CN107283400B - Structure redundancy parallel robot mechanism with four relative degrees of freedom - Google Patents

Structure redundancy parallel robot mechanism with four relative degrees of freedom Download PDF

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Publication number
CN107283400B
CN107283400B CN201710470323.0A CN201710470323A CN107283400B CN 107283400 B CN107283400 B CN 107283400B CN 201710470323 A CN201710470323 A CN 201710470323A CN 107283400 B CN107283400 B CN 107283400B
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branched chain
platform
pair
rod
chain component
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CN107283400A (en
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曲海波
张程煜
张传亮
郭盛
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Beijing Jiaotong University
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Beijing Jiaotong University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics

Abstract

A structure redundancy parallel robot mechanism with four relative degrees of freedom relates to the technical field of robots, is relatively simple in structure and easy to produce and process, reduces the singular configuration of the mechanism, improves the force transmission performance of the mechanism, and can be used in the fields of complex curved surface processing, motion simulation and the like. The mechanism comprises a base, a middle platform, a movable platform, a first branched chain assembly, a second branched chain assembly, a third branched chain assembly and a fourth branched chain assembly. The mechanism is formed by connecting a first branched chain assembly, a second branched chain assembly, a third branched chain assembly and a fourth branched chain assembly with a base, a middle platform and a movable platform. In the mechanism, the driving pair is a moving pair on the first branched chain component, a moving pair on the second branched chain component, a moving pair on the third branched chain component, a moving pair on the fourth branched chain component and a moving pair on the middle platform, a ball screw is selected as a driving mode, the moving platform is used as an end effector, and when the driving pair moves, the moving platform moves in four degrees of freedom by two-rotation and two-movement.

Description

Structure redundancy parallel robot mechanism with four relative degrees of freedom
Technical Field
The invention relates to the technical field of robots, in particular to a structural redundancy parallel robot mechanism with four relative degrees of freedom.
Background
The parallel robot mechanism has the advantages of high rigidity, high motion precision, good dynamic response performance and easy mechanism kinematics inverse solution, and thus has attracted wide attention in the academic and engineering fields at home and abroad. For decades, researchers are continuously dedicated to research and development of novel parallel robot configurations, wherein a structurally redundant parallel mechanism with four relative degrees of freedom is an important type of the novel parallel robot configuration, and the novel parallel robot configuration can be applied to the fields of complex curved surface machining, motion simulation and the like. The existing four-degree-of-freedom parallel mechanism has the characteristics of too complex structure and difficult production and processing, and the application of the mechanism is limited. Therefore, it is necessary to provide a four-degree-of-freedom parallel mechanism with relatively simple structure and easy production and processing.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the background technology, provide a structural redundancy parallel robot mechanism with four relative degrees of freedom, realize the pose transformation of two rotation and two translation of a working platform in space, and the parallel mechanism has the advantages of reducing the singular pose of the mechanism, improving the force transmission performance of the mechanism and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a structurally redundant parallel robot mechanism with four relative degrees of freedom, the parallel robot mechanism comprising: the device comprises a base, a first branched chain assembly, a second branched chain assembly, a third branched chain assembly, a fourth branched chain assembly, an intermediate platform and a movable platform.
This mechanism is connected with base, middle platform and moving platform through first branch chain subassembly, second branch chain subassembly, third branch chain subassembly and fourth branch chain subassembly and is constituted: the spout of middle platform and the one end of base form the sliding pair, and the circular hole end of the first connecting rod of first branch chain subassembly forms the revolute pair through first bolted connection with the base, and the one end of the first connecting rod of first branch chain subassembly forms the revolute pair through ninth bolted connection with middle platform, and the spherical hinge of the first ball auxiliary rod of first branch chain subassembly forms the ball pair with moving the platform.
The connection mode of the second branched chain assembly, the third branched chain assembly and the fourth branched chain assembly with the base, the middle platform and the movable platform is completely the same as that of the first branched chain assembly with the base, the middle platform and the movable platform.
The first branch chain component comprises: the first connecting rod, the first sliding block, the first ball auxiliary rod, the first connecting rod, the first bolt, the fifth bolt, the ninth bolt and the first cross shaft.
Connection between the parts forming the first branch assembly: one end of a square hole of the first sliding block is nested in the first connecting rod to form a moving pair, one end of a circular hole of the first sliding block is connected with the first connecting rod through a fifth bolt to form a rotating pair, and the U-shaped end of the first connecting rod is connected with the U-shaped end of the first ball auxiliary rod through a first cross shaft to form a hooke hinge.
The second branch chain assembly comprises: the second connecting rod is connected with the second sliding block through a second ball auxiliary rod.
The connection between the parts forming the second branched chain assembly: one end of a square hole of the second slider is nested in the second connecting rod to form a sliding pair, one end of a circular hole of the second slider is connected with the second connecting rod through a sixth bolt to form a rotating pair, and one end of the second connecting rod is connected with the U-shaped end of the second ball auxiliary rod through a thirteenth bolt to form a rotating pair.
The third branched chain component is identical to the first branched chain component, and the fourth branched chain component is identical to the second branched chain component.
In the mechanism, the driving pair is a moving pair on the first branched chain component, a moving pair on the second branched chain component, a moving pair on the third branched chain component, a moving pair on the fourth branched chain component and a moving pair on the middle platform, a ball screw is selected as a driving mode, the moving platform is used as an end effector, and when the driving pair moves, the moving platform moves in four degrees of freedom by two-rotation and two-movement.
Compared with the prior art, the invention has the following beneficial effects:
the parallel mechanism provided by the invention can execute two-rotation and two-movement motion in space, has a relatively simple structure, is easy to produce and process, reduces the singular configuration of the mechanism, improves the force transmission performance of the mechanism, and can be used in the fields of complex curved surface processing, motion simulation and the like.
Drawings
FIG. 1 is a schematic diagram of a structure of a structurally redundant parallel robot mechanism with four relative degrees of freedom;
FIG. 2 is a schematic structural view of a first strut assembly;
FIG. 3 is a schematic diagram of a second branching module;
FIG. 4 is a schematic structural view of a third branching module;
FIG. 5 is a schematic diagram of a fourth branched assembly;
FIG. 6 is a schematic structural view of the base;
FIG. 7 is a schematic structural view of the intermediate platform;
FIG. 8 is a schematic structural view of the movable platform;
in the figure: the device comprises a base 1, a middle platform 2, a movable platform 3, a first branch chain component 4-1, a second branch chain component 4-2, a third branch chain component 4-3, a fourth branch chain component 4-4, a first connecting rod 6-1, a second connecting rod 6-2, a third connecting rod 6-3, a fourth connecting rod 6-4, a first sliding block 7-1, a second sliding block 7-2, a third sliding block 7-3, a fourth sliding block 7-4, a first connecting rod 11-1, a second connecting rod 11-2, a third connecting rod 11-3, a fourth connecting rod 11-4, a first ball auxiliary rod 9-1, a second ball auxiliary rod 9-2, a third ball auxiliary rod 9-3, a fourth ball auxiliary rod 9-4, a first cross shaft 8-1, a second cross shaft 8-3, a first bolt 5-1, 5-2 parts of a second bolt, 5-3 parts of a third bolt, 5-4 parts of a fourth bolt, 10-1 parts of a fifth bolt, 10-2 parts of a sixth bolt, 10-3 parts of a seventh bolt, 10-4 parts of an eighth bolt, 12-1 parts of a ninth bolt, 12-2 parts of a tenth bolt, 12-3 parts of an eleventh bolt, 12-4 parts of a twelfth bolt, 13-2 parts of a thirteenth bolt and 13-4 parts of a fourteenth bolt.
Detailed Description
The invention is further explained with reference to the drawings.
A structurally redundant parallel robot mechanism with four relative degrees of freedom, the parallel robot mechanism comprising: the device comprises a base 1, a middle platform 2, a movable platform 3, a first branched chain component 4-1, a second branched chain component 4-2, a third branched chain component 4-3 and a fourth branched chain component 4-4.
The mechanism is formed by connecting a first branched chain component 4-1, a second branched chain component 4-2, a third branched chain component 4-3 and a fourth branched chain component 4-4 with a base 1, a middle platform 2 and a movable platform 3: a sliding pair is formed by a sliding groove of the middle platform 2 and one end of the base 1, a circular hole end of a first connecting rod 6-1 of the first supporting chain component 4-1 is connected with the base 1 through a first bolt 5-1 to form a revolute pair, one end of a first connecting rod 11-1 of the first supporting chain component 4-1 is connected with the middle platform 2 through a ninth bolt 12-1 to form a revolute pair, and a spherical hinge of a first spherical auxiliary rod 9-1 of the first supporting chain component 4-1 and the movable platform 3 form a spherical pair.
The connection mode of the second branched chain assembly 4-2, the third branched chain assembly 4-3 and the fourth branched chain assembly 4-4 with the base 1, the middle platform 2 and the movable platform 3 is completely the same as the connection mode of the first branched chain assembly 4-1 with the base 1, the middle platform 2 and the movable platform 3.
The first tether component 4-1 includes: the first ball pair connecting rod comprises a first connecting rod 6-1, a first sliding block 7-1, a first connecting rod 11-1, a first ball pair rod 9-1, a first cross shaft 8-1, a first bolt 5-1, a fifth bolt 10-1 and a ninth bolt 12-1.
Connections between the parts constituting the first branch chain assembly 4-1: one end of a square hole of the first sliding block 7-1 is nested in the first connecting rod 6-1 to form a moving pair, one end of a circular hole of the first sliding block 7-1 is connected with the first connecting rod 11-1 through a fifth bolt 10-1 to form a rotating pair, and the U-shaped end of the first connecting rod 6-1 is connected with the U-shaped end of the first ball auxiliary rod 9-1 through a first cross shaft 8-1 to form a Hooke hinge.
The second branch module 4-2 includes: the connecting structure comprises a second side link 6-2, a second sliding block 7-2, a second connecting rod 11-2, a second ball auxiliary rod 9-2, a second bolt 5-2, a sixth bolt 10-2, a tenth bolt 12-2 and a thirteenth bolt 13-2.
Connections between the parts forming the second branch assembly 4-2: one end of a square hole of the second slider 7-2 is nested in the second link rod 6-2 to form a moving pair, one end of a circular hole of the second slider 7-2 is connected with the second connecting rod 11-2 through a sixth bolt 10-2 to form a rotating pair, and one end of the second link rod 6-2 is connected with a U-shaped end of the second ball auxiliary rod 9-2 through a thirteenth bolt 13-2 to form a rotating pair.
The third branching module 4-3 is identical to the first branching module 4-1, and the fourth branching module 4-4 is identical to the second branching module 4-2.
In the mechanism, the driving pairs are a moving pair on a first branched chain component 4-1, a moving pair on a second branched chain component 4-2, a moving pair on a third branched chain component 4-3, a moving pair on a fourth branched chain component 4-4 and a moving pair on an intermediate platform 2, a ball screw is selected as a driving mode, the movable platform 3 is used as an end effector, and when the driving pairs move, the movable platform 3 rotates two times and moves two times relative to the base 1 and moves four degrees of freedom.

Claims (1)

1. A structurally redundant parallel robot mechanism with four relative degrees of freedom, the parallel robot mechanism comprising: the device comprises a base (1), a middle platform (2), a movable platform (3), a first branched chain component (4-1), a second branched chain component (4-2), a third branched chain component (4-3) and a fourth branched chain component (4-4);
a sliding groove of the middle platform (2) and one end of the base (1) form a sliding pair, a circular hole end of a first connecting rod (6-1) of the first supporting chain component (4-1) is connected with the base (1) through a first bolt (5-1) to form a rotating pair, one end of a first connecting rod (11-1) of the first supporting chain component (4-1) is connected with the middle platform (2) through a ninth bolt (12-1) to form a rotating pair, and a spherical hinge of a first spherical auxiliary rod (9-1) of the first supporting chain component (4-1) and the movable platform (3) form a spherical pair;
the connection modes of the second branched chain assembly (4-2), the third branched chain assembly (4-3) and the fourth branched chain assembly (4-4) with the base (1), the middle platform (2) and the movable platform (3) are completely the same as the connection modes of the first branched chain assembly (4-1) with the base (1), the middle platform (2) and the movable platform (3);
the first branch chain component (4-1) comprises: the device comprises a first connecting rod (6-1), a first sliding block (7-1), a first connecting rod (11-1), a first ball auxiliary rod (9-1), a first cross shaft (8-1), a first bolt (5-1), a fifth bolt (10-1) and a ninth bolt (12-1);
the connection between the parts forming the first branch chain component (4-1): one end of a square hole of the first sliding block (7-1) is nested in the first connecting rod (6-1) to form a moving pair, one end of a circular hole of the first sliding block (7-1) is connected with the first connecting rod (11-1) through a fifth bolt (10-1) to form a rotating pair, and the U-shaped end of the first connecting rod (6-1) is connected with the U-shaped end of the first ball auxiliary rod (9-1) through a first cross shaft (8-1) to form a Hooke hinge;
the second branch assembly (4-2) comprises: the device comprises a second side link (6-2), a second sliding block (7-2), a second connecting rod (11-2), a second ball auxiliary rod (9-2), a second bolt (5-2), a sixth bolt (10-2), a tenth bolt (12-2) and a thirteenth bolt (13-2);
the connection between the parts forming the second branch assembly (4-2): one end of a square hole of the second slider (7-2) is nested in the second side link (6-2) to form a sliding pair, one end of a circular hole of the second slider (7-2) is connected with the second connecting rod (11-2) through a sixth bolt (10-2) to form a revolute pair, and one end of the second side link (6-2) is connected with a U-shaped end of the second ball auxiliary rod (9-2) through a thirteenth bolt (13-2) to form a revolute pair;
the third branched chain component (4-3) is completely the same as the first branched chain component (4-1), and the fourth branched chain component (4-4) is completely the same as the second branched chain component (4-2);
in the mechanism, the driving pairs are a moving pair on a first branched chain component (4-1), a moving pair on a second branched chain component (4-2), a moving pair on a third branched chain component (4-3), a moving pair on a fourth branched chain component (4-4) and a moving pair on an intermediate platform (2), a ball screw is selected as a driving mode, the moving platform (3) is used as an end effector, and when the driving pairs move, the moving platform (3) rotates two times and moves four degrees of freedom.
CN201710470323.0A 2017-06-20 2017-06-20 Structure redundancy parallel robot mechanism with four relative degrees of freedom Active CN107283400B (en)

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Publication number Priority date Publication date Assignee Title
CN111267072B (en) * 2020-03-10 2021-04-09 燕山大学 Single-drive reconfigurable parallel mechanism branched chain device and reconfiguration method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201573206U (en) * 2010-01-12 2010-09-08 焦作大学 Four freedom-degree space parallel mechanism with two-movement two-rotation
KR20110034989A (en) * 2009-09-29 2011-04-06 한양대학교 산학협력단 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism
CN103317499A (en) * 2013-05-31 2013-09-25 燕山大学 Folding type four-degree-of-freedom parallel connected stable platform
CN204525455U (en) * 2015-03-13 2015-08-05 洛阳理工学院 A kind of variable topological four-freedom parallel mechanism
WO2016206658A1 (en) * 2015-06-22 2016-12-29 Čvut V Praze, Fakulta Strojní A method for control of a spherical motion of a body

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110034989A (en) * 2009-09-29 2011-04-06 한양대학교 산학협력단 4-dof parallel mechanism and needle insertion device using 4-dof parallel mechanism
CN201573206U (en) * 2010-01-12 2010-09-08 焦作大学 Four freedom-degree space parallel mechanism with two-movement two-rotation
CN103317499A (en) * 2013-05-31 2013-09-25 燕山大学 Folding type four-degree-of-freedom parallel connected stable platform
CN204525455U (en) * 2015-03-13 2015-08-05 洛阳理工学院 A kind of variable topological four-freedom parallel mechanism
WO2016206658A1 (en) * 2015-06-22 2016-12-29 Čvut V Praze, Fakulta Strojní A method for control of a spherical motion of a body

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