CN108656086B - Variable working space redundancy drive 4UPU-R parallel mechanism - Google Patents
Variable working space redundancy drive 4UPU-R parallel mechanism Download PDFInfo
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- CN108656086B CN108656086B CN201810562162.2A CN201810562162A CN108656086B CN 108656086 B CN108656086 B CN 108656086B CN 201810562162 A CN201810562162 A CN 201810562162A CN 108656086 B CN108656086 B CN 108656086B
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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Abstract
The invention relates to a variable working space 4UPU-R parallel mechanism which can realize a pure translational working space without a singular area. Comprises a fixed platform, a moving platform and four UPU moving branch chains connected with the moving/fixed platform. The motion branched chain is provided with a universal pair, a sliding pair and a universal pair from top to bottom in sequence. The mechanism has pure translational travel along direction X, Y, Z, and through the use of redundant drive branched chains, the purpose of no singularity inside a working space can be achieved. The four moving branched chains have the same structure and are arranged in a rectangular vertex area. The movable/fixed platform adopts a non-traditional rigid structure, and a central revolute pair is added, so that the angle of a plane formed by the opposite side moving branched chains can be changed. The driving parameters of the upper and lower central revolute pairs are completely the same, namely the central connecting lines of the universal pairs at the upper and lower ends of the opposite side moving branched chain are parallel to each other. The redundancy driving parallel mechanism with the variable working space characteristic has the characteristics of high flexibility, good singular characteristic and high rigidity, and can be suitable for multi-task requirements of sorting boxes of industrial and agricultural production lines, 3D printing and the like.
Description
Technical Field
The invention relates to a variable working space parallel mechanism, in particular to a nonsingular 4UPU-R parallel mechanism with a redundant driving branched chain. The mechanism can be used for sorting and transporting various boxes of industrial and agricultural production lines, and can be used for multi-task 3D printing execution mechanisms and the like.
Background
In traditional research on parallel robots, an organization usually has a fixed working mode and working space. However, with the increasingly wide application background of the parallel robot, especially in the field of industrial and agricultural production, the installation position of the mechanism is fixed, and different task requirements such as part installation, fruit box sorting, transfer transportation and the like are generally required to be met at the same time. The working space utilization rate of the mechanism is generally low, when one or more tasks are concentrated in one part of the working space of the mechanism, the rest working space can not be effectively utilized, the abrasion speed of the driving joint of the mechanism in a certain stroke area can be increased, and the service life of the mechanism is shortened. Therefore, mechanisms which can reconstruct the self structure according to different work tasks, realize the superposition of multiple work spaces in a variable work space mode and indirectly increase the volume of the work spaces are derived. The reconstruction mode comprises a mode of changing the direction of a driving joint, adjusting the connecting position of a branched chain and a base, adding structures such as a passive branched chain and a gear train, locking and releasing a corresponding joint and the like. Although the above methods achieve the purposes of reconstructing the self structure and realizing the change of the working space, the mass of the driver of the mechanism is increased, the use of some compound kinematic pairs and locking joints can obviously increase the rotational inertia of the joints, increase the control difficulty and reduce the reliability of practical use.
Disclosure of Invention
In order to solve the problems, the invention provides a 4UPU-R parallel mechanism with a variable working space and a redundancy drive.
The technical scheme of the invention is as follows:
the invention comprises a fixed platform, a moving platform and four UPU moving branch chains connected with the moving/fixed platform. Each motion branched chain is provided with a universal pair, a sliding pair and a universal pair from top to bottom, the structural sizes of the motion branched chains are the same, and two ends of each motion branched chain are respectively connected with the fixed platform and the motion platform through the universal pairs.
The fixed platform is in a cross shape of two long rectangular plates, the two rectangular plates are completely the same in size and shape, a hole is formed in the center of each rectangular plate, the two rectangular plates are connected through a center hole by a revolute pair, and the revolute pair is named as a fixed platform center revolute pair. Universal pairs are mounted at the side length center positions of two sides of each long rectangular plate, and the axes of the rotary pairs connected with the rectangular plates are positioned in the plane of the rectangular plate and are perpendicular to the connecting line of the centers of the two universal pairs of the long rectangular plate; the axis of a rotation pair connected with the universal pair and the motion branched chain is vertical to the axis of a moving pair of the motion branched chain.
The motion platform is in a stacked shape of two circular plates, the two circular plates are completely the same in size and shape, a hole is formed in the center of each circular plate, the two circular plates are connected through a center hole by a rotating pair, and the rotating pair is named as a motion platform center rotating pair. A universal pair is arranged at the position where any diameter of each circular plate is intersected with the circumference, and the axis of a rotating pair connected with the universal pair and the circular plate is positioned in the plane of the circular plate and is vertical to the connecting line of the centers of the two universal pairs of the circular plate; the axis of a rotation pair connected with the universal pair and the motion branched chain is vertical to the axis of a moving pair of the motion branched chain.
And two ends of the UPU moving branched chain are connected with the fixed platform and the universal pair on the moving platform. And a movable pair in the movable branched chain adopts a movable electric cylinder structure to drive the movable platform to complete a set task.
And motors are additionally arranged on the fixed platform center revolute pair and the moving platform revolute pair. Before the mechanism starts to work, after the rotating angle of the central rotating pair of the movable/fixed platform is driven to a proper value, the joint of the central rotating pair is locked, and the mechanism starts to execute the work task. And after the work task is finished, adjusting the angle of the central revolute pair and executing the next task. In the process of adjusting the central revolute pair, the driving parameters of the upper and lower central revolute pair motors are completely the same. Namely, the central connecting line of the upper universal pair of the opposite side moving branched chain is kept parallel to the central connecting line of the lower universal pair.
The invention provides a redundant drive 4UPU-R parallel mechanism with a variable working space, which is characterized in that: the angle of the central revolute pair is adjusted to realize the adaptability change of the working space of the mechanism according to the task requirement. The movable platform can realize the movement property of three-translation, and four movement branched chains are adopted to improve the rigidity and simultaneously avoid the occurrence of the mechanism singular phenomenon: in the mechanism production and manufacturing stage, the lengths of the connecting lines of the universal pairs at the opposite sides of the upper platform and the lower platform are kept different, so that the mechanism working space is a non-singular working space.
The redundancy drive 4UPU-R parallel mechanism with the variable working space has the following advantages:
1. the structure is symmetrical and simple, the assembly is easy, the processing cost is low, and the modularized production is easy to realize.
2. The motor of the central revolute pair is far away from the driving branched chain, so that the inertia force of the branched chain is reduced, and the mechanism has good motion and dynamic performance.
3. The redundant driving characteristic is provided, the rigidity of the mechanism is greatly improved, and no singular area exists in the working space.
4. The structural parameters of the mechanism can be changed according to task requirements, the change of a working space is realized, and the multi-task adaptability is realized.
Drawings
FIG. 1 is a schematic view of the structure of the present invention
In the figure, 1-fixed platform, 2-moving platform, α1Fixed platform center revolute pair angle, α2-moving platform center revolute pair angle, O-stationary platform center point, O' -moving platform center point, ax-centre point of gimbal pair under x-th kinematic branch, Bx-center point of gimbal pair on x-th kinematic branch, rx1-axis r of revolute pair of lower universal pair of x-th kinematic branch chain connected with fixed platformx2-axis of revolute pair, r, of lower gimbal pair of the xth kinematic branch chain connected to the kinematic branch chainx3-the axis of a revolute pair, r, of the revolute pair connected with the motion platform by a universal pair on the x-th motion branch chainx4And a rotating pair axis of the universal pair connected with the moving branched chain is arranged on the x-th moving branched chain, wherein x is 1-4.
Detailed Description
In the 4UPU-R parallel machine tool shown in figure 1, a first moving branch chain, a second moving branch chain, a third moving branch chain and a fourth moving branch chain respectively pass through a universal pair A1、A2、A3、A4Is connected with the fixed platform and passes through a universal pair B1、B2、B3、B4Is connected with the motion platform. Wherein, the axes of the revolute pairs connected with the movable/fixed platform and the contralateral movement branched chain universal pair are parallel to each other and are perpendicular to the central connecting line of the respective universal pairs, namely r11∥r31⊥A1A3，r21∥r41⊥A2A4，r13∥r33⊥B1B3，r23∥r43⊥B2B4(ii) a The axes of the rotation pair connected with the motion branched chain by the upper and lower universal pairs are parallel to each other and are vertical to the axis of the movement pair of the motion branched chain, namely r12∥r14⊥A1B1，r22∥r24⊥A2B2，r32∥r34⊥A3B3，r42∥r44⊥A4B4(ii) a The two long rectangular plates of the fixed platform and the two circular plates of the moving platform have the same size and shape, and the upper and lower centers rotateThe pair being centred on the moving/stationary platform, i.e. A1A3＝A2A4＝2*A1O＝2*A2O＝2*A3O＝2*A4O，B1B3＝B2B4＝2*A1O＝2*A2O＝2*A3O＝2*A4O, α, wherein the central revolute pair motors have the same drive parameters, namely the connecting line of the centers of the upper universal pair and the lower universal pair of the opposite side kinematic branched chain is parallel1＝α2Or A1A3∥B1B3，A2A4∥B2B4. When the device is used, the bottom of the fixed platform is arranged on the fixed support, the corresponding device is arranged on the upper part of the moving platform, and after the angle of the central revolute pair is adjusted, tasks such as multi-task and high-precision machining and carrying can be completed.
Claims (1)
1. A variable working space redundancy drive 4UPU-R parallel mechanism comprises a fixed platform, a moving platform and four UPU moving branch chains connected with the moving/fixed platform; each moving branched chain is provided with a universal pair, a moving pair and a universal pair from top to bottom, the structural sizes of the moving branched chains are the same, and two ends of each moving branched chain are respectively connected with the fixed platform and the moving platform through the universal pairs;
the fixed platform is in a cross shape of two long rectangular plates, the two rectangular plates are completely the same in size and shape, a hole is formed in the central part, the two rectangular plates are connected through a central hole by a rotating pair, and the rotating pair is named as a fixed platform central rotating pair; universal pairs are mounted at the side length center positions of two sides of each long rectangular plate, and the axes of the rotary pairs connected with the rectangular plates are positioned in the plane of the rectangular plate and are perpendicular to the connecting line of the centers of the two universal pairs of the long rectangular plate; the axis of a rotation pair connected with the universal pair and the motion branched chain is vertical to the axis of a moving pair of the motion branched chain;
the motion platform is formed by stacking two circular plates, the two circular plates are identical in size and shape, a hole is formed in the center of each circular plate, the two circular plates are connected through a center hole by a rotating pair, and the rotating pair is named as a motion platform center rotating pair; a universal pair is arranged at the position where any diameter of each circular plate is intersected with the circumference, and the axis of a rotating pair connected with the universal pair and the circular plate is positioned in the plane of the circular plate and is vertical to the connecting line of the centers of the two universal pairs of the circular plate; the axis of a rotation pair connected with the universal pair and the motion branched chain is vertical to the axis of a moving pair of the motion branched chain;
two ends of the UPU moving branched chain are connected with the fixed platform and the universal pair on the moving platform; the moving pair in the moving branched chain adopts a moving electric cylinder structure to drive the moving platform to complete a set task;
the fixed platform center revolute pair and the moving platform center revolute pair are additionally provided with motors; before the mechanism starts a work task, after the rotating angle of the central rotating pair of the movable/fixed platform is driven to a proper value, the joint of the central rotating pair is locked, and the mechanism starts to execute the work task; after the work task is finished, adjusting the angle of the central revolute pair to execute the next task; in the process of adjusting the central revolute pair, the driving parameters of the motors of the upper and lower central revolute pairs are completely the same, namely, the central connecting line of the upper universal pair of the opposite side movement branched chain is kept parallel to the central connecting line of the lower universal pair.
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| CN110125919B (en) * | 2019-06-26 | 2021-02-05 | 燕山大学 | Three-degree-of-freedom redundant drive parallel mechanism with large rotation angle |
| CN111267078B (en) * | 2020-04-02 | 2021-09-07 | 燕山大学 | Independently-controlled two-rotation one-shift redundant drive parallel mechanism |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
| CN117446163B (en) * | 2023-12-22 | 2024-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Redundancy tilting control mechanism of tilting rotorcraft |
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| TWI448969B (en) * | 2011-02-16 | 2014-08-11 | Chang Jung Christian University | Three - axis dynamic simulation platform system and its control method |
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| CN1958228A (en) * | 2006-11-29 | 2007-05-09 | 哈尔滨工业大学 | Parallel mechanism with four degrees of freedom |
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