CN108621130B - Parallel mechanism with two motion modes of 2R1T and 2T1R - Google Patents
Parallel mechanism with two motion modes of 2R1T and 2T1R Download PDFInfo
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- CN108621130B CN108621130B CN201810356050.1A CN201810356050A CN108621130B CN 108621130 B CN108621130 B CN 108621130B CN 201810356050 A CN201810356050 A CN 201810356050A CN 108621130 B CN108621130 B CN 108621130B
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- revolute pair
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- branched chain
- movable platform
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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
Abstract
The parallel mechanism with two motion modes of 2R1T and 2T1R comprises a rectangular movable platform and a fixed platform, wherein the movable platform is connected with the fixed platform through a first branched chain, a second branched chain and a third branched chain respectively, so that the conversion of two rotation-one movement modes and two movement-one rotation motion modes is realized, the conversion of the motion modes can be realized without reassembly, and the parallel mechanism also has the characteristics of high rigidity, high accuracy and strong flexibility.
Description
Technical Field
The invention belongs to the field of robots, and relates to a parallel mechanism with two motion modes of 2R1T and 2T 1R.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
Parallel mechanisms with multiple modes of motion, also referred to as multiple operating modes, variable displacement subgroups, with moving branches, or reconfigurable parallel mechanisms, characterized by: a plurality of motion modes can be realized by fewer driving pairs, and the mechanism does not need to be reassembled during motion mode conversion, so that mechanism reconstruction can be realized quickly, and some parallel mechanisms need to pass through singular configuration of the mechanism during motion mode conversion. The parallel mechanism with multiple motion modes can realize multiple motion modes by using less drives, and can lift the machine to adapt to various requirements in actual industrial production with less cost.
The parallel mechanism with two rotation-movement modes is suitable for operators working on curved surfaces, and has the characteristics of high rigidity, high accuracy, strong flexibility and the like. Based on a parallel mechanism with two rotation and one movement modes, two revolute pairs can be connected in series on a movable platform of the parallel mechanism to form a series-parallel 5-axis machining center or a medical robot. The 5-axis and 6-axis hybrid mechanism based on the two-rotation-one-movement motion mode can be applied to welding the airframe of an airplane and can also be used for assembling the wings of the airplane. The parallel mechanism with two moving and one rotating motion modes is widely applied to the fields of industrial assembly robots, attitude regulators, parallel machine tools, workbenches and the like. However, there are few parallel mechanisms for implementing two-rotation-one-movement and two-movement-one-rotation motion mode conversion. The novel parallel mechanism has certain application prospect in the aspects of submarines, tank driving motion simulators, microsurgery operation robots, attitude adjusting devices of large radio astronomical telescopes and the like in the military field.
Disclosure of Invention
The invention aims to provide a parallel mechanism with two motion modes of 2R1T and 2T1R, which can realize the conversion of two-rotation-one-movement and two-movement-one-rotation motion modes and has the characteristics of high rigidity, high accuracy and strong dexterity.
The technical scheme adopted by the invention is as follows: the parallel mechanism with two motion modes of 2R1T and 2T1R comprises a rectangular movable platform and a fixed platform, wherein the movable platform is connected with the fixed platform through a first branched chain, a second branched chain and a third branched chain.
The present invention is also characterized in that,
the first branched chain comprises a revolute pair R connected with the fixed platform11Rotational pair R11Is sequentially connected with a first connecting rod and a revolute pair R12A second connecting rod and a revolute pair R13A third connecting rod and a revolute pair R14Rotational pair R14Is connected with the movable platform.
Revolute pair R11And a revolute pair R12And a revolute pair R13Are arranged in parallel with each other, and the revolute pair R11And a revolute pair R12And a revolute pair R13Are all perpendicular to the fixed platform and the revolute pair R14Is arranged along the X-axis direction of the movable platform.
Revolute pair R11Is connected with a first rotating motor and a revolute pair R12A second rotating motor is connected.
The second branch chain comprises a universal hinge U connected with the fixed platform21Universal hinge U21A fourth connecting rod and a revolute pair R are connected in sequence22Fifth connecting rod and universal hinge U23Universal hinge U23And moving platformAnd (4) connecting.
Universal hinge U23Revolute pair and revolute pair R far away from moving platform22Universal hinge U21The revolute pair and the fixed platform which are far away from the fixed platform are arranged in parallel, and the universal hinge U is23A revolute pair connected with the movable platform is perpendicular to the movable platform and a universal hinge U21And the revolute pair connected with the fixed platform is vertical to the fixed platform.
Universal hinge U21The revolute pair connected with the fixed platform is connected with a third rotary motor.
The third branched chain comprises a spherical hinge S connected with the fixed platform31Spherical hinge S31A sixth connecting rod and a sliding pair P are connected in sequence32Seventh connecting rod and spherical hinge S33Spherical hinge S33Is connected with the movable platform.
Sliding pair P32And a hydraulic driving device is also connected.
The invention has the beneficial effects that: the parallel mechanism with two motion modes of 2R1T and 2T1R has two moving and one rotating motion modes, when the moving platform moves parallel to the fixed platform and then rotates to reach the corresponding mechanism configuration, the parallel mechanism has two rotating and one moving motion modes, the motion modes can be changed without being reassembled, and the parallel mechanism has the characteristics of high rigidity, high precision and strong dexterity.
Drawings
FIG. 1 is a schematic diagram of the parallel mechanism with two motion modes of 2R1T and 2T1R according to the present invention, which has two movements and one rotation;
FIG. 2 is a schematic diagram of the instantaneous mechanism configuration of the parallel mechanism with two motion modes of 2R1T and 2T1R according to the present invention;
FIG. 3 is a schematic view of another instantaneous mechanism configuration of the parallel mechanism with two motion modes of 2R1T and 2T1R according to the present invention;
fig. 4 is a schematic diagram of the motion mode structure of the parallel mechanism with two rotation-one movement modes of the invention, which has two motion modes of 2R1T and 2T 1R.
In the figure: 1. the device comprises a first connecting rod, 2 second connecting rods, 3 third connecting rods, 4 fourth connecting rods, 5 fifth connecting rods, 6 sixth connecting rods, 7 seventh connecting rods, 8 movable platforms and 9 fixed platforms.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.
The parallel mechanism with two motion modes of 2R1T and 2T1R comprises a rectangular movable platform 8 and a fixed platform 9, as shown in figure 1, wherein the movable platform 8 is connected with the fixed platform 9 through a first branched chain, a second branched chain and a third branched chain respectively, and the joint of the first branched chain and the movable platform 8 is marked as A1And the joint of the second branched chain and the movable platform 8 is marked as A2And the joint of the third branched chain and the movable platform 8 is marked as A3And the joint of the first branched chain and the fixed platform 9 is marked as B1And the joint of the second branched chain and the fixed platform 9 is marked as B2And the joint of the third branched chain and the fixed platform 9 is marked as B3。
The first branch comprises a fixed platform 9 (B)1) Connected revolute pair R11Rotational pair R11Is sequentially connected with a first connecting rod 1 and a revolute pair R12A second connecting rod 2 and a revolute pair R13A third connecting rod 3 and a revolute pair R14Rotational pair R14Connected with a movable platform 8 and a revolute pair R11And a revolute pair R12And a revolute pair R13Are arranged in parallel and have revolute pairs R11And a revolute pair R12And a revolute pair R13Are all perpendicular to the fixed platform 9 and the revolute pair R14Arranged along the X-axis direction of the movable platform and provided with a revolute pair R11Is connected with a first rotating motor and a revolute pair R12A second rotary motor is connected, which operates when the motion mode of the parallel mechanism of the invention is changed from a two-shift one-rotation to a two-shift one-shift motion mode.
The second branch comprises a fixed platform 9 (B)2) Connected universal hinge U21Universal hinge U21A fourth connecting rod 4 and a revolute pair R are connected in sequence22Fifth connecting rod 5 and universal hinge U23Universal hinge U23A universal hinge U connected with the movable platform 823Revolute pair and revolute pair R far away from movable platform 822Universal hinge U21Middle distanceThe revolute pair of the fixed platform 9 and the fixed platform (9) are arranged in parallel, and the universal hinge U23A revolute pair which is arranged in the middle and is connected with the movable platform 8 is vertical to the movable platform 8, and a universal hinge U21A revolute pair which is arranged in the fixed platform 9 and is connected with the fixed platform 9 is vertical to the fixed platform 9, and a universal hinge U21The revolute pair connected with the fixed platform 9 is connected with a third rotary motor.
The third branch comprises a fixed platform 9 (B)3) Connected ball pivot S31Spherical hinge S31A sixth connecting rod 6 and a sliding pair P are connected in sequence32A seventh connecting rod 7 and a spherical hinge S33Spherical hinge S33Is connected with the movable platform 8, and the sliding pair P32 is also connected with a hydraulic driving device which is used for driving the sliding pair P32The movement is performed.
The fixed platforms 9 are one or three, when the fixed platforms 9 are three, the fixed platforms 9 comprise a first fixed platform, a second fixed platform and a third fixed platform, the first fixed platform is connected with the first branch chain, and the joint is marked as B1The second fixed platform is connected with the second branched chain, and the joint is marked as B2The third fixed platform is connected with the third branched chain, and the joint is marked as B3。
The process of the two motion modes of the parallel mechanism with the two motion modes of 2R1T and 2T1R is as follows:
when the parallel mechanism is in the configuration shown in figure 1, the revolute pair R in the first branched chain is controlled11Universal hinge U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32So that the movable platform 8 can make two-dimensional plane movement in the plane and one-dimensional rotation perpendicular to the plane, and at the moment, the revolute pair R14Parallel to the stationary platform, i.e. the configuration shown in fig. 1, has two modes of movement-one rotation.
When the mechanism shown in fig. 1 is configured, after the movable platform 8 is limited and moved along the plane of the movable platform 8, two of the second branched chainszR is coaxial, and the mechanism configuration is shown in figure 2. The second branch now has an overdetermined plateau 9 (B)2) Around a line parallel to z2The rotational axis of the shaft has a local rotational degree of freedom. In the configuration of the mechanism shown in FIG. 2The total number of freedom of the mechanism is changed to 4, and the revolute pair R in the first branched chain is controlled11、R12Universal hinge U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32After the moving platform 8 moves along the X-axis of the fixed coordinate system, the moving platform 8 is in the motion mode of the mechanism shown in fig. 1, and thus the motion mode of the parallel mechanism shown in fig. 2 is instantaneous. Under the configuration shown in FIG. 2, the revolute pair R in the first branched chain is controlled11、R12Universal hinge U in the second branch chain21A revolute pair connected with the movable platform by 8 and a sliding pair P in a third branched chain32So that the moving platform 8 keeps the pose unchanged, and the second branch chain passes through a point positioning platform 9 (B)2) Around a line parallel to z2After the rotating shaft of the shaft rotates 90 degrees, the plane in the second branched chain displaces the subgroup kinematic chainyRyRyR can be changed intoxRxRxR, the configuration of the mechanism in fig. 3 is obtained.
Under the configuration of the mechanism shown in fig. 3, after the movable platform moves in a limited manner along the Y axis of the fixed coordinate system, the end of the second branched chain will have one additional degree of freedom of movement, and at this time, the movable platform 8 has two rotation and two movement modes; when the movable platform 8 rotates around the rotating shaft parallel to the X axis of the fixed coordinate system, the movable platform has two rotation-movement modes. Thus, the motion pattern in the configuration of the mechanism shown in fig. 3 is instantaneous.
When the movable platform 8 is in the configuration shown in FIG. 3, the revolute pair R in the first branched chain is controlled11、R12Universal hinge U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32After limited rotation along an axis parallel to the X-axis of the fixed coordinate system, the mechanism is in the configuration shown in fig. 4.
When the configuration of the mechanism is in the configuration shown in figure 4, the revolute pair R in the first branched chain is controlled11Universal hinge U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32So that the movable platform 8 can make two-dimensional rotation and one-dimensional movement in the plane where the movable platform is located, and the mechanism has two-rotation-one-movement modes.
The invention has the working process of two-movement-one-rotation movement mode of the parallel mechanism with two movement modes of 2R1T and 2T 1R: when the mechanism is in the configuration shown in FIG. 1, the revolute pair R in the first branched chain is controlled11U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32So that the movable platform 8 can move in the plane of the movable platform in two dimensions and rotate in one dimension perpendicular to the moving plane.
The invention has the working process of two-rotation-one-movement mode of the parallel mechanism with two movement modes of 2R1T and 2T 1R: when the mechanism is in the configuration shown in FIG. 4, the revolute pair R in the first branched chain is controlled11U in the second branch chain21A revolute pair connected with the movable platform 8 and a sliding pair P in the third branched chain32So that the movable platform 8 can rotate along the x and y axes of the movable platform coordinate system and rotate in 1 dimension along the y axis of the movable platform coordinate system.
The parallel mechanism with two motion modes of 2R1T and 2T1R has two moving and one rotating motion modes, when the moving platform moves parallel to the fixed platform and then rotates to reach the corresponding mechanism configuration, the parallel mechanism has two rotating and one moving motion modes, the motion modes can be changed without being reassembled, and the parallel mechanism has the characteristics of high rigidity, high precision and strong dexterity.
Claims (2)
1. The parallel mechanism with two motion modes of 2R1T and 2T1R is characterized in that: the device comprises a rectangular movable platform (8) and a fixed platform (9), wherein the movable platform (8) is connected with the fixed platform (9) through a first branched chain, a second branched chain and a third branched chain respectively;
the first branched chain comprises a revolute pair R connected with a fixed platform (9)11Said revolute pair R11Is sequentially connected with a first connecting rod (1) and a revolute pair R12A second connecting rod (2) and a revolute pair R13A third connecting rod (3) and a revolute pair R14Said revolute pair R14Is connected with the movable platform (8);
the revolute pair R11And a revolute pair R12And a revolute pair R13Are arranged in parallel with each other, and the revolute pair R11And a revolute pair R12And a revolute pair R13Are all perpendicular to the fixed platform (9), and the revolute pair R14The device is arranged along the X-axis direction of the movable platform;
the revolute pair R11Is connected with a first rotating motor, a revolute pair R12A second rotating motor is connected;
the second branched chain comprises a universal hinge U connected with the fixed platform (9)21The universal hinge U21A fourth connecting rod (4) and a revolute pair R are connected in sequence22A fifth connecting rod (5) and a universal hinge U23The universal hinge U23Is connected with the movable platform (8);
the universal hinge U23Revolute pair and revolute pair R far away from movable platform (8)22Universal hinge U21The revolute pair of the middle-distance fixed platform (9) and the fixed platform (9) are arranged in parallel, and the universal hinge U is23A revolute pair which is arranged in the middle and is connected with the movable platform (8) is vertical to the movable platform (8), and the universal hinge U is21The middle rotating pair connected with the fixed platform (9) is vertical to the fixed platform (9);
the universal hinge U21The rotating pair connected with the fixed platform (9) is connected with a third rotating motor;
the third branched chain comprises a spherical hinge S connected with the fixed platform (9)31The spherical hinge S31A sixth connecting rod (6) and a sliding pair P are connected in sequence32A seventh connecting rod (7) and a spherical hinge S33The spherical hinge S33Is connected with the movable platform (8);
the sliding pair P32And a hydraulic driving device is also connected.
2. The parallel mechanism of claim 1 having two modes of motion, 2R1T and 2T1R, wherein: the number of the fixed platforms (9) is one or three.
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| CN109129441B (en) * | 2018-10-23 | 2021-09-07 | 西安工程大学 | Parallel mechanism with two three-movement one-rotation movement modes |
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| CN109746895B (en) * | 2018-12-11 | 2021-02-05 | 西安工程大学 | Four-degree-of-freedom parallel mechanism with three 3T1R dynamic modes |
| CN109746896B (en) * | 2018-12-11 | 2022-02-18 | 西安工程大学 | Parallel system with 3T, 2T1R and 1R2T motion patterns |
| CN110000755B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement-one-screw and two-movement-one-rotation motion modes |
| CN110000757B (en) * | 2019-04-01 | 2021-09-14 | 西安工程大学 | Parallel mechanism with two-movement one-rotation and two-movement one-spiral motion modes |
| CN112706152B (en) * | 2020-12-28 | 2022-02-11 | 燕山大学 | Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics |
| CN113352304B (en) * | 2021-07-16 | 2022-06-14 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
| CN114683254B (en) * | 2022-05-31 | 2022-08-30 | 西安德普赛科计量设备有限责任公司 | Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism |
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Effective date of registration: 20210723 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |