CN109877813A (en) * | 2019-04-24 | 2019-06-14 | 北京交通大学 | A kind of big corner 2T2R four-freedom parallel mechanism |
| CN110666086A (en) * | 2019-10-12 | 2020-01-10 | 燕山大学 | Over-constrained six-degree-of-freedom parallel mechanism forging machine |
| CN112518721A (en) * | 2020-12-01 | 2021-03-19 | 中国民航大学 | Four-degree-of-freedom complete decoupling compound drive parallel mechanism |
| CN112454337B (en) * | 2020-12-07 | 2022-08-05 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN112454337A (en) * | 2020-12-07 | 2021-03-09 | 中国民航大学 | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain |
| CN113246099A (en) * | 2021-05-14 | 2021-08-13 | 江南大学 | Three-freedom-degree parallel mechanism with continuous rotating shaft |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
| CN113478464A (en) * | 2021-07-22 | 2021-10-08 | 中北大学 | Parallel bionic moving platform with adjustable gravity center |
| CN114888777A (en) * | 2022-04-25 | 2022-08-12 | 浙江理工大学 | Motion redundancy two-rotation one-movement parallel mechanism with symmetrical structure |
| CN114888777B (en) * | 2022-04-25 | 2023-11-21 | 浙江理工大学 | Motion redundancy two-to-one shift parallel mechanism with symmetrical structure |
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| CN105666471B (en) | 2017-10-20 |
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Granted publication date: 20171020 |