CN107433574B - Six-freedom-degree series-parallel assembly robot - Google Patents
Six-freedom-degree series-parallel assembly robot Download PDFInfo
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- CN107433574B CN107433574B CN201710865007.3A CN201710865007A CN107433574B CN 107433574 B CN107433574 B CN 107433574B CN 201710865007 A CN201710865007 A CN 201710865007A CN 107433574 B CN107433574 B CN 107433574B
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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
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
the invention relates to a six-degree-of-freedom serial-parallel assembly robot, which comprises a rack, a movable platform, an end effector connected to the movable platform and three branches which are connected in parallel between the rack and the movable platform and have the same structure; each branch is sequentially connected with a driving motor I, a driving arm, an auxiliary rod, a translational connecting rod, a driven rod group, a limiting rod group, a driving motor II and a seven-degree-of-freedom transmission chain; the first branch, the second branch and the third branch are characterized in that a driving 4R parallelogram mechanism, a driven 4S parallelogram mechanism and a limiting 4R parallelogram mechanism are sequentially arranged from the rack to the movable platform; the movable platform has three moving degrees of freedom, and the end effector has three rotating degrees of freedom, so that the manipulator has three-rotation three-movement decoupling control motion. The invention has the advantages of large working range, convenient control, good stability and good application prospect.
Description
Technical Field
the invention relates to the field of robot mechanics, in particular to a six-degree-of-freedom serial-parallel assembly robot.
Background
At present, the application and research of domestic space robots mainly focus on series robots, and the research on parallel robots is relatively less. Compared with a series robot, the parallel robot has the excellent characteristics of large bearing capacity, high precision and high rigidity. In the following parallel mechanism research, three-degree-of-freedom and four-degree-of-freedom parallel robots are researched more, and six-degree-of-freedom parallel robots are researched less. In the prior art, a high-speed six-degree-of-freedom parallel manipulator is proposed in patent (CN 103846911 a). The patent (CN 103846907A) proposes a six-degree-of-freedom high-speed manipulator with a double parallel structure. The patent (CN 106363616 a) proposes a six-degree-of-freedom parallel robot. Patent (CN 106002947 a) proposes a transfer robot in which the degrees of freedom of the same-side arrangement of the slave arms can be reconfigured. The patent (CN 105856207 a) proposes a transfer robot with reconfigurable degrees of freedom in symmetric arrangement of slave arms, which includes a frame, a movable platform, three branched chains and a driving device; each branched chain comprises a large driving arm, a small driving arm, a driving arm connecting rod, a lining frame and a driven arm; the large driving arm, the small driving arm, the driving arm connecting rod and the left lining frame are connected through a kinematic pair to form a parallelogram structure; driving the small driving arm, and changing the relative positions of the two driven arms in each branch through the parallelogram structure to mutually switch the robot between three degrees of freedom and six degrees of freedom; compared with the patent, the six-degree-of-freedom series-parallel structure is applied to the field of assembly, the driving parallelogram structure is in a symmetrical arrangement mode, translational motion is provided for the driving motor fixedly connected to the driving parallelogram structure, the stress condition is better, the structure is simpler, and the arrangement of driven parts is different. The patent (CN 105291095A) proposes a six-degree-of-freedom heavy-load leveling robot mechanism, which is characterized in that a driving parallelogram mechanism and a driven parallelogram mechanism are arranged between a frame and a movable platform, and the whole robot is formed by connecting two parallel parts in series; compared with the patent, the invention is that a serial part is connected in series on a parallel structure, a driving parallelogram provides translational motion for a driving motor fixedly connected on the driving parallelogram, a driven parallelogram is directly connected on a driving arm, the structure is simpler, the control adopts three-to-three-shift decoupling control, and the control of an end effector is that the driving motor is controlled by a seven-degree-of-freedom transmission chain. The patent (CN 105291096 a) proposes a three-degree-of-freedom heavy-load translational transfer robot mechanism, and the robot is characterized in that a transmission structure composed of four parallelogram mechanisms is arranged between a rack and a movable platform, so that the bearing capacity of the robot can be greatly improved; compared with the prior art, the six-freedom-degree assembly robot has the advantages that the six-freedom-degree assembly robot is of a series-parallel structure, the driving parallelogram provides translational motion for the driving motor fixedly connected to the driving parallelogram, the driven parallelogram is directly connected to the driving arm, and the six-freedom-degree assembly robot is simpler in structure. The patent (CN 105291094A) provides a six-degree-of-freedom heavy-load robot mechanism with translational and rotational decoupling, the robot is characterized in that a driving parallelogram mechanism and a driven parallelogram mechanism between a frame and a movable platform are integrally formed by connecting two parallel parts in series, and a control part adopts a translational and rotational decoupling control mode; compared with the prior art, the assembly robot has the structure that a serial part and a parallel part are connected in series, the driving parallelogram provides translational motion for the driving motor fixedly connected on the driving parallelogram, the driven parallelogram is directly connected on the driving arm, the structure is simpler, and the control of the end effector adopts the control of the driving motor through a seven-degree-of-freedom transmission chain. However, most of the existing six-degree-of-freedom robots have the problems of small working space, insufficient motion precision, high coupling degree, complex control and the like caused by that a driving motor moving along with the motion moves and rotates in the space and the inertia load of a moving platform is overlarge.
Disclosure of Invention
the invention relates to a six-degree-of-freedom serial-parallel assembly robot, which comprises a rack, a movable platform, an end effector and three branches which are connected in parallel between the rack and the movable platform and have the same structure; each branch is characterized in that a first driving motor, a first rotating pair, an auxiliary rod, a second rotating pair, a driving arm, a third rotating pair, a translational connecting rod, a fourth rotating pair, a first ball pair, a second ball pair, a driven rod group, an eleventh rotating pair, a twelfth rotating pair, a limiting rod group, a thirteenth rotating pair, a fourteenth rotating pair, a third ball pair, a fourth ball pair, a second driving motor and a seven-degree-of-freedom transmission chain are sequentially arranged from the rack to the moving platform; the seven-degree-of-freedom transmission chain is characterized in that a fifth rotating pair, a first connecting rod, a sixth rotating pair, a second connecting rod, a seventh rotating pair, a first telescopic rod, a first moving pair, a second telescopic rod, an eighth rotating pair, a third connecting rod, a ninth rotating pair, a fourth connecting rod and a tenth rotating pair are sequentially arranged from the second driving motor to the moving platform; the driven rod group consists of a first driven rod and a second driven rod; the limiting rod group consists of a first limiting rod and a second limiting rod; the first driving motor is fixedly connected to the rack, and the second driving motor is fixedly connected to the translational connecting rod; the driving arm is connected with the rack through a second revolute pair and is fixedly connected with a rotating shaft of the driving motor; the auxiliary rod is connected with the rack through a first revolute pair; the translational connecting rod is connected with the auxiliary rod through a third revolute pair and is connected with the driving arm through a fourth revolute pair; the first driven rod is connected with the driving arm through a first ball pair, the second driven rod is connected with the driving arm through a second ball pair, the movable platform is connected with the first driven rod through a fourth ball pair, and the movable platform is connected with the second driven rod through a third ball pair; the first limiting rod is connected with the first driven rod through an eleventh revolute pair, the first limiting rod is connected with the second driven rod through a twelfth revolute pair, the second limiting rod is connected with the first driven rod through a fourteenth revolute pair, and the second limiting rod is connected with the second driven rod through a thirteenth revolute pair; the first connecting rod is connected with a second driving motor through a fifth rotating pair, the second connecting rod is connected with the first connecting rod through a sixth rotating pair, the first telescopic rod is connected with the second connecting rod through a seventh rotating pair, the telescopic rod is connected with the first telescopic rod through a first moving pair, the third connecting rod is connected with the second telescopic rod through an eighth rotating pair, the fourth connecting rod is connected with the third connecting rod through a ninth rotating pair, the movable platform is connected with the fourth connecting rod through a tenth rotating pair, and a gear inside the end effector is fixedly connected with the fourth connecting rod; the fifth revolute pair is parallel to the tenth revolute pair, the sixth revolute pair is parallel to the ninth revolute pair, and the seventh revolute pair is parallel to the eighth revolute pair; the sixth revolute pair is perpendicular to the seventh revolute pair, and the eighth revolute pair is perpendicular to the ninth revolute pair; the fifth revolute pair is vertical to the sixth revolute pair and the ninth revolute pair, and the tenth revolute pair is vertical to the ninth revolute pair and the sixth revolute pair; the rack, the driving arm, the auxiliary rod, the translational connecting rod, the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the movable platform and the ball pair connecting the driving arm, the driven rod group and the movable platform form a 4S parallelogram mechanism together; the driven rod group, the limit rod group, the eleventh revolute pair, the twelfth revolute pair, the thirteenth revolute pair and the fourteenth revolute pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the limiting rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain, the driving motor II, the translational connecting rod and the connecting pair among the driving arm, the driven rod group, the limiting rod group, the movable platform, the end effector form a multi-closed-loop coupling structure together.
the invention also provides a six-degree-of-freedom serial-parallel assembly robot, which comprises a rack, a movable platform, an end effector and three branches which are connected in parallel between the rack and the movable platform and have the same structure; each branch is characterized in that a first driving motor, a first revolute pair, an auxiliary rod, a second revolute pair, a driving arm, a third revolute pair, a translational connecting rod, a fourth revolute pair, a first hook joint, a second hook joint, a driven rod group, a third hook joint, a fourth hook joint, a second driving motor and a seven-degree-of-freedom driving chain are sequentially arranged from the rack to the movable platform; the seven-degree-of-freedom transmission chain is characterized in that a fifth rotating pair, a first connecting rod, a sixth rotating pair, a second connecting rod, a seventh rotating pair, a first telescopic rod, a first moving pair, a second telescopic rod, an eighth rotating pair, a third connecting rod, a ninth rotating pair, a fourth connecting rod and a tenth rotating pair are sequentially arranged from the second driving motor to the moving platform; the driven rod group consists of a first driven rod and a second driven rod; the first driving motor is fixedly connected to the rack, and the second driving motor is fixedly connected to the translational connecting rod; the driving arm is connected with the rack through a second revolute pair and is fixedly connected with a rotating shaft of the driving motor; the auxiliary rod is connected with the rack through a first revolute pair; the translational connecting rod is connected with the auxiliary rod through a third revolute pair and is connected with the driving arm through a fourth revolute pair; the first driven rod is connected with the driving arm through a first hook hinge, the second driven rod is connected with the driving arm through a second hook hinge, the movable platform is connected with the first driven rod through a fourth hook hinge, and the movable platform is connected with the second driven rod through a third hook hinge; the first connecting rod is connected with a second driving motor through a fifth rotating pair, the second connecting rod is connected with the first connecting rod through a sixth rotating pair, the first telescopic rod is connected with the second connecting rod through a seventh rotating pair, the telescopic rod is connected with the first telescopic rod through a first moving pair, the third connecting rod is connected with the second telescopic rod through an eighth rotating pair, the fourth connecting rod is connected with the third connecting rod through a ninth rotating pair, the movable platform is connected with the fourth connecting rod through a tenth rotating pair, and a gear inside the end effector is fixedly connected with the fourth connecting rod; the fifth revolute pair is parallel to the tenth revolute pair, the sixth revolute pair is parallel to the ninth revolute pair, and the seventh revolute pair is parallel to the eighth revolute pair; the sixth revolute pair is perpendicular to the seventh revolute pair, and the eighth revolute pair is perpendicular to the ninth revolute pair; the fifth revolute pair is vertical to the sixth revolute pair and the ninth revolute pair, and the tenth revolute pair is vertical to the ninth revolute pair and the sixth revolute pair; the rack, the driving arm, the auxiliary rod, the translational connecting rod, the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the movable platform and the hook joint connecting the driving arm, the driven rod group and the movable platform form a 4U parallelogram mechanism together; the driving arm, the driven rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain, the driving motor II, the translational connecting rod and the connecting pair among the driving arm, the driven rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain form a multi-closed-loop coupling structure together.
Compared with the prior art, the invention has the following advantages:
(1) Compared with other six-degree-of-freedom robots, the six-degree-of-freedom robot arm disclosed by the invention can work in a space which is difficult to reach by a common six-degree-of-freedom manipulator, has a larger working space and is simple to control.
(2) The invention aims at the design of the arrangement mode of the driving motors of the end effector to ensure that the driving motors moving along with the motion only need to carry out translational motion, thereby reducing the inertial load of the moving platform, further improving the motion speed of the manipulator and improving the stability and the accuracy of the motion.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic perspective view of example 1 of the present invention;
FIG. 2 is a partial schematic structural view of embodiment 1 of the present invention;
FIG. 3 is a partial structural view of embodiment 1 of the present invention;
FIG. 4 is a partial structural view of embodiment 1 of the present invention;
FIG. 5 is a schematic perspective view of example 2 of the present invention;
Fig. 6 is a schematic structural view of an end effector according to embodiments 1 and 2 of the present invention.
Detailed Description
Example 1:
as shown in fig. 1 and 6, a six-degree-of-freedom serial-parallel assembly robot comprises a frame 1, a movable platform 2, a tail end three-turn manipulator 3 and three branches which are connected in parallel between the frame 1 and the movable platform 2 and have the same structure, namely a first branch i, a second branch ii and a third branch iii; each of the above branches is characterized in that: a first driving motor M1, a first revolute pair R1, an auxiliary rod L1, a second revolute pair R2, a driving arm L2, a third revolute pair R3, a translational connecting rod L3, a fourth revolute pair R4, a first ball pair S1, a second ball pair S2, a driven rod group, an eleventh revolute pair R11, a twelfth revolute pair R12, a limiting rod group, a thirteenth revolute pair R13, a fourteenth revolute pair R14, a third ball pair S3, a fourth ball pair S4, a second driving motor M2 and a seven-degree-of-freedom transmission chain are sequentially arranged from the rack 1 to the movable platform 2; the seven-degree-of-freedom transmission chain is characterized in that: a fifth revolute pair R5, a first connecting rod L4, a sixth revolute pair R6, a second connecting rod L5, a seventh revolute pair R7, a first telescopic rod L6, a first moving pair P1, a second telescopic rod L7, an eighth revolute pair R8, a third connecting rod L8, a ninth revolute pair R9, a fourth connecting rod L9 and a tenth revolute pair R10 are sequentially arranged from the second driving motor M2 to the movable platform 2; the driven rod group consists of a first driven rod L10 and a second driven rod L12; the limiting rod group consists of a first limiting rod L11 and a second limiting rod L13; the first driving motor M1 is fixedly connected to the rack 1, and the second driving motor M2 is fixedly connected to the translational connecting rod L3; the driving arm L2 is connected with the frame 1 through a second revolute pair R2, and the driving arm L2 is fixedly connected with a first M1 rotating shaft of a driving motor; the auxiliary rod L1 is connected with the frame 1 through a first revolute pair R1; the translational connecting rod L3 is connected with the auxiliary rod L1 through a third revolute pair R3, and the translational connecting rod L3 is connected with the driving arm L2 through a fourth revolute pair R4; the first driven rod L10 is connected with the driving arm L2 through a first ball pair S1, the second driven rod L12 is connected with the driving arm L2 through a second ball pair S2, the movable platform 2 is connected with the first driven rod L10 through a fourth ball pair S4, and the movable platform 2 is connected with the second driven rod L12 through a third ball pair S3; the first limiting rod L11 is connected with the first driven rod L10 through an eleventh revolute pair R11, the first limiting rod L11 is connected with the second driven rod L12 through a twelfth revolute pair R12, the second limiting rod L13 is connected with the first driven rod L10 through a fourteenth revolute pair R14, and the second limiting rod L13 is connected with the second driven rod L12 through a thirteenth revolute pair R13; the first link L4 is connected with the second drive motor M2 through a fifth revolute pair R5, the second link L5 is connected with the first link L4 through a sixth revolute pair R6, the first telescopic link L6 is connected with the second link L5 through a seventh revolute pair R7, the second telescopic link L7 is connected with the first telescopic link L6 through a first revolute pair P1, the third link L8 is connected with the second telescopic link L7 through an eighth revolute pair R8, the fourth link L9 is connected with the third link L8 through a ninth revolute pair R9, the movable platform 2 is connected with the fourth link L9 through a tenth revolute pair R10, and a gear inside the end effector 3 is fixedly connected with the fourth link L9; the fifth revolute pair R5 is parallel to the tenth revolute pair R10, the sixth revolute pair R6 is parallel to the ninth revolute pair R9, and the seventh revolute pair R7 is parallel to the eighth revolute pair R8; the fifth revolute pair R5 is perpendicular to the sixth revolute pair R6 and the ninth revolute pair R9, and the tenth revolute pair R10 is perpendicular to the ninth revolute pair R9 and the sixth revolute pair R6; the sixth revolute pair R6 is perpendicular to the seventh revolute pair R7, and the eighth revolute pair R8 is perpendicular to the ninth revolute pair R9; the rack 1, the main driving arm L2, the auxiliary rod L1, the translational connecting rod L3, the first revolute pair R1, the second revolute pair R2, the third revolute pair R3 and the fourth revolute pair R4 form a 4R parallelogram mechanism together; the driving arm L2, the driven rod group, the movable platform 2 and the ball pair connecting the driving arm, the driven rod group and the movable platform together form a 4S parallelogram mechanism; the driven rod group, the limit rod group, the eleventh revolute pair R11, the twelfth revolute pair R12, the thirteenth revolute pair R13 and the fourteenth revolute pair R14 form a 4R parallelogram mechanism together; the driving arm L2, the driven rod group, the limit rod group, the movable platform 2, the end effector 3, the seven-degree-of-freedom transmission chain, the driving motor II M2, the translational connecting rod L3 and the connecting pairs among the driving arm, the driven rod group, the limit rod group, the movable platform and the end effector form a multi-closed-loop coupling structure together; the first branch I transmits torque to the end effector 3 through the branched fourth link L9, so as to control the first rotating arm LR1 of the end effector 3 to rotate; the second branch II transmits torque to the end effector 3 through the branched fourth link L9, so that the second rotating arm LR2 of the end effector 3 is controlled to rotate; the third branch iii transmits torque to the end effector 3 via the branched fourth link L9, thereby controlling the rotation of the third rotating arm LR3 of the end effector 3.
example 2:
As shown in fig. 5 and 6, the six-degree-of-freedom serial-parallel assembly robot comprises a rack 1, a movable platform 2, a tail end three-turn manipulator 3 and three branches which are connected in parallel between the rack 1 and the movable platform 2 and have the same structure, wherein the three branches are a first branch i, a second branch ii and a third branch iii; each of the above branches is characterized in that: a first driving motor M1, a first revolute pair R1, an auxiliary rod L1, a second revolute pair R2, a driving arm L2, a third revolute pair R3, a translational connecting rod L3, a fourth revolute pair R4, a first hooke joint U1, a second hooke joint U2, a driven rod group, a third hooke joint U3, a fourth hooke joint U4, a second driving motor M2 and a seven-degree-of-freedom transmission chain are sequentially arranged from the rack 1 to the movable platform 2; the seven-degree-of-freedom transmission chain is characterized in that: a fifth revolute pair R5, a first connecting rod L4, a sixth revolute pair R6, a second connecting rod L5, a seventh revolute pair R7, a first telescopic rod L6, a first moving pair P1, a second telescopic rod L7, an eighth revolute pair R8, a third connecting rod L8, a ninth revolute pair R9, a fourth connecting rod L9 and a tenth revolute pair R10 are sequentially arranged from the second driving motor M2 to the movable platform 2; the driven rod group consists of a first driven rod L10 and a second driven rod L11; the first driving motor M1 is fixedly connected to the rack 1, and the second driving motor M2 is fixedly connected to the translational connecting rod L3; the driving arm L2 is connected with the frame 1 through a second revolute pair R2, and the driving arm L2 is fixedly connected with a first M1 rotating shaft of a driving motor; the auxiliary rod L1 is connected with the frame 1 through a first revolute pair R1; the translational connecting rod L3 is connected with the auxiliary rod L1 through a third revolute pair R3, and the translational connecting rod L3 is connected with the driving arm L2 through a fourth revolute pair R4; the first driven rod L10 is connected with the driving arm L2 through a first hooke joint U1, the second driven rod L11 is connected with the driving arm L2 through a second hooke joint U2, the movable platform 2 is connected with the first driven rod L10 through a fourth hooke joint U4, and the movable platform 2 is connected with the second driven rod L11 through a third hooke joint U3; the first link L4 is connected with the second drive motor M2 through a fifth revolute pair R5, the second link L5 is connected with the first link L4 through a sixth revolute pair R6, the first telescopic link L6 is connected with the second link L5 through a seventh revolute pair R7, the second telescopic link L7 is connected with the first telescopic link L6 through a first revolute pair P1, the third link L8 is connected with the second telescopic link L7 through an eighth revolute pair R8, the fourth link L9 is connected with the third link L8 through a ninth revolute pair R9, the movable platform 2 is connected with the fourth link L9 through a tenth revolute pair R10, and a gear inside the end effector 3 is fixedly connected with the fourth link L9; the fifth revolute pair R5 is parallel to the tenth revolute pair R10, the sixth revolute pair R6 is parallel to the ninth revolute pair R9, and the seventh revolute pair R7 is parallel to the eighth revolute pair R8; the fifth revolute pair R5 is perpendicular to the sixth revolute pair R6 and the ninth revolute pair R9, and the tenth revolute pair R10 is perpendicular to the ninth revolute pair R9 and the sixth revolute pair R6; the sixth revolute pair R6 is perpendicular to the seventh revolute pair R7, and the eighth revolute pair R8 is perpendicular to the ninth revolute pair R9; the rack 1, the main driving arm L2, the auxiliary rod L1, the translational connecting rod L3, the first revolute pair R1, the second revolute pair R2, the third revolute pair R3 and the fourth revolute pair R4 form a 4R parallelogram mechanism together; the driving arm L2, the driven rod group, the movable platform 2 and the hook joint connecting the driven rod group and the movable platform form a 4U parallelogram mechanism; the driving arm L2, the driven rod group, the movable platform 2, the end effector 3, the seven-degree-of-freedom transmission chain, the driving motor II M2, the translational connecting rod L3 and the connecting pair among the driving arm, the driven rod group, the movable platform 2 and the end effector form a multi-closed-loop coupling structure together; the first branch I transmits torque to the end effector 3 through the branched fourth link L9, so as to control the first rotating arm LR1 of the end effector 3 to rotate; the second branch II transmits torque to the end effector 3 through the branched fourth link L9, so that the second rotating arm LR2 of the end effector 3 is controlled to rotate; the third branch iii transmits torque to the end effector 3 via the branched fourth link L9, thereby controlling the rotation of the third rotating arm LR3 of the end effector 3.
Claims (2)
1. A six-freedom-degree series-parallel assembly robot comprises a rack, a movable platform, an end effector and three branches which are connected in parallel between the rack and the movable platform and have the same structure; the method is characterized in that: each branch is characterized in that a first driving motor, a first rotating pair, an auxiliary rod, a second rotating pair, a driving arm, a third rotating pair, a translational connecting rod, a fourth rotating pair, a first ball pair, a second ball pair, a driven rod group, an eleventh rotating pair, a twelfth rotating pair, a limiting rod group, a thirteenth rotating pair, a fourteenth rotating pair, a third ball pair, a fourth ball pair, a second driving motor and a seven-degree-of-freedom transmission chain are sequentially arranged from the rack to the moving platform; the seven-degree-of-freedom transmission chain is characterized in that a fifth rotating pair, a first connecting rod, a sixth rotating pair, a second connecting rod, a seventh rotating pair, a first telescopic rod, a first moving pair, a second telescopic rod, an eighth rotating pair, a third connecting rod, a ninth rotating pair, a fourth connecting rod and a tenth rotating pair are sequentially arranged from the second driving motor to the moving platform; the driven rod group consists of a first driven rod and a second driven rod; the limiting rod group consists of a first limiting rod and a second limiting rod; the first driving motor is fixedly connected to the rack, and the second driving motor is fixedly connected to the translational connecting rod; the driving arm is connected with the rack through a second revolute pair and is fixedly connected with a rotating shaft of the driving motor; the auxiliary rod is connected with the rack through a first revolute pair; the translational connecting rod is connected with the auxiliary rod through a third revolute pair and is connected with the driving arm through a fourth revolute pair; the first driven rod is connected with the driving arm through a first ball pair, the second driven rod is connected with the driving arm through a second ball pair, the movable platform is connected with the first driven rod through a fourth ball pair, and the movable platform is connected with the second driven rod through a third ball pair; the first limiting rod is connected with the first driven rod through an eleventh revolute pair, the first limiting rod is connected with the second driven rod through a twelfth revolute pair, the second limiting rod is connected with the first driven rod through a fourteenth revolute pair, and the second limiting rod is connected with the second driven rod through a thirteenth revolute pair; the first connecting rod is connected with a second driving motor through a fifth rotating pair, the second connecting rod is connected with the first connecting rod through a sixth rotating pair, the first telescopic rod is connected with the second connecting rod through a seventh rotating pair, the telescopic rod is connected with the first telescopic rod through a first moving pair, the third connecting rod is connected with the second telescopic rod through an eighth rotating pair, the fourth connecting rod is connected with the third connecting rod through a ninth rotating pair, the movable platform is connected with the fourth connecting rod through a tenth rotating pair, and a gear inside the end effector is fixedly connected with the fourth connecting rod; the fifth revolute pair is parallel to the tenth revolute pair, the sixth revolute pair is parallel to the ninth revolute pair, and the seventh revolute pair is parallel to the eighth revolute pair; the sixth revolute pair is perpendicular to the seventh revolute pair, and the eighth revolute pair is perpendicular to the ninth revolute pair; the fifth revolute pair is vertical to the sixth revolute pair and the ninth revolute pair, and the tenth revolute pair is vertical to the ninth revolute pair and the sixth revolute pair; the rack, the driving arm, the auxiliary rod, the translational connecting rod, the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the movable platform and the ball pair connecting the driving arm, the driven rod group and the movable platform form a 4S parallelogram mechanism together; the driven rod group, the limit rod group, the eleventh revolute pair, the twelfth revolute pair, the thirteenth revolute pair and the fourteenth revolute pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the limiting rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain, the driving motor II, the translational connecting rod and the connecting pair among the driving arm, the driven rod group, the limiting rod group, the movable platform, the end effector form a multi-closed-loop coupling structure together.
2. A six-freedom-degree series-parallel assembly robot comprises a rack, a movable platform, an end effector and three branches which are connected in parallel between the rack and the movable platform and have the same structure; the method is characterized in that: each branch is characterized in that a first driving motor, a first revolute pair, an auxiliary rod, a second revolute pair, a driving arm, a third revolute pair, a translational connecting rod, a fourth revolute pair, a first hook joint, a second hook joint, a driven rod group, a third hook joint, a fourth hook joint, a second driving motor and a seven-degree-of-freedom driving chain are sequentially arranged from the rack to the movable platform; the seven-degree-of-freedom transmission chain is characterized in that a fifth rotating pair, a first connecting rod, a sixth rotating pair, a second connecting rod, a seventh rotating pair, a first telescopic rod, a first moving pair, a second telescopic rod, an eighth rotating pair, a third connecting rod, a ninth rotating pair, a fourth connecting rod and a tenth rotating pair are sequentially arranged from the second driving motor to the moving platform; the driven rod group consists of a first driven rod and a second driven rod; the first driving motor is fixedly connected to the rack, and the second driving motor is fixedly connected to the translational connecting rod; the driving arm is connected with the rack through a second revolute pair and is fixedly connected with a rotating shaft of the driving motor; the auxiliary rod is connected with the rack through a first revolute pair; the translational connecting rod is connected with the auxiliary rod through a third revolute pair and is connected with the driving arm through a fourth revolute pair; the first driven rod is connected with the driving arm through a first hook hinge, the second driven rod is connected with the driving arm through a second hook hinge, the movable platform is connected with the first driven rod through a fourth hook hinge, and the movable platform is connected with the second driven rod through a third hook hinge; the first connecting rod is connected with a second driving motor through a fifth rotating pair, the second connecting rod is connected with the first connecting rod through a sixth rotating pair, the first telescopic rod is connected with the second connecting rod through a seventh rotating pair, the telescopic rod is connected with the first telescopic rod through a first moving pair, the third connecting rod is connected with the second telescopic rod through an eighth rotating pair, the fourth connecting rod is connected with the third connecting rod through a ninth rotating pair, the movable platform is connected with the fourth connecting rod through a tenth rotating pair, and a gear inside the end effector is fixedly connected with the fourth connecting rod; the fifth revolute pair is parallel to the tenth revolute pair, the sixth revolute pair is parallel to the ninth revolute pair, and the seventh revolute pair is parallel to the eighth revolute pair; the sixth revolute pair is perpendicular to the seventh revolute pair, and the eighth revolute pair is perpendicular to the ninth revolute pair; the fifth revolute pair is vertical to the sixth revolute pair and the ninth revolute pair, and the tenth revolute pair is vertical to the ninth revolute pair and the sixth revolute pair; the rack, the driving arm, the auxiliary rod, the translational connecting rod, the first rotating pair, the second rotating pair, the third rotating pair and the fourth rotating pair form a 4R parallelogram mechanism together; the driving arm, the driven rod group, the movable platform and the hook joint connecting the driving arm, the driven rod group and the movable platform form a 4U parallelogram mechanism together; the driving arm, the driven rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain, the driving motor II, the translational connecting rod and the connecting pair among the driving arm, the driven rod group, the movable platform, the end effector, the seven-degree-of-freedom transmission chain form a multi-closed-loop coupling structure together.
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| WO2022134511A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Moving platform of six-axis robot, and six-axis robot |
| CN112549000A (en) * | 2020-12-22 | 2021-03-26 | 辰星（天津）自动化设备有限公司 | Six-axis robot moving platform and six-axis robot thereof |
| CN114378793B (en) * | 2022-01-21 | 2024-03-01 | 天津工业大学 | Passive rod hinge space three-degree-of-freedom parallel robot with analytic positive solution |
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