CN106625614A - Six-degree-of-freedom parallel mechanism based on differential driving structure - Google Patents
Six-degree-of-freedom parallel mechanism based on differential driving structure Download PDFInfo
- Publication number
- CN106625614A CN106625614A CN201710116943.4A CN201710116943A CN106625614A CN 106625614 A CN106625614 A CN 106625614A CN 201710116943 A CN201710116943 A CN 201710116943A CN 106625614 A CN106625614 A CN 106625614A
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- China
- Prior art keywords
- differential
- hooke
- degree
- driving structure
- hinge
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/12—Differential gearings without gears having orbital motion
Abstract
The invention discloses a six-degree-of-freedom parallel mechanism based on a differential driving structure. The six-degree-of-freedom parallel mechanism comprises a fixed machine frame, three-degree-of-freedom translational motion mechanisms and the differential driving structure. The differential driving structure is composed of two differential connecting rods, two hooke joints, two three-dimensional translational motion connecting rods and an end effector. The two differential connecting rods are connected through a sliding pair. Each three-degree-of-freedom translational motion structure is fixedly connected with one three-dimensional translational motion connecting rod. Each three-dimensional translational motion connecting rod is provided with one hooke joint in a rotating mode. Each hooke joint is provided with one differential connecting rod in a rotating mode. The end effector is connected with one of the differential connecting rods through a revolute pair and is connected with the other differential connecting rod through a helical pair. The vertical connecting ends of the hooke joints are connected with the three-dimensional translational motion connecting rods in a rotating mode, and the horizontal connecting ends of the hooke joints are connected with the differential connecting rods in a rotating mode. By means of the six-degree-of-freedom parallel mechanism based on the differential driving structure, the rotational range capacity is improved, and non-redundancy driving is realized.
Description
Technical field
The invention belongs to robotics, specifically a kind of six-freedom parallel based on differential driving structure
Mechanism.
Background technology
Parallel institution is connected with silent flatform for moving platform by least two independent kinematic chains, with two or two
Degree of freedom above, and a kind of close loop mechanism driven with parallel way.Compare with serial manipulator, parallel robot have with
Lower advantage：Cumulative error is little, precision is higher；Driving means be placed on fixed platform or close fixed platform position, motion parts
Lightweight, speed is high, and dynamic response is good；Compact conformation, rigidity is high, large carrying capacity.
6DOF parallel institution is to be often referred to parallel machine of the moving platform with 3 translational degree of freedom and 3 one-movement-freedom-degrees
Structure, can be applicable to many and is suitable to over-loading operation task.Compared with serial mechanism, parallel institution has that bearing capacity is strong, dynamic effect
Should be good the advantages of；And with more complicated kinetic characteristic, show very because the movement and rotation of moving platform suffer restraints
More special property.
Due to being limited by factors such as physical interferences between Singularity, side chain, the rotation energy of parallel institution moving platform
Power is often all smaller, even relatively simple plane parallel mechanism, the slewing area that can be reached in theory is less than
180 °, actually can be less.
Part in parallel mechanism is bigger so as to obtain across Singularity come assistance platform by increasing redundant drive side chain
Turning power, but redundant drive can cause Planar Mechanisms to produce internal force, make mechanism face the control problem of complexity；Also one
Divide parallel institution then to select to increase redundant drive in some side chains, but which results in the appearance of mixed structure, so as to change original
There is the load transmission characteristic of parallel institution.
On automatic production line, existing parallel institution scheme is mainly positioned against the end of parallel institution increases executor
(handgrip or sucker etc.) realizing crawl function, this requires to increase auxiliary device on the moving platform of parallel institution, or even needs
Motor is set up, the weight of parallel institution moving component is directly increased, the dynamic characteristic of parallel institution is had a strong impact on.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, increases
Plus slewing area ability, irredundant driving, with the carpal turning power of conventional serial industrial robot.
In order to solve above-mentioned technical problem, the present invention takes technical scheme below：
A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, it is characterised in that include：
Fixed frame；
Two Three Degree Of Freedom translation structures, two Three Degree Of Freedom translation symmetrical configurations are arranged on fixed frame both sides；
Differential driving structure, the differential driving structure is by two differential connecting rods, two Hooke's hinges, two three-dimensional translating connecting rods and ends
End executor constituted, and two differential connecting rods are connected by moving sets；
One Three Degree Of Freedom translation structure is fixedly connected a three-dimensional translating connecting rod, rotates on a three-dimensional translating connecting rod and installs one
Individual Hooke's hinge, a Hooke's hinge is rotated installs a differential connecting rod, and end effector is connected respectively with two differential connecting rods；
Vertical connection end and the three-dimensional translating link rotatable that Hooke's hinge has level connection joint end and vertical connection end, the Hooke's hinge connects
Connect, level connection joint end is connected with differential link rotatable.
The level connection joint end and vertical connection end of described two Hooke's hinges is stretched out towards rightabout, one of Hooke
Setting is stretched out straight up in the vertical connection end of hinge, and setting is stretched out straight down in the vertical connection end of another Hooke's hinge.
The end effector passes through spiral shell with one of differential connecting rod by rotating parafacies company and another differential connecting rod
Rotation parafacies connects, and the end effector is rotated with the central axis of differential connecting rod as center of rotation.
The level connection joint end of the Hooke's hinge and central axis are mutually perpendicular to the central axis of vertical connection end.
The central axis at the level connection joint end of described two Hooke's hinges is parallel to each other, the vertical connection end of two Hooke's hinges
Central axis is parallel to each other.
Present configuration is simple, reasonable in design, by differential driving structure and is arranged at the three of differential driving structure both sides
Degree of freedom translation structure, constitutes six-degree-of-freedom parallel connection mechanism, increases the large rotation ability of parallel institution.Mechanism has tradition
The series connection carpal turning power of industrial robot, irredundant driving, meet practical engineering application in the urgent need to especially in intelligence
Can assemble, intelligence manufacture field is with a wide range of applications.
Description of the drawings
Accompanying drawing 1 is dimensional structure diagram of the present invention；
Accompanying drawing 2 is the dimensional structure diagram of differential driving structure of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, below in conjunction with the accompanying drawings the invention will be further described.
As shown in figure 1 and 2, present invention is disclosed a kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, bag
3, two Three Degree Of Freedom translation structures 2 of fixed frame and differential driving structure 1 are included, two Three Degree Of Freedom translation structures 2 are symmetrically pacified
The both sides of fixed frame 3 are mounted in, o'clock are symmetrically set two Three Degree Of Freedom translation structures 2 generally on the basis of the centre of fixed frame 3
Put.Differential driving structure 1 is by two 6, two, differential connecting rod three-dimensional translating connecting rods 4 of Hooke's hinge 5, two and the structure of end effector 7
Into two differential connecting rods 6 are connected by moving sets；One Three Degree Of Freedom translation structure 2 is fixedly connected a three-dimensional translating connecting rod
4, rotate on a three-dimensional translating connecting rod 4 and a Hooke's hinge 5 is installed, a Hooke's hinge 5 is rotated installs a piece differential connecting rod of connection
6, end effector 7 is connected with another differential connecting rod by rotating parafacies company with one of differential connecting rod by screw pair,
The end effector is rotated with the central axis of differential connecting rod as center of rotation.Hooke's hinge 5 has the He of level connection joint end 51
Vertical connection end 52, the vertical connection end 52 of the Hooke's hinge 52 rotate with three-dimensional translating connecting rod 4 be connected, level connection joint end 51 and poor
Fast connecting rod 6 rotates connection.So that differential driving structure has the carpal turning power of conventional serial industrial robot, it is whole
Individual mechanism does not have motor to be placed on moving component.
Specifically, the level connection joint end 51 of two Hooke's hinges 5 and 52 ends of vertical connection are stretched out towards rightabout, wherein
Setting is stretched out straight up in the vertical connection end of one Hooke's hinge, and the vertical connection end of another Hooke's hinge is stretched out straight down
Arrange.The central axis at the level connection joint end of Hooke's hinge is mutually perpendicular to the central axis of vertical connection end.
The central axis at the level connection joint end of two Hooke's hinges is parallel to each other, the center of the vertical connection end of two Hooke's hinges
Axis is parallel to each other.
Three Degree Of Freedom translation structure in the present invention is included but is not limited to：Any space translation serial mechanism, such as three strings
The mechanism that the moving sets of connection are constituted；Or any space translational parallel connection mechanism, such as Delta mechanisms, Gantry Robot mechanisms,
Cartesian Robot mechanisms, Orthoglide mechanisms or Tsai ' s mechanisms.
The present invention is three flat three turns of six-degree-of-freedom parallel connection mechanisms, with three rotational freedoms and three translation freedom
Degree.Differential driving structure controls three rotational freedoms：Two differential drive links drive end effector around the differential connecting rod
Axis rotational motion, formed a rotational freedom；The level connection joint end and vertical connection end of Hooke's hinge is each around its center
Axis is rotated, and forms two rotational freedoms, so that differential driving structure has altogether three rotational freedoms.Three translations
Degree of freedom is controlled by the X-axis of three-dimensional translating connecting rod, the translational motion coupling in three directions of Y-axis and Z axis, and by two Three Degree Of Freedoms
Translation structure synchronization motor control；The irredundant driving of mechanism and complicated internal force, control is simple.By the control of the six-freedom degree
System so that differential driving structure has the carpal turning power of conventional serial industrial robot.
It should be noted that the above is not limited to the present invention, in the creation design without departing from the present invention
Under the premise of, any obvious replacement is belonged within protection scope of the present invention.
Claims (5)
1. a kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure, it is characterised in that include：
Fixed frame；
Two Three Degree Of Freedom translation structures, two Three Degree Of Freedom translation symmetrical configurations are arranged on fixed frame both sides；
Differential driving structure, the differential driving structure is by two differential connecting rods, two Hooke's hinges, two three-dimensional translating connecting rods and ends
End executor constituted, and two differential connecting rods are connected by moving sets；
One Three Degree Of Freedom translation structure is fixedly connected a three-dimensional translating connecting rod, rotates on a three-dimensional translating connecting rod and installs one
Individual Hooke's hinge, a Hooke's hinge is rotated installs a differential connecting rod, and end effector is connected respectively with two differential connecting rods；
Vertical connection end and the three-dimensional translating link rotatable that Hooke's hinge has level connection joint end and vertical connection end, the Hooke's hinge connects
Connect, level connection joint end is connected with differential link rotatable.
2. the six-degree-of-freedom parallel connection mechanism based on differential driving structure according to claim 1, it is characterised in that described two
The level connection joint end and vertical connection end of individual Hooke's hinge is stretched out towards rightabout, the vertical connection end of one of Hooke's hinge
Setting is stretched out straight up, and setting is stretched out straight down in the vertical connection end of another Hooke's hinge.
3. the six-degree-of-freedom parallel connection mechanism based on differential driving structure according to claim 2, it is characterised in that the end
End executor is connected with another differential connecting rod by rotating parafacies company with one of differential connecting rod by screw pair, the end
End executor rotated with the central axis of differential connecting rod as center of rotation.
4. the six-degree-of-freedom parallel connection mechanism based on differential driving structure according to claim 3, it is characterised in that the tiger
Gram hinge level connection joint end and central axis be mutually perpendicular to the central axis of vertical connection end.
5. the six-degree-of-freedom parallel connection mechanism based on differential driving structure according to claim 4, it is characterised in that described two
The central axis at the level connection joint end of individual Hooke's hinge is parallel to each other, and the central axis of the vertical connection end of two Hooke's hinges is mutually put down
OK.
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| CN201710116943.4A CN106625614B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
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| CN201710116943.4A CN106625614B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
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| CN106625614A true CN106625614A (en) | 2017-05-10 |
| CN106625614B CN106625614B (en) | 2023-05-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580142A (en) * | 2021-08-20 | 2021-11-02 | 天津大学 | Non-redundant geometric error model analytic modeling method for robot based on momentum theory |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546287A (en) * | 2003-11-28 | 2004-11-17 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN103395062A (en) * | 2013-07-25 | 2013-11-20 | 天津大学 | High-speed six-degree-of-freedom parallel manipulator |
| CN206551012U (en) * | 2017-03-01 | 2017-10-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
-
2017
- 2017-03-01 CN CN201710116943.4A patent/CN106625614B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546287A (en) * | 2003-11-28 | 2004-11-17 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| EP2301726A1 (en) * | 2009-09-24 | 2011-03-30 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN103395062A (en) * | 2013-07-25 | 2013-11-20 | 天津大学 | High-speed six-degree-of-freedom parallel manipulator |
| CN206551012U (en) * | 2017-03-01 | 2017-10-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113580142A (en) * | 2021-08-20 | 2021-11-02 | 天津大学 | Non-redundant geometric error model analytic modeling method for robot based on momentum theory |
| CN113580142B (en) * | 2021-08-20 | 2023-10-13 | 天津大学 | Robot redundancy-free geometric error model analytical modeling method based on rotation theory |
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| CN106625614B (en) | 2023-05-09 |
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Effective date of registration: 20171123 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 1 unit 17.. Applicant after: DONGGUAN SONGSHAN LAKE ROBOT INDUSTRIAL DEVELOPMENT CO.,LTD. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Applicant before: DONGGUAN SONGSHAN LAKE TECHXINSTITUTE Co.,Ltd. |
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