CN109015604B - Two-movement one-rotation three-freedom-degree parallel mechanism - Google Patents
Two-movement one-rotation three-freedom-degree parallel mechanism Download PDFInfo
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- CN109015604B CN109015604B CN201811067716.8A CN201811067716A CN109015604B CN 109015604 B CN109015604 B CN 109015604B CN 201811067716 A CN201811067716 A CN 201811067716A CN 109015604 B CN109015604 B CN 109015604B
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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
Abstract
The invention discloses a two-movement one-rotation three-degree-of-freedom parallel mechanism which comprises a fixed platform and a movable platform, wherein the fixed platform is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain respectively, the first branched chain comprises a sliding pair P11 connected to the fixed platform, a sliding pair P11 is sequentially connected with a third connecting rod and a sliding pair P12, the second connecting rod, a sliding pair P13, the first connecting rod, a sliding pair R14 and a sliding pair R15, the sliding pair R15 is connected to the movable platform, the sliding pair R14 and the sliding pair R15 are connected to form a universal hinge, and a motor is connected to the sliding pair P11. The parallel mechanism disclosed by the invention solves the problems of complexity and single movement mode caused by multiple degrees of freedom of the parallel mechanism. The method has certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a two-movement one-rotation three-degree-of-freedom parallel mechanism.
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.
The parallel mechanism with multiple motion modes has the characteristic of motion bifurcation under the singular configuration of the mechanism, and can realize multiple motion modes through fewer driving pairs and branched chains, thereby being suitable for different work requirements. And the movement mode of the mechanism is changed without reassembling the mechanism, and the movement mode is high in changing speed and simple and convenient in process.
At present, three-degree-of-freedom parallel mechanisms with three movement modes, namely three movements, two movements and one rotation (the rotation axis is vertical to the movement plane), and two movements and one rotation (the rotation axis is parallel to the movement plane) are rare. The novel parallel mechanism has a certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
Disclosure of Invention
The invention aims to provide a two-movement one-rotation three-degree-of-freedom parallel mechanism, which solves the problems of complex structure and single motion mode caused by multiple degrees of freedom of the parallel mechanism. The parallel mechanism has three motion modes, and has the characteristics of high rigidity, high accuracy and strong flexibility.
The invention adopts the technical scheme that the two-movement one-rotation three-degree-of-freedom parallel mechanism comprises a fixed platform and a movable platform, wherein the fixed platform is connected with the movable platform through a first branched chain, a second branched chain and a third branched chain respectively;
the first supporting chain comprises a sliding pair P11 connected to the fixed platform, the sliding pair P11 is sequentially connected with a third connecting rod, a sliding pair P12, a second connecting rod, a sliding pair P13, a first connecting rod, a revolute pair R14 and a revolute pair R15, the revolute pair R15 is connected to the movable platform, the revolute pair R14 and the revolute pair R15 are connected to form a universal hinge, and a motor is connected to the sliding pair P11.
Yet another feature of the present invention is that,
the axis of the sliding pair P11, the axis of the sliding pair P12 and the axis of the sliding pair P13 are mutually perpendicular in pairs.
The second branched chain comprises a sliding pair P21 connected to the fixed platform, a sliding pair P21 is sequentially connected with a sixth connecting rod, a sliding pair P22, a fifth connecting rod, a sliding pair P23, a fourth connecting rod, a revolute pair R24 and a revolute pair R25, a revolute pair R25 is connected to the movable platform, and a revolute pair R24 and a revolute pair R25 are connected to form a universal hinge.
The axis of the sliding pair P21, the axis of the sliding pair P22 and the axis of the sliding pair P23 are mutually perpendicular in pairs.
The sliding pair P21 is connected with a motor.
The third branched chain comprises a revolute pair R31 connected to the fixed platform, a revolute pair R31 is sequentially connected with a revolute pair R32, an eighth connecting rod, a revolute pair P33, a seventh connecting rod, a revolute pair R34 and a revolute pair R35, a revolute pair R31 is connected with a revolute pair R32 to form a universal hinge, and a revolute pair R34 is connected with a revolute pair R35 to form a universal hinge.
The axis of the sliding pair P33 is along any direction of space, and a motor is connected to the sliding pair P33.
The revolute pair R31 is connected with a motor.
The parallel mechanism has three motion modes, namely three motions, two motions and one rotation (the rotation axis is vertical to the motion plane), and two motions and one rotation (the rotation axis is parallel to the motion plane); the mechanism has the characteristics of high rigidity, high accuracy and strong flexibility. The method has certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
Drawings
FIG. 1 is a schematic structural diagram of a two-movement one-rotation three-degree-of-freedom parallel mechanism according to the present invention;
FIG. 2 is a schematic structural diagram of a two-motion one-rotation three-degree-of-freedom parallel mechanism according to a first motion mode of the present invention;
FIG. 3 is a structural diagram of a two-motion one-rotation three-degree-of-freedom parallel mechanism according to a second motion mode of the present invention;
fig. 4 is a schematic structural diagram of a three-degree-of-freedom parallel mechanism with two movements and one rotation according to a third motion mode of the present invention.
In the figure, 1, a first connecting rod, 2, a second connecting rod, 3, a third connecting rod, 4, a fourth connecting rod, 5, a fifth connecting rod, 6, a sixth connecting rod, 7, a seventh connecting rod, 8, an eighth connecting rod, 9, a fixed platform and 10, a movable platform.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a two-movement one-rotation three-degree-of-freedom parallel mechanism, which comprises a fixed platform 9 and a movable platform 10, wherein the fixed platform 9 is connected with the movable platform 10 through a first branched chain, a second branched chain and a third branched chain respectively, as shown in figure 1.
The first support chain comprises a sliding pair P11 connected to the fixed platform 9, a sliding pair P11 is sequentially connected with a third connecting rod 3, a sliding pair P12, a second connecting rod 2 and a sliding pair P13, a first connecting rod 1, a rotating pair R14 and a rotating pair R15, a rotating pair R15 is connected to the movable platform 10, and a rotating pair R14 and a rotating pair R15 are connected to form a universal hinge.
The third link 3 is an 'L' -shaped link, the second link 2 is an 'L' -shaped link, and the axis of the sliding pair P11, the axis of the sliding pair P12 and the axis of the sliding pair P13 are mutually perpendicular in pairs.
A motor is connected to the sliding pair P11 as a sliding drive pair.
The second branched chain comprises a sliding pair P21 connected to the fixed platform 9, a sliding pair P21 is sequentially connected with a sixth connecting rod 6, a sliding pair P22, a fifth connecting rod 5, a sliding pair P23, a fourth connecting rod 4, a revolute pair R24 and a revolute pair R25, a revolute pair R25 is connected to the movable platform 10, and a revolute pair R24 and a revolute pair R25 are connected to form a universal hinge.
The fifth connecting rod 5 is an L-shaped connecting rod, the sixth connecting rod 6 is an L-shaped connecting rod, and the axis of the sliding pair P21, the axis of the sliding pair P22 and the axis of the sliding pair P23 are mutually perpendicular in pairs.
A motor is connected to the sliding pair P21 as a sliding drive pair.
The third branched chain comprises a revolute pair R31 connected to the fixed platform 9, a revolute pair R31 is sequentially connected with a revolute pair R32, an eighth connecting rod 8, a revolute pair P33, a seventh connecting rod 7, a revolute pair R34 and a revolute pair R35, a revolute pair R31 and a revolute pair R32 are connected to form a universal hinge, and a revolute pair R34 and a revolute pair R35 are connected to form a universal hinge.
The axis of the sliding pair P33 is along any direction in space, and a motor is connected to the sliding pair P33 as a sliding driving pair.
The revolute pair R31 is connected to a motor as a revolute drive pair.
According to the two-movement one-rotation three-degree-of-freedom parallel mechanism, under the mechanism configuration shown in fig. 1, the axis of a revolute pair R15 in a first branched chain is along the y-axis direction, the axis of a revolute pair R14 is along the x-axis direction, the axis of a revolute pair P13 is along the z-axis direction, the axis of a revolute pair P12 is along the y-axis direction, and the axis of a revolute pair P11 is along the x-axis direction; the axis of the revolute pair R25 in the second branched chain is along the x-axis direction, the axis of the revolute pair R24 is along the y-axis direction, the axis of the revolute pair P23 is along the z-axis direction, the axis of the revolute pair P22 is along the x-axis direction, and the axis of the revolute pair P21 is along the y-axis direction; the axis of the revolute pair R35 in the third branch is along the z-axis direction, the axis of the revolute pair R34 is along the y-axis direction, the axis of the revolute pair P33 is along any direction of the xoz plane, the axis of the revolute pair R32 is along the y-axis direction, and the axis of the revolute pair R31 is along the x-axis direction.
In the mechanism configuration shown in fig. 1, the two-movement one-rotation three-degree-of-freedom parallel mechanism of the present invention has two degrees of freedom of movement and two degrees of freedom of rotation. The two degrees of freedom of movement are in the plane of xoz, one degree of freedom of rotation is a degree of freedom of rotation about the axis of the revolute pair R31, and the other degree of freedom of rotation is a degree of freedom of rotation along a direction parallel to the y axis, the mechanism shown in fig. 1 has a movement pattern which is instantaneous, and controls the kinematic pair P11 in the first branch, the kinematic pair P21 in the second branch, the kinematic pair R31 in the third branch and the kinematic pair P33, so that after the rotary platform 10 rotates about the y axis, the parallel mechanism has two degrees of freedom of movement along the plane xoz and a degree of freedom of rotation about the y axis, and at the time, the parallel mechanism has 3 degrees of freedom, and controls the kinematic pair P11 in the first branch, the kinematic pair P21 in the second branch 2 and the kinematic pair P33 in the third branch, and the parallel mechanism can be controlled in the above movement pattern.
When the movable platform 10 rotates 90 degrees around the y-axis, the parallel mechanism is in the mechanism configuration shown in fig. 2, the revolute pair R25 in the second branch chain is along the z-axis direction, and the revolute pair R35 is along the x-axis direction, and the movable platform 10 has three degrees of freedom of movement and three degrees of freedom of rotation around the y-axis. The mechanism shown in fig. 2 has a motion pattern that is instantaneous. When the sliding pair P11 in the first branch chain, the sliding pair P21 in the second branch chain, the revolute pair R31 in the third branch chain and the sliding pair P33 are controlled, so that the mechanism is in the configuration shown in fig. 3 after the movable platform 10 moves along the y axis, the rotation axes of the revolute pair R32 and the revolute pair R34 are no longer along the y axis direction, and at this time, the parallel mechanism has 3 degrees of freedom of movement. The parallel mechanism can be controlled in the motion mode by controlling the sliding pair P11 in the first branch chain, the sliding pair P21 in the second branch chain 2 and the sliding pair P33 in the third branch chain.
Under the mechanism configuration shown in fig. 1, the parallel mechanism controls the sliding pair P11 in the first branched chain, the sliding pair P21 in the second branched chain, the revolute pair R31 in the third branched chain and the sliding pair P33, so that after the movable platform 10 rotates around the axis of the revolute pair R31, the mechanism enters the configuration shown in fig. 4, under the configuration, the mechanism has one rotational degree of freedom and two degrees of freedom of movement along the axis of the revolute pair R31, and the plane of the two degrees of freedom of movement is the plane formed by the axes of the revolute pair R32 and the revolute pair R34. In the configuration of the mechanism shown in fig. 4, the movement plane and the rotation axis of the mechanism are parallel, and the parallel mechanism has two degrees of freedom of movement and one degree of freedom of rotation, and controls the sliding pair P11 in the first branch chain, the sliding pair P21 in the second branch chain 2 and the sliding pair P33 in the third branch chain, so that the parallel mechanism can be controlled in the above movement mode.
The parallel mechanism has three motion modes, and has the characteristics of high rigidity, high accuracy and strong dexterity compared with the existing parallel mechanism with more degrees of freedom, and the structure is simple. The parallel mechanism has three different motion modes, can meet the requirement that the same mechanism is used for generating multiple motion modes, and has a certain application prospect in the fields of motion simulation, machine assembly, sorting and grabbing, parallel machine tools and the like.
Claims (1)
1. A two-movement one-rotation three-degree-of-freedom parallel mechanism is characterized by comprising a fixed platform (9) and a movable platform (10), wherein the fixed platform (9) is connected with the movable platform (10) through a first branched chain, a second branched chain and a third branched chain respectively;
the first supporting chain comprises a sliding pair P11 connected to the fixed platform (9), the sliding pair P11 is sequentially connected with a third connecting rod (3), a sliding pair P12, a second connecting rod (2), a sliding pair P13, a first connecting rod (1), a revolute pair R14 and a revolute pair R15, the revolute pair R15 is connected to the movable platform (10), the revolute pair R14 and the revolute pair R15 are connected to form a universal hinge, and the sliding pair P11 is connected with a motor;
the axis of the sliding pair P11, the axis of the sliding pair P12 and the axis of the sliding pair P13 are mutually perpendicular in pairs;
the second branched chain comprises a sliding pair P21 connected to the fixed platform (9), the sliding pair P21 is sequentially connected with a sixth connecting rod (6), a sliding pair P22, a fifth connecting rod (5), a sliding pair P23, a fourth connecting rod (4), a revolute pair R24 and a revolute pair R25, the revolute pair R25 is connected to the movable platform (10), and the revolute pair R24 and the revolute pair R25 are connected to form a universal hinge;
the axis of the sliding pair P21, the axis of the sliding pair P22 and the axis of the sliding pair P23 are mutually perpendicular in pairs;
the sliding pair P21 is connected with a motor;
the third branched chain comprises a revolute pair R31 connected to the fixed platform (9), the revolute pair R31 is sequentially connected with a revolute pair R32, an eighth connecting rod (8), a revolute pair P33, a seventh connecting rod (7), a revolute pair R34 and a revolute pair R35, the revolute pair R31 and the revolute pair R32 are connected to form a universal hinge, and the revolute pair R34 and the revolute pair R35 are connected to form a universal hinge;
the axis of the sliding pair P33 is along any direction in space, and a motor is connected to the sliding pair P33; and the revolute pair R31 is connected with a motor.
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| 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 |
| 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 |
| CN110465923B (en) * | 2019-08-02 | 2022-02-25 | 西安工程大学 | Parallel mechanism with three-movement, two-movement one-rotation and two-rotation one-movement modes |
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| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN104002298B (en) * | 2014-05-12 | 2016-01-27 | 燕山大学 | A kind of two move a rotating decoupling parallel robot mechanism |
| CN104875188A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (2T1R)&(2R) Completely isotropic parallel serial robot mechanism |
| CN105965477B (en) * | 2016-05-17 | 2018-01-05 | 广西大学 | The symmetrical and asymmetric structure state parallel connection platform of restructural four |
| CN107498541B (en) * | 2017-09-20 | 2020-06-05 | 北京航空航天大学 | Two-translation-one-rotation three-freedom-degree parallel mechanism |
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Effective date of registration: 20210721 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 |