CN109079757B - Three-degree-of-freedom parallel mechanism applied to teleoperation master hand - Google Patents
Three-degree-of-freedom parallel mechanism applied to teleoperation master hand Download PDFInfo
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- CN109079757B CN109079757B CN201810974973.3A CN201810974973A CN109079757B CN 109079757 B CN109079757 B CN 109079757B CN 201810974973 A CN201810974973 A CN 201810974973A CN 109079757 B CN109079757 B CN 109079757B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
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Abstract
The invention relates to a three-degree-of-freedom parallel mechanism applied to a teleoperation main hand, belongs to the technical field of teleoperation main hands, and solves the problems of small output force, large inertia, low rigidity, and complex structure and processing and assembling processes of the existing teleoperation main hand. The three-degree-of-freedom parallel mechanism comprises a base and three driving branched chains, wherein a shaft seat groove is formed in the center of the base, and a shaft seat is rotatably connected in the shaft seat groove; the passive restraint connecting rod can penetrate through the shaft seat and move along the axis of the passive restraint connecting rod; the driving branched chain comprises a first driving connecting rod and a second driving connecting rod, and the two driving connecting rods are connected through a connecting rod ball pair; the first driving connecting rod is installed on the periphery of the base through the driving rotating shaft, and the second driving connecting rod is connected with the passive restraint connecting rod through the connecting piece ball pair. The three-degree-of-freedom parallel mechanism can be widely applied to the technical fields of three-dimensional modeling, touch simulation, teleoperation, virtual reality and the like.
Description
Technical Field
The invention relates to the technical field of teleoperation main hands, in particular to a three-degree-of-freedom parallel mechanism applied to the teleoperation main hands.
Background
The force feedback master hand is a key device of a master-slave teleoperation robot system, is an input device for real-time motion control of a slave manipulator, and becomes a force perception/interface device when the master hand provides interaction force between the slave hand and an unknown environment to an operator. Force feedback refers to the process in which a computer responds to user input and acts on a user through a force feedback device during human-computer interaction. At present, force feedback teleoperation master hand equipment is widely applied to the technical fields of three-dimensional modeling, touch simulation, teleoperation, virtual reality, medical surgery and the like.
At present, commercial force feedback equipment usually adopts a series mechanism or a parallel mechanism, but the force feedback equipment adopting the series mechanism has the defects of small output force, small rigidity, low pose resolution and the like; the force feedback device adopts the most parallel mechanism as a Delta mechanism, the Delta parallel mechanism is the parallel robot which can realize pure plane motion and is firstly proposed by Clavel in 1985, a parallelogram mechanism is adopted in a motion branched chain to restrict the rotational freedom degree of a motion platform, Clavel in 1988 proposes the Delta parallel robot which comprises a spherical four-bar mechanism in a branch, the Delta parallel robot is regarded as a milestone of a three-freedom-degree mobile parallel mechanism, the mechanism comprises 12 ball pairs, 9 rotating pairs and 17 members and is very suitable for completing the taking and releasing operation of small-mass objects, however, the existing Delta three-freedom-degree parallel mechanism adopts three groups of parallelogram rods as branched chains, and the three-freedom-degree parallel mechanism has the problems of more connecting rods, complex structure, complex processing and assembly, relatively large inertia and low mechanical rigidity.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a three-degree-of-freedom parallel mechanism applied to a teleoperation master hand, so as to solve the problems of small output force, large inertia, low rigidity, and complex structure and processing and assembling processes of the existing parallel mechanism of the teleoperation master hand.
The purpose of the invention is mainly realized by the following technical scheme:
a three-degree-of-freedom parallel mechanism applied to a teleoperation master hand comprises a base and three driving branched chains, wherein a shaft seat groove is formed in the center of the base, and a shaft seat is rotatably connected in the shaft seat groove;
the passive restraint branched chain comprises a passive restraint connecting rod, and the passive restraint connecting rod can penetrate through the shaft seat and move along the axis of the passive restraint connecting rod;
the driving branched chain comprises a first driving connecting rod and a second driving connecting rod, and the first driving connecting rod and the second driving connecting rod are connected through a connecting rod ball pair;
the first driving connecting rod is installed on the periphery of the base through the driving rotating shaft, and the second driving connecting rod is connected with the passive restraint connecting rod through the connecting piece ball pair.
Further, the shaft seat comprises a first shaft seat and a second shaft seat, the first shaft seat is connected with the shaft seat groove through a first shaft seat rotating shaft, and the first shaft seat and the second shaft seat are connected through a second shaft seat rotating shaft.
Further, the passive restraint connecting rod is connected with the rotating shaft of the second shaft base through a moving pair.
Furthermore, the first shaft base rotating shaft and the second shaft base rotating shaft are arranged perpendicularly, and the moving pair is arranged perpendicularly to the second shaft base rotating shaft.
Further, the base is in an equilateral triangle structure or a circular structure.
Further, the passive restraint connecting rod is fixedly provided with a connecting piece, and the section of the connecting piece, which is perpendicular to the axis, is circular, regular triangular or regular hexagonal.
Furthermore, the number of the connecting piece ball pairs is three, and the three connecting piece ball pairs are uniformly distributed on the periphery of the connecting piece;
the driving rotating shafts are three and are uniformly distributed on the periphery of the base.
Further, the length of the second driving connecting rod is greater than that of the first driving connecting rod.
Further, the second drive link is made of a carbon fiber material.
Further, the first driving connecting rod is a square rod, and the second driving connecting rod is a circular rod; the passive restraint connecting rod is a square rod
The invention has the following beneficial effects:
a) the three-degree-of-freedom parallel mechanism of the teleoperation master hand has four branched chains, wherein three branched chains are driving branched chains, each driving branched chain is provided with a revolute pair and two ball pairs, the revolute pair is a driving pair, the three-degree-of-freedom parallel mechanism also comprises a passive constraint branched chain, and the three-degree-of-freedom parallel mechanism is provided with two revolute pairs and a moving pair.
b) The three-degree-of-freedom parallel mechanism applied to the teleoperation master hand provided by the invention has the advantages that each driving branched chain comprises two connecting rods, and the passive constraint branched chain is provided with one passive constraint branched chain connecting rod, so that the defects of more connecting rods and complex structure of the existing three-degree-of-freedom parallel mechanism with four-side branched chains are overcome.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic structural diagram of a three-degree-of-freedom parallel mechanism in an embodiment;
fig. 2 is a schematic structural diagram of a passive constrained branched chain of the three-degree-of-freedom parallel mechanism in the embodiment.
Reference numerals:
1. a base; 2. a drive branch; 2-1, driving a first connecting rod; 2-2, a second driving connecting rod; 2-3, connecting rod ball pair; 2-4, driving a rotating shaft; 3. passively constraining the branched chains; 3-1, a passive restraint connecting rod; 3-2, a first shaft seat, 3-3 and a second shaft seat; 3-4, rotating the first shaft seat; 3-5, a second shaft seat rotating shaft; 3-6, moving pair; 4. a connecting member; 5. the connecting piece ball is vice.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
A specific embodiment of the present invention, as shown in fig. 1 to 2, discloses a three-degree-of-freedom parallel mechanism applied to a teleoperation master hand, which includes a base 1 and three driving branched chains 2, wherein a shaft seat slot is arranged at the center of the base 1, and a shaft seat is rotatably connected in the shaft seat slot; the passive restraint branched chain comprises a passive restraint connecting rod 3-1, and the passive restraint connecting rod 3-1 can penetrate through the shaft seat and move in the shaft seat; the driving branched chain 2 comprises a driving connecting rod I2-1 and a driving connecting rod II 2-2, and the driving connecting rod I2-1 and the driving connecting rod II 2-2 are connected through a connecting rod ball pair 2-3; the driving connecting rod I2-1 is arranged on the periphery of the base 1 through a driving rotating shaft 2-4, and the driving connecting rod II 2-2 is connected with the passive restraint connecting rod 3-1 through a connecting piece ball pair 5.
In implementation, the three driving branched chains 2 are driven by a motor or other drivers, preferably by the motor, the motor drives the driving connecting rods one 2-1 of the three driving branched chains 2, the three driving connecting rods one 2-1 drive the driving connecting rods two 2-2 to move together, so that the passive restraint branched chains 3 rotate along with the shaft base or move in the shaft base under the driving of the driving branched chains 2, and the motion trail of the passive restraint branched chains 3 is a space quadrangle. The passive restraint branched chain 3 has three degrees of freedom, the three driving branched chains 2 all have seven degrees of freedom, and the driving branched chain 2 is connected with the passive restraint branched chain 3 through the connecting piece ball pair 5, so that the parallel mechanism has three degrees of freedom of movement.
Compared with the prior art, the three-degree-of-freedom parallel mechanism applied to the teleoperation master hand provided by the embodiment has four branched chains, wherein three branched chains are driving branched chains 2, each driving branched chain 2 comprises two connecting rods, a revolute pair and two ball pairs, wherein the revolute pair is the driving pair, the three-degree-of-freedom parallel mechanism further comprises a passive constraint branched chain 3 which is provided with two revolute pairs and a moving pair 3-6, and the four branched chains comprise two connecting rods. The three-degree-of-freedom parallel mechanism has the advantages of ingenious design structure, more compact structure, large output force, small inertia, high rigidity, high position precision, high response speed and the like, and meanwhile, the three-degree-of-freedom parallel mechanism is simple in processing and assembling process, can obviously reduce the production cost, and has wide application prospect.
In order to improve the rotation flexibility and the rotation range of the shaft seat, the shaft seat comprises a first shaft seat 3-2 and a second shaft seat 3-3, the first shaft seat 3-2 and the second shaft seat 3-3 are both in a round structure or a square structure, the size of the first shaft seat 3-2 is larger than that of the second shaft seat 3-3, and the first shaft seat 3-2 is connected with a shaft seat groove through a first shaft seat rotation shaft 3-4 so as to be connected to the base 1, so that the first shaft seat 3-2 can rotate relative to the base 1 around the first shaft seat rotation shaft 3-4; the first shaft seat 3-2 and the second shaft seat 3-3 are connected through the second shaft seat rotating shaft 3-5, so that the second shaft seat 3-3 can rotate around the second shaft seat rotating shaft 3-5 relative to the first shaft seat rotating shaft 3-4, namely the second shaft seat 3-3 can rotate inside the first shaft seat 3-2, the rotating flexibility of the shaft seat is improved, and the rotating range is expanded.
In the embodiment, the passive restraint connecting rod 3-1 is connected with the second shaft seat rotating shaft 3-5 through the moving pair 3-6, the passive restraint connecting rod 3-1 can move relative to the second shaft seat rotating shaft 3-5 along the moving pair 3-6, and the passive restraint connecting rod 3-1 moves along the axis of the passive restraint connecting rod 3-1 in the second shaft seat 3-3.
In order to improve the stability of the parallel mechanism, the first shaft seat rotating shaft 3-4 and the second shaft seat rotating shaft 3-5 are vertically arranged, and the moving pair 3-6 and the second shaft seat rotating shaft 3-5 are vertically arranged, so that the driving force applied to the passive restraint branched chain 3 by the three driving branched chains 2 is the same, the stress of the passive restraint branched chain 3 is more balanced, and the stability of the parallel mechanism is improved.
In order to improve the motion precision of the parallel mechanism, the size of the passive restraint connecting rod 3-1 is the same as that of the shaft seat II 3-3, the passive restraint connecting rod 3-1 can just penetrate through the shaft seat II 3-3, no gap or a small gap is formed between the passive restraint connecting rod 3-1 and the inner wall of the shaft seat II 3-3, and the passive restraint connecting rod 3-1 can move in the shaft seat II 3-3 along the axis of the passive restraint connecting rod 3-1, so that the phenomenon that the passive restraint connecting rod 3-1 shakes in the shaft seat II 3-3, namely the precision is influenced by the fact that the passive restraint connecting rod 3-1 deviates from the axis of the passive restraint connecting rod 3-1. In the embodiment, the first shaft seat rotating shaft 3-4, the second shaft seat rotating shaft 3-5 and the moving pair 3-6 are driven pairs.
In order to facilitate the connection of the three driving branched chains 2 and the passive restraint branched chain 3, a connecting piece 4 is fixedly arranged on the passive restraint connecting rod 3-1, the section of the connecting piece, which is vertical to the axis of the passive restraint connecting rod 3-1, is a rotationally symmetrical figure, preferably a circle, a regular triangle or a regular hexagon, the number of connecting piece ball pairs 5 is three, and the three connecting piece ball pairs 5 are uniformly distributed on the periphery of the connecting piece 4 in consideration of the high symmetry of all parts of the parallel mechanism; three connecting piece ball pairs 5 connected with the three driving branched chains 2 and the passive constraint branched chains 3 are positioned in the same plane, the plane where the three connecting piece ball pairs 5 are positioned is vertical to the axis of the passive constraint connecting rod 3-1, and the three connecting piece ball pairs 5 are uniformly distributed on the same circumference at 120 degrees.
In order to improve the operation stability of the parallel mechanism, the base 1 is in a circular structure or an equilateral triangle structure, a shaft seat groove is arranged in the center of the circular structure or the equilateral triangle structure, the number of the driving rotating shafts 2-4 is three, the three driving rotating shafts 2-4 are uniformly distributed on the periphery of the base 1, and the axes of the three driving rotating shafts 2-4 are mutually 120 degrees. If the base is of a 1-bit circular structure, the driving rotating shafts 2-4 are arranged on the outer circumference of the base 1, the revolute pairs of the three driving branched chains 2 are arranged in the same plane and are uniformly distributed on the same circumference at 120 degrees, and if the base is of a 1-bit equilateral triangle structure, the driving rotating shafts 2-4 are arranged at the corners of the triangle structure, the base 1 of the structure can ensure that the force of each driving branched chain 2 for driving the passive restraint branched chain 3 is more balanced, and the accuracy and the stability of the parallel mechanism are improved. In this embodiment, the three driving rotation shafts 2-4 are driving pairs, and the three connecting member ball pairs 5 and the three connecting rod ball pairs 2-3 are driven pairs.
In order to improve the driving effect of the driving branched chain 2, the length of the driving connecting rod one 2-1 is not suitable to be too long, because under the condition that the output power of the driving motor is certain, the longer the driving connecting rod one 2-1 is relative to the driving connecting rod two 2-2, the smaller the force transmitted to the driving connecting rod two 2-2 is, preferably, the length of the driving connecting rod two 2-2 is greater than the length of the driving connecting rod one 2-1, and the length of the passive constraint connecting rod 3-1 is selected according to the actual requirement, so that under the condition that the output power of the driving motor is certain, the driving connecting rod two 2-2 can be ensured to have enough driving force, the defects that the driving motor with high power is not easy to control and the stability is poor are overcome, and the parallel mechanism of the embodiment can realize the accurate control.
In order to reduce the inertia of the parallel mechanism, for the three driving branched chains 2, because two ends of the driving connecting rod 2-2 are both ball pairs, the driving connecting rod 2-2 is a two-force rod, the driving connecting rod 2-2 is made of a material with light weight and high tension and compression rigidity, and preferably made of a carbon fiber material, so that the mechanical rigidity of the parallel mechanism can be increased, and the inertia of the parallel mechanism can be reduced. The first driving connecting rod 2-1 is made of steel materials or carbon fiber materials.
In the embodiment, the first driving connecting rod 2-1 is a square rod, the second driving connecting rod 2-2 is a round rod, and the second driving connecting rod 2-2 is arranged on one side of the end part of the first driving connecting rod 2-1 through the connecting rod ball pair 2-3, so that the structure can avoid the generation of rotation interference, and the first driving connecting rod 2-1 and the second driving connecting rod can rotate more smoothly; the passive restraint connecting rod 3-1 is a square rod which can prevent the connecting piece 4 from rotating relatively and can also prevent the connecting piece 4 from sliding relative to the passive restraint connecting rod 3-1 due to the driving of the driving branched chain 2 in the working process of the parallel mechanism, so that the accuracy is influenced.
In order to avoid the movement or rotation of the connecting piece 4 relative to the passive restraint connecting rod 3-1, the connecting piece 4 and the passive restraint connecting rod 3-1 are integrally formed or welded, so that the generation of relative movement can be effectively avoided, and the movement precision is ensured. The connecting piece 4 can also be detachably connected to the passive restraint connecting rod 3-1, for example, the passive restraint connecting rod 3-1 is provided with a clamping part, the connecting piece 4 is provided with a limiting part, the clamping part and the limiting part are matched to limit the relative movement or rotation between the connecting piece 4 and the passive restraint connecting rod 3-1, and the connecting piece 4 is fixed on the passive restraint connecting rod 3-1.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A three-degree-of-freedom parallel mechanism applied to a teleoperation master hand comprises a base and three driving branched chains, and is characterized in that a shaft seat groove is formed in the center of the base, and a shaft seat is rotatably connected in the shaft seat groove;
the passive restraint branched chain comprises a passive restraint connecting rod, and the passive restraint connecting rod can penetrate through the shaft seat and move along the axis of the passive restraint connecting rod;
the driving branched chain comprises a first driving connecting rod and a second driving connecting rod, and the first driving connecting rod and the second driving connecting rod are connected through a connecting rod ball pair;
the first driving connecting rod is arranged on the periphery of the base through a driving rotating shaft, and the second driving connecting rod is connected with the passive restraint connecting rod through a connecting piece ball pair;
the passive restraint connecting rod is fixedly provided with a connecting piece, and the section of the connecting piece, which is vertical to the axis of the passive restraint connecting rod, is a rotationally symmetric figure;
the number of the connecting piece ball pairs is three, and the three connecting piece ball pairs are uniformly distributed on the periphery of the connecting piece;
the three driving rotating shafts are uniformly distributed on the periphery of the base;
the passive restraint branched chain has three degrees of freedom, and the three driving branched chains each have seven degrees of freedom;
the first driving connecting rod is a square rod, and the second driving connecting rod is a circular rod; the passive restraint connecting rod is a square rod;
the second driving connecting rod is arranged on one side of one end part of the first driving connecting rod through a connecting rod ball pair.
2. The three-degree-of-freedom parallel mechanism applied to the teleoperated main hand according to claim 1, wherein the shaft seat comprises a first shaft seat and a second shaft seat, the first shaft seat is connected with the shaft seat groove through a first shaft seat rotating shaft, and the first shaft seat and the second shaft seat are connected through a second shaft seat rotating shaft.
3. The three-degree-of-freedom parallel mechanism applied to the teleoperation main hand according to claim 2, wherein the passive constraint connecting rod is connected with the rotating shaft of the second shaft base through a moving pair.
4. The three-degree-of-freedom parallel mechanism applied to the teleoperation main hand according to claim 3, wherein the first axis seat rotating shaft and the second axis seat rotating shaft are arranged perpendicularly, and the moving pair is arranged perpendicularly to the second axis seat rotating shaft.
5. The three-degree-of-freedom parallel mechanism applied to a teleoperated master hand of claim 1, wherein the base is of an equilateral triangle structure or a circular structure.
6. The three-degree-of-freedom parallel mechanism applied to the teleoperation master hand is characterized in that the passive constraint connecting rod is fixedly provided with a connecting piece, and the section of the connecting piece, which is perpendicular to the axis, is a circle, a regular triangle or a regular hexagon.
7. The three-degree-of-freedom parallel mechanism applied to a teleoperated master hand according to claim 1, wherein the length of the second driving link is greater than the length of the first driving link.
8. The three-degree-of-freedom parallel mechanism applied to the teleoperated master hand according to any one of claims 1 to 7, wherein the second driving link is made of a carbon fiber material.
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| CN201810974973.3A CN109079757B (en) | 2018-08-24 | 2018-08-24 | Three-degree-of-freedom parallel mechanism applied to teleoperation master hand |
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| CN201810974973.3A CN109079757B (en) | 2018-08-24 | 2018-08-24 | Three-degree-of-freedom parallel mechanism applied to teleoperation master hand |
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| CN109079757B true CN109079757B (en) | 2020-07-03 |
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| CN110142759B (en) * | 2019-04-19 | 2021-06-25 | 航天时代电子技术股份有限公司 | Wheel type stopping force feedback control method and device and wearable equipment |
| CN114131596B (en) * | 2021-11-22 | 2024-07-09 | 北京空间机电研究所 | Six-degree-of-freedom parallel mechanism pose resolution analysis method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100381248C (en) * | 2005-02-06 | 2008-04-16 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
| CN102049786A (en) * | 2009-11-05 | 2011-05-11 | 鸿富锦精密工业（深圳）有限公司 | Rotating mechanism and robot with same |
| CN102581848B (en) * | 2012-03-21 | 2014-04-30 | 天津大学 | Parallel positioning platform with three-rotation one-translation freedom degree |
| DE102013001110A1 (en) * | 2013-01-22 | 2014-08-07 | Weber Maschinenbau Gmbh Breidenbach | Robot with a handling unit |
| CN104511896B (en) * | 2013-09-28 | 2016-02-10 | 沈阳新松机器人自动化股份有限公司 | A kind of automation collaborative parallel operation device |
| CN204278037U (en) * | 2014-11-26 | 2015-04-22 | 深圳控石智能系统有限公司 | A kind of disconnection warning Delta robot arm |
| CN106903677B (en) * | 2017-04-21 | 2019-02-19 | 北京交通大学 | A kind of structural redundancy parallel institution with two rotations, one movement |
| CN207578396U (en) * | 2017-12-08 | 2018-07-06 | 福州大学 | A kind of 2R1T three freedom redundancies driven Parallel Kinematic Manipulator |
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