CN106863262A - Three-rotational-freedom decoupled parallel machine people with big rotational angle - Google Patents
Three-rotational-freedom decoupled parallel machine people with big rotational angle Download PDFInfo
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- CN106863262A CN106863262A CN201510920599.5A CN201510920599A CN106863262A CN 106863262 A CN106863262 A CN 106863262A CN 201510920599 A CN201510920599 A CN 201510920599A CN 106863262 A CN106863262 A CN 106863262A
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- pair
- rod member
- rotation
- branched chain
- movement branched
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
The present invention relates to a kind of three-rotational DOF parallel robot with big rotational angle, it includes frame, end take-off lever, the first movement branched chain, the second movement branched chain and the 3rd movement branched chain.Frame includes pedestal and the U-bracket being connected on pedestal；First movement branched chain is connected between the first end of pedestal and end take-off lever, and the second movement branched chain is connected between the first arm of U-bracket and the second end of end take-off lever；3rd movement branched chain is connected between the second arm of U-bracket and the second movement branched chain.Three rotational freedoms of the present invention with big rotational angle, first movement branched chain belongs to coupling mechanism, the rotational freedom of the second movement branched chain and the 3rd movement branched chain relies only on the Linear Control of the kinematic pair of movement branched chain, and realization principle is very simple, with extraordinary linear relationship.
Description
Technical field
The present invention relates to medical robot, more particularly to a kind of three-rotational-freedom decoupling with big rotational angle is simultaneously
Connection robot.
Background technology
Parallel institution is widely used in heavily loaded analog machine, robot, Digit Control Machine Tool, sensor and microoperation field.
However, between each driver element of parallel institution be coupling, i.e. parallel institution overall output platform in either direction
Motion is all the motion synthesis of all driver elements, and each driver element motion and parallel institution mass motion
It is nonlinear between (be input into and export).It is complicated that this characteristic causes parallel institution to control, and demarcates difficult,
And constrain the raising of precision.Therefore, how to realize that parallel institution is decoupled, with simplify control and demarcation, improve fortune
Dynamic precision, is always a difficulty and challenging problem.
Mobile decoupling parallel robot refers to that any one free degree of output campaign all relies only on single driver element, its
He does not produce influence at driver element action to this free degree.With full decoupled parallel institution movement relation it is simple,
Demarcation is easy, control accuracy is high, rigidity is big, is had a extensive future in virtual axis machine and robot.
Chinese patent literature CN102145457A report by silent flatform, moving platform and be connected to silent flatform with
The first movement branched chain between moving platform, the second movement branched chain and the 3rd movement branched chain composition for virtual axis machine and
The three-rotation freedom parallel mechanism of robot.Second movement branched chain of this three one-rotation parallel mechanism and the 3rd motion branch
All there is telescoping rod in chain, in the case of with telescoping rod, mechanism does not have enough rigidity, also exists more
Interference and unusual bit-type, it is impossible to realize the rotation in the range of large space.With industrial expansion, with big rotation
The importance of the decoupling parallel mechanism of the three-rotational-freedom of angle becomes increasingly conspicuous.Document [Xianwen Kong,
Clement M.Gosselin Type synthesis of input-output decoupled parallel manipulators,
Transactions of the CSME, Vol.28, Special Edition, 2004] in report with two one rotations of movement
Freedom degree parallel connection mechanism, is made up of moving platform, fixed platform and the mashed up movement branched chain of connection in series-parallel.Document [Li Hui
It is good, Jin Qiong, Yang Tingli, a class one translation two rotate decoupling parallel mechanism and its Displacement Analysis, machine-building with grind
Study carefully, Feb 2002, (1):9-12,14] a kind of two one mobile parallel connection mechanisms of rotation with trigonometric ratio Decoupling Characteristics are proposed,
The output free degree belongs to partly decoupled parallel institution not exclusively by single driver control.With big rotational angle
Three-rotational-freedom decoupled parallel spherical mechanism document is not yet retrieved at present.
The content of the invention
The purpose of the present invention, exactly in order to solve the above problems, there is provided a kind of three rotations with big rotational angle are certainly
By degree decoupled parallel machine people.
In order to achieve the above object, present invention employs following technical scheme：A kind of three turns with big rotational angle
Dynamic freedom decoupling parallel robot, including frame, end take-off lever, the first movement branched chain, the second movement branched chain
With the 3rd movement branched chain；The frame includes pedestal and the U-bracket being connected on pedestal；The first motion branch
Chain is connected between the first end of pedestal and end take-off lever, and second movement branched chain is connected to the of U-bracket
Between one arm and the second end of end take-off lever；3rd movement branched chain be connected to the second arm of U-bracket with
Between second movement branched chain；By the active movement of the first movement branched chain, the second movement branched chain and the 3rd movement branched chain,
The Three Degree Of Freedom for being capable of achieving end take-off lever is rotated.
First movement branched chain include sequential transmissions be connected first rotation pair, the first rod member, second rotate pair,
Second rod member and the 3rd rotates secondary, wherein first rotates pair for driving pair and is rotatably connected with pedestal, the 3rd turn
Dynamic pair is rotatably connected with the first end of end take-off lever.
Second movement branched chain include the 4th rotate it is secondary, the 5th rotate it is secondary, the 6th rotate it is secondary, the 7th rotate it is secondary,
Eighth-turn is dynamic secondary, the 9th rotate it is secondary, the tenth rotate it is secondary, the 11st rotate pair, the 3rd rod member, the 4th rod member, the
Five rod members, the 6th rod member, the 7th rod member and the 8th rod member；Wherein the 4th rotation pair is arranged on the arm of U-bracket first
End points, the 5th rotates pair is arranged on the middle part of the arm of U-bracket second, and the 7th rotation pair is arranged on the 5th rod member
Middle part, the 3rd rod member is connected to that the 4th rotation is secondary and the 6th rotate between pair, and the 4th rod member is connected to the 5th rotation
Secondary and the 7th rotate between pair, it is secondary and the dynamic pair of eighth-turn between that the 5th rod member is connected to the 6th rotation, eighth-turn it is dynamic it is secondary,
6th rod member, the 9th rotate pair, the 7th rod member, the tenth rotation pair, the 8th rod member, and the 11st rotates secondary order phase
Even；Wherein, the 11st rotation pair is rotatably connected with the second end of end take-off lever, and the 4th rotates secondary for driving pair.
3rd movement branched chain includes that the 12nd rotation is secondary, the 13rd rotation is secondary, the 14th rotates pair, the 15th
Rotate secondary secondary, the 16th rotation, the 17th rotation pair, the 9th rod member, the tenth rod member, the 11st rod member and the tenth
Two rod members；Wherein, the 12nd rotate pair and be connected to the end points of the arm of U-bracket second, the 9th rod member is connected to the
12 rotate secondary and the 14th rotation pair between, and one end of the tenth rod member rotates secondary and the 9th rod member by the 13rd
Middle part is connected, and one end of the 11st rod member rotates pair and is connected with the 14th, and the 12nd rod member is the bar with U-shaped opening
Part, including first end point, the second end points and the 3rd end points, the 15th rotation pair are arranged on first end point and with the tenth
The other end of rod member is connected, and the 16th rotates pair is arranged on the second end points and is connected with the other end of the 11st rod member,
17th rotates pair is arranged on the 3rd end points and is connected on the 8th rod member of the second movement branched chain, wherein, the 13rd
It is driving pair to rotate secondary.
First axis for rotating pair, the second rotation pair, secondary the 3rd rotation, the 11st rotation pair and the 12nd rotation pair
Intersect at a point, the point is defined as origin；Tenth axis for rotating pair and the 13rd rotation are secondary, the 14th rotation is secondary,
15th rotates the diameter parallel that secondary, the 16th rotation is secondary, the 17th rotation is secondary；12nd rotate secondary axis with
4th rotates pair, the 5th rotation pair, secondary the 6th rotation, the 7th rotation pair, the diameter parallel of the dynamic pair of eighth-turn；The
Ten axis for rotating pair cross origin and the axis secondary with the 6th rotation is vertical.
The present invention has the following advantages that and feature as a result of above technical scheme：
1st, the design of two quadrilateral structures and rod member 414 makes compact conformation, easy for installation, can be very big
Avoided interference with degree with it is unusual, realize big corner export.
2nd, using the parallelogram sturcutre of redundancy, improve the rigidity of mechanism, eliminate the second movement branched chain and
The internal intervention of the 3rd movement branched chain.
3rd, the second movement branched chain and the 3rd movement branched chain can be realized being input into and exporting transitive relation 1:1 so that mechanism
Control accuracy is greatly improved.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the invention；
Fig. 2 is the structural representation of the second movement branched chain in the present invention；
Fig. 3 is the structural representation of the 8th rod member in the second movement branched chain in the present invention；
Fig. 4 is the structural representation of the 3rd movement branched chain in the present invention；
Fig. 5 is the structural representation of the 12nd rod member in the 3rd movement branched chain in the present invention；
Fig. 6 is the extreme position 1 of the movement branched chain of general structure schematic diagram the 3rd in the present invention；
Fig. 7 is the extreme position 2 of the movement branched chain of general structure schematic diagram the 3rd in the present invention；
Fig. 8 is that the general structure schematic diagram in the present invention moves to a state for position 1；
Fig. 9 is that the general structure schematic diagram in the present invention moves to a state for position 2.
Specific embodiment
Referring to Fig. 1, coordinate referring to Fig. 2, Fig. 3, Fig. 4, Fig. 5, three rotations of the present invention with big rotational angle
DOF parallel robot, including frame 1, end take-off lever 2, the first movement branched chain 3, the second movement branched chain 4
With the 3rd movement branched chain 5.Frame 1 includes pedestal 11 and the U-bracket being connected on pedestal.First motion branch
Chain 3 is connected between the first end of pedestal 11 and end take-off lever 2, and the second movement branched chain 4 is connected to U-shaped branch
Between first arm 12 of frame 12 and the second end of end take-off lever 2；3rd movement branched chain 5 is connected to U-shaped branch
Between second arm 13 and the second movement branched chain 4 of frame；By the first movement branched chain, the second movement branched chain and the 3rd
The active movement of movement branched chain, the Three Degree Of Freedom for being capable of achieving end take-off lever is rotated.
The first movement branched chain 3 in the present invention include secondary 31, first rod member 32 of the first rotation that sequential transmissions are connected,
Second rotates secondary 33, second rod member 34 and the 3rd rotates secondary 35, wherein first rotate secondary 31 be driving pair and
Rotatably it is connected with pedestal 11, the 3rd rotates secondary 35 is rotatably connected with the first end of end take-off lever 2.Work as master
During dynamic secondary 31 rotation, first chain movement is driven, and drive end take-off lever 2 to be rotated around rotating secondary 48.
Coordinate referring to Fig. 2, Fig. 3, the second movement branched chain 4 in the present invention includes that the 4th rotates secondary 41, the 5th turn
Dynamic secondary 42, the 6th rotates secondary 43, the 7th rotation secondary 44, eighth-turn the dynamic secondary 45, the 9th rotates pair the 46, the tenth
Rotate the secondary 47, the 11st and rotate secondary 48, the 3rd rod member 49, the 4th rod member 410, the 5th rod member the 411, the 6th
Rod member 412, the 7th rod member 413 and the 8th rod member 414；Wherein the 4th rotates secondary 41 is arranged on U-bracket first
The end points of arm 12, the 5th rotates secondary 42 middle parts for being arranged on the second arm of U-bracket 13, and the 7th rotates secondary 44
The middle part of the 5th rod member 411 is arranged on, the 3rd rod member 49 is connected to the 4th rotation secondary 41 and the 6th and rotates secondary 43
Between, the 4th rod member 410 is connected to the 5th rotation secondary 42 and the 7th and rotates between secondary 44, the 5th rod member 411
It is connected between the 6th rotation secondary 43 and eighth-turn dynamic secondary 45, eighth-turn the 45, the 6th rod member the 412, the 9th of dynamic pair
Rotate secondary 46, the 7th rod member the 413, the tenth and rotate secondary 48 order of the secondary rotation of 47, the 8th rod member the 414, the 11st
It is connected；Wherein, the 11st rotation secondary 48 is rotatably connected with the second end of end take-off lever 2, and the 4th rotates secondary
41 is driving pair.When driving pair 41 rotates, second chain movement is driven, and drive output 2 around rotation
Secondary 51 rotate.Second movement branched chain for full decoupled, the anglec of rotation of passive rotation pair 51 and the rotation of driving pair 41
The proportionate relationship of corner is 1:1.
Coordinate referring to Fig. 4, Fig. 5, the 3rd movement branched chain 5 in the present invention includes that the 12nd rotates the secondary 51, the tenth
Three rotate the rotation the secondary 54, the 16th of secondary 52, the 14th rotation pair the 53, the 15th rotates the rotation of pair the 55, the 17th
Secondary 56, the 9th rod member 57, the tenth rod member 58, the 11st rod member 59 and the 12nd rod member 510；Wherein, the tenth
Two rotate secondary 51 end points for being connected to the second arm of U-bracket 13, and it is secondary that the 9th rod member 57 is connected to the 12nd rotation
51 and the 14th rotates between secondary 53, and one end of the tenth rod member 58 rotates the rod member of pair 52 and the 9th by the 13rd
57 middle part is connected, and one end of the 11st rod member 59 rotates secondary 53 and is connected with the 14th, the 12nd rod member 510
It is the rod member with U-shaped opening, including first end point 511, the second end points 512 and the 3rd end points 513, the 15th
Rotate secondary 54 to be arranged on first end point and be connected with the other end of the tenth rod member 58, the 16th rotates secondary 55 is set
It is connected in the second end points and with the other end of the 11st rod member 59, the 17th rotates secondary 56 is arranged on the 3rd end points simultaneously
It is connected on the 8th rod member 413 of the second movement branched chain, wherein, the 13rd rotates secondary 52 for driving pair.Work as master
During dynamic secondary 52 rotation, the 3rd chain movement is driven, and drive output 2 to be rotated around rotating secondary 47.3rd fortune
Dynamic side chain is full decoupled, and the anglec of rotation and the proportionate relationship of the anglec of rotation of driving pair 52 of passive rotation pair 48 are
1:1。
The first rotation secondary 31, second in the present invention rotates secondary 33, the 3rd rotation the secondary 35, the 11st and rotates secondary 48
The axis for rotating secondary 51 with the 12nd intersects at a point, and the point is defined as origin；Tenth rotate secondary 47 axis with
13rd rotates secondary 53, the 15th rotation the secondary 54, the 16th of secondary 52, the 14th rotation rotates pair the 55, the 17th
Rotate secondary 56 diameter parallel；The axis and the rotation pair 42 of the 4th rotation pair the 41, the 5th of the 12nd rotation secondary 51,
6th rotates the secondary 43, the 7th rotates secondary 44, dynamic secondary 45 diameter parallel of eighth-turn；Tenth rotates secondary 47 axle
Line crosses origin and vertical with the axis that the 6th rotates secondary 43.
Fig. 6 is the extreme position 1 of the 3rd movement branched chain in the present invention, and Fig. 7 is the 3rd motion branch in the present invention
The extreme position 2 of chain, Fig. 8 is that the present invention moves to a state for position 1, and Fig. 9 moves to one for the present invention
The state 2 of individual position.Above-mentioned accompanying drawing illustrates the state of the three-rotational-freedom of big rotational angle, until Fig. 6 and
A type of interference is just produced under bis- kinds of states of Fig. 7；Run to and still do not produce under Fig. 8 and Fig. 9 states
Unusual bit-type and interference.
Claims (5)
1. a kind of three-rotational-freedom decoupled parallel machine people with big rotational angle, it is characterised in that：Including
Frame, end take-off lever, the first movement branched chain, the second movement branched chain and the 3rd movement branched chain；The frame includes
Pedestal and the U-bracket being connected on pedestal；First movement branched chain is connected to the of pedestal and end take-off lever
Between one end, second movement branched chain be connected to the first arm of U-bracket and end take-off lever the second end it
Between；3rd movement branched chain is connected between the second arm of U-bracket and the second movement branched chain；By first
The active movement of movement branched chain, the second movement branched chain and the 3rd movement branched chain, be capable of achieving end take-off lever three are free
Degree is rotated.
2. there is the three-rotational-freedom decoupled parallel machine people of big rotational angle as claimed in claim 1, its
It is characterised by：First movement branched chain include sequential transmissions be connected first rotation pair, the first rod member, second turn
Move secondary, the second rod member and the 3rd and rotate secondary, wherein first rotates pair for driving pair and is rotatably connected with pedestal,
3rd rotates pair is rotatably connected with the first end of end take-off lever.
3. there is the three-rotational-freedom decoupled parallel machine people of big rotational angle as claimed in claim 1, its
It is characterised by：Second movement branched chain include the 4th rotate it is secondary, the 5th rotate it is secondary, the 6th rotate it is secondary, the 7th turn
Dynamic secondary, the 9th rotation of dynamic pair, eighth-turn is secondary, the tenth rotation is secondary, the 11st rotates pair, the 3rd rod member, the 4th bar
Part, the 5th rod member, the 6th rod member, the 7th rod member and the 8th rod member；Wherein the 4th rotation pair is arranged on U-bracket
The end points of the first arm, the 5th rotates pair is arranged on the middle part of the arm of U-bracket second, and the 7th rotation pair is arranged on the
The middle part of five rod members, it is secondary and the 6th rotate between pair that the 3rd rod member is connected to the 4th rotation, and the 4th rod member is connected to the
Five rotate secondary and the 7th rotate between pair, and it is secondary and the dynamic pair of eighth-turn between that the 5th rod member is connected to the 6th rotation, and the 8th
Pair, the 6th rod member, the 9th rotation pair, the 7th rod member, the tenth rotation pair, the 8th rod member are rotated, the 11st rotates
Secondary order is connected；Wherein, the 11st rotation pair is rotatably connected with the second end of end take-off lever, and the 4th rotates secondary
It is driving pair.
4. there is the three-rotational-freedom decoupled parallel machine people of big rotational angle as claimed in claim 1, its
It is characterised by：3rd movement branched chain include the 12nd rotate it is secondary, the 13rd rotate it is secondary, the 14th rotate it is secondary,
15th rotates secondary secondary, the 16th rotation, the 17th rotation pair, the 9th rod member, the tenth rod member, the 11st rod member
With the 12nd rod member；Wherein, the 12nd the end points that pair is connected to the arm of U-bracket second is rotated, the 9th rod member connects
It is connected on the 12nd rotation secondary and the 14th rotation pair between, one end of the tenth rod member rotates secondary and the 9th by the 13rd
The middle part of rod member is connected, and one end of the 11st rod member rotates pair and is connected with the 14th, and the 12nd rod member is that band U-shaped is opened
The rod member of mouth, including first end point, the second end points and the 3rd end points, the 15th rotation pair are arranged on first end point simultaneously
The other end with the tenth rod member is connected, the 16th rotate pair be arranged on the second end points and with the other end of the 11st rod member
It is connected, the 17th rotates pair is arranged on the 3rd end points and is connected on the 8th rod member of the second movement branched chain, wherein,
13rd rotates secondary for driving pair.
5. there is the three-rotational-freedom decoupled parallel machine people of big rotational angle as claimed in claim 1, its
It is characterised by：First rotates pair, the second rotation is secondary, the 3rd rotation is secondary, the 11st rotation pair and the 12nd rotates pair
Axis intersect at a point, the point is defined as origin；Tenth rotates secondary axis and the 13rd rotates pair, the 14th
Rotate pair, the 15th rotation is secondary, the 16th rotation is secondary, the diameter parallel of the 17th rotation pair；12nd rotates secondary
Axis and the 4th rotate it is secondary, the 5th rotate it is secondary, the 6th rotate it is secondary, the 7th rotate secondary, eighth-turn and move secondary axis
It is parallel；Tenth axis for rotating pair crosses origin and the axis secondary with the 6th rotation is vertical.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510920599.5A CN106863262B (en) | 2015-12-11 | 2015-12-11 | Three-rotational-freedom decoupled parallel machine people with big rotational angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510920599.5A CN106863262B (en) | 2015-12-11 | 2015-12-11 | Three-rotational-freedom decoupled parallel machine people with big rotational angle |
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| Publication Number | Publication Date |
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| CN106863262A true CN106863262A (en) | 2017-06-20 |
| CN106863262B CN106863262B (en) | 2019-04-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129494A (en) * | 2018-11-15 | 2019-01-04 | 广东工业大学 | A kind of micro- compensation device of parallel connection |
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|---|---|---|---|---|
| CN102145457A (en) * | 2011-02-11 | 2011-08-10 | 上海工程技术大学 | Three-rotational freedom parallel mechanism for virtual axis machine tool and robot |
| CN102642133A (en) * | 2011-02-18 | 2012-08-22 | 上海工程技术大学 | Three-rotation parallel mechanism for virtual axis machine tool and robot |
| RU2478464C1 (en) * | 2011-08-23 | 2013-04-10 | Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран | Modular processing system |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| TW201540442A (en) * | 2014-04-29 | 2015-11-01 | Chang Gung Medical Foundation | Remote motion central mechanism for surgery |
-
2015
- 2015-12-11 CN CN201510920599.5A patent/CN106863262B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102145457A (en) * | 2011-02-11 | 2011-08-10 | 上海工程技术大学 | Three-rotational freedom parallel mechanism for virtual axis machine tool and robot |
| CN102642133A (en) * | 2011-02-18 | 2012-08-22 | 上海工程技术大学 | Three-rotation parallel mechanism for virtual axis machine tool and robot |
| RU2478464C1 (en) * | 2011-08-23 | 2013-04-10 | Учреждение Российской Академии Наук Институт Машиноведения Им. А.А. Благонравова Ран | Modular processing system |
| EP2679349A1 (en) * | 2012-06-28 | 2014-01-01 | University College Cork | Compliant parallel manipulator system |
| TW201540442A (en) * | 2014-04-29 | 2015-11-01 | Chang Gung Medical Foundation | Remote motion central mechanism for surgery |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129494A (en) * | 2018-11-15 | 2019-01-04 | 广东工业大学 | A kind of micro- compensation device of parallel connection |
| CN109129494B (en) * | 2018-11-15 | 2023-09-12 | 广东工业大学 | Parallel micro-compensation device |
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| CN106863262B (en) | 2019-04-26 |
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