CN105773578A - Multi-branched-chain coupled spherical two-rotation parallel robot joint - Google Patents
Multi-branched-chain coupled spherical two-rotation parallel robot joint Download PDFInfo
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- CN105773578A CN105773578A CN201610171343.3A CN201610171343A CN105773578A CN 105773578 A CN105773578 A CN 105773578A CN 201610171343 A CN201610171343 A CN 201610171343A CN 105773578 A CN105773578 A CN 105773578A
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- branched chain
- revolute pair
- connecting rod
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- 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
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- 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
- B25J9/0075—Truss
Abstract
A multi-branched-chain coupled spherical two-rotation parallel robot joint mainly comprises a fixed platform, a movable platform and four moving branched chains for connecting the movable platform and the fixed platform. Each moving branched chain consists of a lower connecting rod and an upper connecting rod, each lower connecting rod is connected with the fixed platform through a corresponding revolute pair or a corresponding spherical pair, each upper connecting rod and the corresponding lower connecting rod are connected with each other through a corresponding revolute pair, and each upper connecting rod is connected with the movable platform through a corresponding revolute pair or a corresponding spherical pair; and the four moving branched chains are connected with one another through four coupling connecting rods and a central connecting rod, each moving branched chain is connected with the central connecting rod by a corresponding coupling connecting rod, one end of each coupling connecting rod is connected with the corresponding moving branched chain through a corresponding revolute pair, and the other end of each coupling connecting rod is connected with the central connecting rod through a corresponding revolute pair. The movable platform can carry out spherical two-degree-of-freedom rotation relative to the fixed platform. The multi-branched-chain coupled spherical two-rotation parallel robot joint has the advantages of compact structure, high rigidity, high precision, large rotation working space and the like, and can be widely used in the fields of robots, particularly biomimetic robots and the like.
Description
Technical field
The invention belongs to robot, sensitive instrument and equipment field, particularly to a kind of sphere two rotating parallel device person joint.
Technical background
The relatively conventional serial mechanism of parallel institution has the advantages such as kinematic accuracy height, rigidity is big, dynamic response is good, obtains certain application in fields such as Aero-Space, package packing machine, robots.Owing to parallel institution is affected by kinematic pair work space and side chain interference etc. so that the space of parallel institution is general less, seriously constrain the parallel institution application in fields such as industry and robots.Therefore research has the parallel institution of big work space, has important theory significance and actual application value.
The degree of freedom of parallel institution can be divided into one-movement-freedom-degree and rotational freedom, and wherein one-movement-freedom-degree can pass through the way increase mobile working space of enlarging mechanism size, but rotation space does not but increase with the increase of mechanism size.External class parallel institution that big work space is rotated is studied relatively early, patent of invention US4651589 proposes a kind of big work space 3-freedom parallel mechanism, and it is successfully applied to lock-on equipment, patent of invention US4686866 discloses a kind of big work space two one-rotation parallel mechanism, and it is successfully applied in industrial spraying robot, patent of invention US6658962B1 discloses a kind of four side chain big work space two one-rotation parallel mechanism, and it is applied in bio-robot, achieve good effect.The domestic parallel institution achievement in research to having big rotation work space is less, and wherein big work space two one-rotation parallel mechanism has been studied by patent of invention CN103217986A and patent of invention CN103433916A, and achieves some achievements.But the parallel institution in above-mentioned big rotation work space broadly falls into aspheric surface one-rotation parallel mechanism, the motion platform center of rotation of mechanism is not unique, and this character seriously limits the application in robot particularly bio-robot field of this kind of mechanism.
Summary of the invention
For solving the problems referred to above, the present invention provides a kind of highly branched chain coupling sphere two rotating parallel device person joint, moving platform can be realized do sphere two-freedom relative to fixed platform and rotate, and this joint has the advantages such as volume is little, rigidity big, rotation work space is big, can be widely applied to the fields such as robot particularly bio-robot.
Technical scheme is specific as follows:
The invention mainly comprises fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it has three kinds of connected modes:
The first connected mode: four movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The second connected mode: four movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The third connected mode: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；3rd movement branched chain is identical with the 4th movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
The present invention compared with prior art has the advantage that
(1) the relative fixed platform of moving platform has sphere double rotation freedom degrees and mobile decoupling, and center of rotation is unique；(2) moving platform is big relative to fixed platform rotation work space；(3) arthritic volume is little, and rigidity is big；(4) intercoupled connection by coupled links between four movement branched chain in joint, further increase the stress performance in joint.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention 1 stereochemical structure simplified schematic diagram.
Fig. 2 is the embodiment of the present invention 1 deflection state stereochemical structure simplified schematic diagram.
Fig. 3 is the embodiment of the present invention 2 stereochemical structure simplified schematic diagram.
Fig. 4 is the embodiment of the present invention 2 deflection state stereochemical structure simplified schematic diagram.
Fig. 5 is the embodiment of the present invention 3 stereochemical structure simplified schematic diagram.
Fig. 6 is the embodiment of the present invention 3 deflection state stereochemical structure simplified schematic diagram.
In figure: 1. fixed platform, 2. moving platform, (A3, B3, C3, D3). lower link, (A4, B4, C4, D4). upper connecting rod, (A5, B5, C5, D5). coupled links, 6. center rod.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, and in all embodiments, described Rij represents a revolute pair, and described Sij represents a spherical pair, and wherein i, j are natural number.
Embodiment 1
It is the 1st embodiment disclosed by the invention as shown in Figure 1 and Figure 2, a kind of highly branched chain coupling sphere two rotating parallel device person joint, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, it is of coupled connections by revolute pair R11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections by spherical pair S15 between upper connecting rod A4 and moving platform 2；Second movement branched chain is made up of lower link B3 and upper connecting rod B4, it is of coupled connections by revolute pair R21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections by spherical pair S25 between upper connecting rod B4 and moving platform 2；3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, it is of coupled connections by revolute pair R31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections by spherical pair S35 between upper connecting rod C4 and moving platform 2；4th movement branched chain is made up of lower link D3 and upper connecting rod D4, it is of coupled connections by revolute pair R41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections by spherical pair S45 between upper connecting rod D4 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line；Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line；3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line；4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 dead in line；Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R31, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R41, revolute pair R42, revolute pair R43, revolute pair R44 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Embodiment 2
It is the 2nd embodiment disclosed by the invention as shown in Figure 3, Figure 4, a kind of highly branched chain coupling sphere two rotating parallel device person joint, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.Article four, movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, it is of coupled connections by spherical pair S11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections by revolute pair R15 between upper connecting rod A4 and moving platform 2；Second movement branched chain is made up of lower link B3 and upper connecting rod B4, it is of coupled connections by spherical pair S21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections by revolute pair R25 between upper connecting rod B4 and moving platform 2；3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, it is of coupled connections by spherical pair S31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections by revolute pair R35 between upper connecting rod C4 and moving platform 2；4th movement branched chain is made up of lower link D3 and upper connecting rod D4, it is of coupled connections by spherical pair S41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections by revolute pair R45 between upper connecting rod D4 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line；Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line；3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line；4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 dead in line；Described revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R15, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R25, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Embodiment 3
It is the 3rd embodiment disclosed by the invention as shown in Figure 5, Figure 6, a kind of highly branched chain coupling sphere two rotating parallel device person joint, mainly include fixed platform 1, moving platform 2, connect four movement branched chain dynamic, fixed platform.First, second movement branched chain structure is identical, wherein the first movement branched chain is made up of lower link A3 and upper connecting rod A4, it is of coupled connections by revolute pair R11 between lower link A3 and fixed platform 1, lower link A3 and upper connecting rod A4 is of coupled connections by revolute pair R12, is of coupled connections by spherical pair S15 between upper connecting rod A4 and moving platform 2；Second movement branched chain is made up of lower link B3 and upper connecting rod B4, it is of coupled connections by revolute pair R21 between lower link B3 and fixed platform 1, lower link B3 and upper connecting rod B4 is of coupled connections by revolute pair R22, is of coupled connections by spherical pair S25 between upper connecting rod B4 and moving platform 2；Three, the 4th movement branched chain structures are identical, wherein the 3rd movement branched chain is made up of lower link C3 and upper connecting rod C4, it is of coupled connections by spherical pair S31 between lower link C3 and fixed platform 1, lower link C3 and upper connecting rod C4 is of coupled connections by revolute pair R32, is of coupled connections by revolute pair R35 between upper connecting rod C4 and moving platform 2；4th movement branched chain is made up of lower link D3 and upper connecting rod D4, it is of coupled connections by spherical pair S41 between lower link D3 and fixed platform 1, lower link D3 and upper connecting rod D4 is of coupled connections by revolute pair R42, is of coupled connections by revolute pair R45 between upper connecting rod D4 and moving platform 2.
Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, is connected by a coupled links between every movement branched chain and center rod.Wherein first coupled links A5 one end and the first movement branched chain are of coupled connections by revolute pair R13, and the other end and center rod 6 are of coupled connections by revolute pair R14, and revolute pair R13 axis and revolute pair R12 dead in line；Second coupled links B5 one end and the second movement branched chain are of coupled connections by revolute pair R23, and the other end and center rod 6 are of coupled connections by revolute pair R24, and revolute pair R23 axis and revolute pair R22 dead in line；3rd coupled links C5 one end and the 3rd movement branched chain are of coupled connections by revolute pair R33, and the other end and center rod 6 are of coupled connections by revolute pair R34, and revolute pair R33 axis and revolute pair R32 dead in line；4th coupled links D5 one end and the 4th movement branched chain are of coupled connections by revolute pair R43, and the other end and center rod 6 are of coupled connections by revolute pair R44, and revolute pair R43 axis and revolute pair R42 dead in line.Described revolute pair R14, revolute pair R24, revolute pair R34, revolute pair R44 dead in line；Described revolute pair R11, revolute pair R12, revolute pair R13, revolute pair R14, revolute pair R21, revolute pair R22, revolute pair R23, revolute pair R24, revolute pair R32, revolute pair R33, revolute pair R34, revolute pair R35, revolute pair R42, revolute pair R43, revolute pair R44, revolute pair R45 axes intersect are in a bit, and this point is the center of rotation of joint of robot.
Claims (3)
1. a highly branched chain coupling sphere two rotating parallel device person joint, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
2. a highly branched chain coupling sphere two rotating parallel device person joint, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: four movement branched chain structures are identical, every movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
3. a highly branched chain coupling sphere two rotating parallel device person joint, it has fixed platform, moving platform, connect four movement branched chain dynamic, fixed platform, it is characterized in that: the first movement branched chain is identical with the second movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by lower revolute pair with fixed platform, and the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by spherical pair with moving platform；3rd movement branched chain is identical with the 4th movement branched chain structure, article two, movement branched chain forms by lower link and upper connecting rod, lower link one end is connected by spherical pair with fixed platform, the lower link other end is connected by central rotational pair with upper connecting rod one end, and the upper connecting rod other end is connected by upper revolute pair with moving platform；Article four, it is connected with each other by four coupled links and a center rod between movement branched chain, it is connected by a coupled links between every movement branched chain and center rod, it is connected by revolute pair between coupled links one end and movement branched chain, and this revolute pair axis overlaps with the central rotational secondary axis in connected movement branched chain, the coupled links other end is connected by revolute pair with center rod, and four coupled links are connected the dead in line of four revolute pairs formed with center rod；In described joint of robot, the axis of all revolute pairs intersects at a bit, and this point is the center of rotation of joint of robot.
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| WO2018233469A1 (en) * | 2017-06-21 | 2018-12-27 | 东莞松山湖国际机器人研究院有限公司 | Spherical parallel mechanism |
| CN112192552A (en) * | 2020-10-30 | 2021-01-08 | 燕山大学 | Spatial spherical two-degree-of-freedom parallel mechanism |
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Application publication date: 20160720 |