CN105881499A - Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T - Google Patents

Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T Download PDF

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Publication number
CN105881499A
CN105881499A CN201410625212.9A CN201410625212A CN105881499A CN 105881499 A CN105881499 A CN 105881499A CN 201410625212 A CN201410625212 A CN 201410625212A CN 105881499 A CN105881499 A CN 105881499A
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China
Prior art keywords
rod
platform
moving
revolute pair
parallel
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Pending
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CN201410625212.9A
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Chinese (zh)
Inventor
曹毅
秦友蕾
陈海
王强
李可
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Jiangnan University
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Jiangnan University
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Priority to CN201410625212.9A priority Critical patent/CN105881499A/en
Publication of CN105881499A publication Critical patent/CN105881499A/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. The hybrid mechanism mainly comprises a parallel mechanism (1T2R), two guide rails connected to the bottom end of the parallel mechanism and a mechanism tail end connected to the upper end of the parallel mechanism. The parallel mechanism is composed of a bottom platform, a movable platform and three branches connecting the bottom platform and the movable platform. The fixed guide rails are connected with the bottom platform through a moving pair. The first branch is composed of a moving pair, four rotating pairs and four connecting rods connecting the moving pair and the rotating pairs. The second branch is composed of a moving pair, a universal hinge and a connecting rod connecting the moving pair and the universal hinge. The third branch is composed of a cylindrical pair, four rotating pairs and four connecting rods connecting the cylindrical pair and the rotating pairs. A two-branch parallel mechanism is composed of a movable platform, a mechanism tail end and two branches connecting the movable platform and the tail end. The mechanism tail end is connected with the movable platform through a moving pair. The hybrid mechanism achieves three-moving two-rotating functions and motion decoupling, and is stable in structure, easy to control and large in operation space.

Description

A kind of (1T2R) &2T 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, in modern manufacturing industry, have more practicality, oneself welding, spray paint, carry, automobile assembling, the field such as medical treatment are applied.
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 at aspects such as mechanism's design, computational analysis and motor controles.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, 5DOF Tricept Series machine people that Neos Robotic company of Sweden produces and the 5DOF Exechon robot that DS-Technology company of Germany produces, 3-freedom parallel mechanism and a 2DOF rotary head series connection by a 1T2R are formed.Chinese patent literature CN1524662A proposes Non-symmetric space 5-DOF hybrid robot and connects its advantage is modularized design, can realize plug and play.Decoupling research for hybrid mechanism obtains some progress, such as, Chinese patent literature CN102172913A proposes a kind of four degree of freedom decoupling series-parallel robot, a moving sets and revolute pair concatenate two-degree-of-freedom plane parallel structure and constitute, move full decoupled.Chinese patent literature CN102133560A spray gun cooperating type more than a kind sprays five axle series-parallel robots, and this kind five axle series-parallel connection spray robot has simple in construction, easy to manufacture, control decouples, motion work space is big, positioning precision advantages of higher.Although mechanism of foregoing invention mechanism realizes mobile decoupling, but it is the most rare to be that by such decoupling hybrid mechanism of three shifting two turns, and the decoupling of major part mechanism solves the most very well.
Summary of the invention
It is an object of the invention to provide a kind of Stability Analysis of Structures, easily controllable, three two turns of series parallel robot in five degrees of freedom of shifting of mobile decoupling.Its two guide rails mainly by a parallel institution (1T2R) and being connected to its bottom and the moving sets being connected to it on end form the 2T of cascade and finally constitute (1T2R) five degree of freedom decoupling hybrid mechanism, and parallel institution is made up of three branches of end platform, moving platform and connection end platform and moving platform.Fixing guide rail is connected with end platform by moving sets, and branch one is by a moving sets and four revolute pairs and connects their four connecting rods and forms;Branch two by a moving sets and universal hinge with and connect their connecting rod and form;Branch three is by a cylindrical pair and four revolute pairs and connects their four connecting rods and forms;Mechanism end is connected with moving platform by moving sets.
Fixing guide rail is connected with end platform by moving sets, and moving sets centerline parallel is in end platform.Branch one is by a moving sets and four revolute pairs and connects their four connecting rods and forms, one end of first connecting rod is connected with end platform by revolute pair, the other end of this first connecting rod is connected by one end of moving sets and second connecting rod, the other end of this second connecting rod is connected with one end of the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with one end of the 4th connecting rod by revolute pair, the other end of the 4th connecting rod is connected with moving platform by revolute pair, the first two revolute pair axis is parallel to each other and is perpendicular to the face that allocates and moving sets centrage, and it is perpendicular to the revolute pair parallel with latter two axis;Branch two by a moving sets and universal hinge with and connect their connecting rod and form, one end of first connecting rod is connected with end platform by moving sets, the other end of this connecting rod is connected with moving platform by universal hinge, and two axis of universal hinge are vertical with moving sets moving direction;One end of first connecting rod in 3rd branch is connected with fixed platform by revolute pair, the other end of this first connecting rod is connected with second connecting rod by revolute pair, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, and two axis of universal hinge are vertical with moving sets moving direction;Branch three is by a cylindrical pair and four revolute pairs and connects their four connecting rods and forms, one end of first connecting rod is connected with end platform by cylindrical pair, the other end of this first connecting rod is connected with second connecting rod by revolute pair, the other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, it is parallel to fixed platform with end connecting cylinder secondary axis, and it is vertical with latter two revolute pair axis, the revolute pair axis connected with moving platform is parallel to dynamic plane and is parallel to the revolute pair axis of next-door neighbour and is perpendicular to the moving sets that the first two axis is parallel;Mechanism end is connected with moving platform by moving sets.
The present invention compared with prior art has the advantage that
1, simple in construction, kinematic pair has lower pair also to have compound motion secondary, and assembling is simple, can reduce manufacturing cost;
2, three, space one-movement-freedom-degree and two rotational freedom decouplings are achieved;
3, all inputs drive and are all connected with fixed platform, which reduce the load of rod member, have good mobility and stability and bigger space.
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
Three turns of five degree of freedom decoupling spatial series-parallel structural scheme of mechanism are moved in the one two shown in Fig. 2, fixing guide rail 28,30 is connected with end platform 1 by moving sets 29, one end of first connecting rod in branch one is connected with fixed platform by revolute pair 2, the other end of this connecting rod 3 is connected with one end of connecting rod 5 by moving sets 4, and the other end of this connecting rod is connected with connecting rod 7 by revolute pair 6;The other end of this connecting rod is connected with moving platform 11 by revolute pair 10 by revolute pair 8 and connecting rod 9, connecting rod 9 other end;First connecting rod 14 in branch two is connected with fixed platform guide rail by moving sets 15, and the other end of this first connecting rod is connected with moving platform by universal hinge 13;One end of first connecting rod 18 in branch three is connected with fixed platform by cylindrical pair 17, the other end of this first connecting rod 18 is connected with one end of second connecting rod 20 by revolute pair 19, the other end of this second connecting rod is connected with one end of third connecting rod 22 by revolute pair 21, and the other end of this third connecting rod is connected with connecting rod 24 by revolute pair 23.The other end of this fourth link is connected with moving platform by revolute pair 25;Mechanism end 27 is connected with moving platform by moving sets 26.
Moving sets 29 central axis and moving sets 15,26 centerline parallel are in revolute pair 8,10,23,25 axis, the axis direction of the revolute pair 2 in branch one and the axis direction of revolute pair 6 are parallel and perpendicular to allocating face 1 and revolute pair 8,10 axis direction, and axis 6,8 revolute pair is parallel to each other.In branch one, revolute pair 2 is parallel with the axis direction of revolute pair in branch two 19,20.Moving sets 4 centerline parallel is in fixed platform 1;In branch two, the centerline direction of moving sets 15 is parallel with fixed platform 1, is parallel to revolute pair 29 axis direction in branch four, is perpendicular in branch one, two, three rotate secondary axis direction, is perpendicular to moving platform upper rail centerline direction.In universal hinge in the nearest revolute pair axis direction of moving platform with branch one, three cylindrical pair 17 revolute pair 8,10,23,25, in the parallel universal hinge of axis direction, another axis direction is perpendicular to the face that allocates 1;Revolute pair 17,23,25 in branch three, axis direction is parallel to each other and is parallel to allocate face, is perpendicular to revolute pair 19,21 axis;Moving sets 26 central axis is in moving platform.

Claims (1)

1. (1T2R) five degree of freedom decoupling hybrid mechanism, it mainly includes a parallel institution (1T2R) and is connected to its end End two guide rails and be connected to it on end mechanism end, parallel institution by end platform, moving platform and connect end platform and Three branch's compositions of moving platform.It is characterized in that: its end platform is rectangle structure, moving platform is class triangular structure.Gu Determining guide rail to be connected with end platform by moving sets, moving sets centerline parallel is in end platform.Branch one is by a moving sets and four Revolute pair and connect their four connecting rods composition, one end of first connecting rod is connected with end platform by revolute pair, and this is first years old The other end of individual connecting rod is connected by one end of moving sets and second connecting rod, the other end of this second connecting rod by revolute pair and One end of 3rd connecting rod connects, and the other end of the 3rd connecting rod is connected with one end of the 4th connecting rod by revolute pair, and this is the years old The other end of four connecting rods is connected with moving platform by revolute pair, the first two revolute pair axis be parallel to each other and be perpendicular to the face that allocates with Moving sets centrage, and it is perpendicular to the revolute pair parallel with latter two axis;Branch two by a moving sets and universal hinge with And the connecting rod connecting them forms, one end of first connecting rod is connected with end platform by moving sets, and the other end of this connecting rod leads to Crossing Hooke's hinge to be connected with moving platform, two axis of universal hinge are vertical with moving sets moving direction;In 3rd branch first One end of connecting rod is connected with fixed platform by revolute pair, and the other end of this first connecting rod is connected with second connecting rod by revolute pair, The other end of this second connecting rod is connected with the 3rd connecting rod by revolute pair, the other end of the 3rd connecting rod pass through revolute pair and Moving platform connects, and two axis of universal hinge are vertical with moving sets moving direction;Branch three is by a cylindrical pair and four revolute pairs And four connecting rods connecting them form, one end of first connecting rod is connected with end platform by cylindrical pair, this first connecting rod The other end is connected with second connecting rod by revolute pair, the other end of this second connecting rod is by revolute pair and the 3rd connecting rod company Connecing, the other end of the 3rd connecting rod is connected with moving platform by revolute pair, is parallel to fixed platform with end connecting cylinder secondary axis, And vertical with latter two revolute pair axis, the revolute pair axis being connected with moving platform is parallel to dynamic plane and is parallel to turning of next-door neighbour Dynamic secondary axis is perpendicular to the moving sets that the first two axis is parallel.Mechanism end is connected with moving platform by moving sets.
CN201410625212.9A 2014-11-07 2014-11-07 Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T Pending CN105881499A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19841243A1 (en) * 1998-09-09 2000-03-23 Siegfried Mache Robotic arm moves working part in one plane using two linear actuators driving linked arms along track
CN101518898A (en) * 2009-04-09 2009-09-02 浙江理工大学 Parallel mechanism with three freedom degrees of twice rotation and once motion
CN201736223U (en) * 2010-06-07 2011-02-09 浙江理工大学 Two-rotation one-movement three-freedom micromotion parallel mechanism
US7909303B2 (en) * 2004-06-24 2011-03-22 Dlr Deutsches Zentrum Fur Luft - Und Raumfahrt E.V. Movement device
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom
CN102962837A (en) * 2012-11-09 2013-03-13 燕山大学 Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19841243A1 (en) * 1998-09-09 2000-03-23 Siegfried Mache Robotic arm moves working part in one plane using two linear actuators driving linked arms along track
US7909303B2 (en) * 2004-06-24 2011-03-22 Dlr Deutsches Zentrum Fur Luft - Und Raumfahrt E.V. Movement device
CN101518898A (en) * 2009-04-09 2009-09-02 浙江理工大学 Parallel mechanism with three freedom degrees of twice rotation and once motion
CN201736223U (en) * 2010-06-07 2011-02-09 浙江理工大学 Two-rotation one-movement three-freedom micromotion parallel mechanism
CN102431028A (en) * 2011-10-30 2012-05-02 燕山大学 Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom
CN102962837A (en) * 2012-11-09 2013-03-13 燕山大学 Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair

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