CN109333509B - Spherical coordinate type low coupling parallel mechanism - Google Patents
Spherical coordinate type low coupling parallel mechanism Download PDFInfo
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- CN109333509B CN109333509B CN201811323317.3A CN201811323317A CN109333509B CN 109333509 B CN109333509 B CN 109333509B CN 201811323317 A CN201811323317 A CN 201811323317A CN 109333509 B CN109333509 B CN 109333509B
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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 invention discloses a spherical coordinate type low-coupling parallel mechanism which comprises a static platform, a movable platform, simple branched chains I and II and complex branched chains, wherein the simple branched chains I and II are connected with the static/movable platform; the simple branched chain I comprises a hinge I with at least two degrees of freedom, a moving pair I and a ball pair I; the simple branched chain II comprises a hinge III with at least two degrees of freedom, a moving pair III and a ball pair III; the complex branched chain is formed by connecting a subchain I and a subchain II in parallel and then connecting a revolute pair I in series; the subchain I comprises a revolute pair II, a moving pair II and a ball pair II; the subchain II comprises a revolute pair IV and a moving pair IV; the axes of the revolute pair II and the revolute pair IV are parallel and rotate around the axis of the revolute pair I at the same time; the sliding pairs I, II and III are active input, and the movable platform generates movement perpendicular to the static platform and rotation around the axes of the sliding pairs II and I respectively. The invention reconstructs the distribution position of the kinematic pair on the fixed platform, combines the coaxial kinematic pairs, converts two or three branched chains into a mixed branched chain, and reduces the mechanism coupling degree in a mode of reducing the effective degree of freedom of a first loop.
Description
Technical Field
The invention relates to a parallel mechanism, in particular to a spherical coordinate type low-coupling parallel mechanism which provides a new translational two-rotation configuration for the synthesis of a robot actuator and a mechanical configuration.
Background
The Tricept (US4732525 and US6301525) has the characteristics of good static/dynamic performance, large working space/base volume ratio, reconfigurable structure and the like, and is widely applied to the industrial field. The first prototype Tricept 600 was introduced in 1987, and later, Tricept 605, Tricept 805, Tricept 1005 and Tricept 9000 were developed, but these types of conformations have a high degree of coupling (κ ═ 2), and in recent years, a large number of researchers have been engaged in the study of Tricept. The TriVariant-A series-parallel mechanism provided by patent CN100446940C simplifies the overall structure of the parallel mechanism, realizes the structural drop coupling of the mechanism, but reduces the overall rigidity. The method has the advantages that the method can inherit the excellent characteristics of the Tricept, and few spherical coordinate type parallel mechanisms with low coupling degrees are provided, so that the novel spherical coordinate type low coupling parallel mechanism has practical significance.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a novel spherical coordinate type low-coupling parallel mechanism with one translation and two rotation outputs for a robot actuator, optimizes the defects of a Tricept mechanism, and provides a novel structural unit with one translation and two rotation outputs for mechanism synthesis.
The technical scheme adopted by the invention is as follows: a spherical coordinate type low-coupling parallel mechanism comprises a static platform, a movable platform and a kinematic chain for connecting the static platform and the movable platform, wherein the kinematic chain comprises a simple branched chain I, a simple branched chain II and a complex branched chain with one translation and two rotation outputs;
simple branched chain I is the initiative branched chain, by quiet platform extremely the platform that moves includes interconnect in proper order: the device comprises a hinge I, a moving pair I and a ball pair I, wherein the hinge I, the moving pair I and the ball pair I have at least two degrees of freedom, one end of the simple branched chain I is connected with the static platform through the hinge I, and the other end of the simple branched chain I is connected with the moving platform through the ball pair I;
simple branched chain II is the initiative branched chain, by quiet platform extremely move the platform and include interconnect in proper order: the hinge III, the moving pair III and the ball pair III are provided with at least two degrees of freedom, one end of the simple branched chain II is connected with the static platform through the hinge III, and the other end of the simple branched chain II is connected with the moving platform through the ball pair III;
the complex branched chain comprises a subchain I, a subchain II and a revolute pair I, the subchain I and the subchain II are coplanar and are connected between the static platform and the movable platform in parallel, and the revolute pair I is connected between the ends of the subchain I and the subchain II in series and is connected with the static platform; the subchain I is an active branched chain, the subchain I sequentially comprises a revolute pair II, a revolute pair II and a ball pair II which are connected with each other from the static platform to the movable platform, and the tail end of the subchain I is connected with the movable platform through the ball pair II; the subchain II is a passive branched chain, a revolute pair IV and a moving pair IV which are connected with each other are sequentially arranged from the static platform to the moving platform, and the tail end of the subchain II is fixedly connected with the moving platform; the revolute pair II is parallel to the revolute pair IV in axis, is vertical to the revolute pair I in axis and rotates around the revolute pair I in axis at the same time;
the moving pair I, the moving pair II and the moving pair III are in active input, and the moving platform generates movement perpendicular to the static platform and rotation around the axes of the rotating pair II and the rotating pair I respectively.
Furthermore, the hinge I and the hinge III both adopt Hooke pairs with randomly arranged axes.
Furthermore, the hinge I and the hinge III both adopt ball pairs.
The invention has the beneficial effects that: according to the mechanism (the coupling degree of the mechanism is 2) of the invention, the distribution positions of kinematic pairs on the fixed platform are reconstructed, coaxial kinematic pairs are combined, two or three branched chains are converted into a mixed branched chain, and the coupling degree of the mechanism (the coupling degree of the mechanism is 1) is reduced in a manner of reducing the effective degree of freedom of a first loop. Therefore, the mechanism kinematics and kinetic analysis is simpler than the Tricept mechanism.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of complex branches in the overall structure.
The attached drawings are marked as follows: 0-static platform, 1-moving platform, 2, 3, 4, 5, 6, 7, 8, 9-member, R24Revolute pair I, R2Revolute pair II, R4Revolute pair IV, U1-Hooke's auxiliary I, U3-Hooke by III, P1Moving pair I, P2A sliding pair II, P3Moving pair III, P4A sliding pair IV, S1Ball pair I, S2Ball pairs II, S3-a ball pair III,
o-complex branched chain output point.
Detailed Description
In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings:
as shown in the attached drawings 1 and 2, the spherical coordinate type low-coupling parallel mechanism comprises a static platform 0, a movable platform 1, and two simple branched chains I, two simple branched chains II and one complex branched chain which are connected with the static platform 0 and the movable platform 1 and have the same structure.
The simple branched chain I and the complex branched chain are not coplanar. Simple branched chain I is the initiative branched chain, by quiet platform 0 extremely move platform 1 and include interconnect in proper order: hinge I, sliding pair IP with at least two degrees of freedom1And ball pair I S1One end of the simple branched chain I is connected with the static platform 0 through the hinge I, and the other end of the simple branched chain I passes through the ball pair IS1Is connected with the movable platform 1. Wherein, the hinge I can adopt Hooke auxiliary I U1The hooke pair is I U1The axes of the straight chain I and the straight chain I can be randomly arranged, and the straight chain I is a U-P-S branched chain; in order to increase the adaptability of the mechanism, the hinge I can also adopt a ball pair, and at the moment, the simple branched chain I is an S-P-S branched chain and is an unconstrained branched chain.
The simple branched chain II can be coplanar with the complex branched chain or not coplanar. Simple branched chain II is the initiative branched chain, by quiet platform 0 extremely move platform 1 and include interconnect in proper order: hinge III, sliding pair III P with at least two degrees of freedom3And ball pair IIIS3One end of the simple branched chain II is connected with the static platform 0 through the hinge III, and the other end of the simple branched chain II passes through the ball pair IIIS3Is connected with the movable platform 1. Wherein, the hinge III can adopt a Hooke auxiliary III U3The hooke pair III U3The axes of the straight chain II can be randomly arranged, and the straight chain II is a U-P-S branched chain; in order to increase the adaptability of the mechanism, the hinge III can also adopt a ball pair, and at the moment, the simple branched chain II is an S-P-S branched chain and is an unconstrained branched chain.
The complex branched chain comprises a subchain I, a subchain II and a revolute pair IR24. The subchain I and the subchain II are coplanar and connected in parallel between the static platform 0 and the movable platform 1, and the revolute pair IR24Is connected in series between the ends of the subchain I and the subchain II and is connected with the static platform 0. The subchain I is an active R-P-S branched chain, and sequentially comprises a revolute pair IIR connected with each other from the static platform 0 to the movable platform 12And a sliding pair IIP2Harmony ball pair IIS2The tail end of the subchain I passes through the ball pair IIS2Is connected with the movable platform 1. The subchain II is a passive R-P branched chain, and sequentially comprises a revolute pair IVR connected with each other from the static platform 0 to the movable platform 14And a sliding pair IV P4And the tail end of the sub chain II is fixedly connected with the movable platform 1. The revolute pair IIR2And said revolute pair IVR4The axes are parallel, and the revolute pair IIR2The revolute pair IVR4Axis and said revolute pair IR24The axes are vertical; the revolute pair IIR2And said revolute pair IVR4Simultaneously winding the revolute pair IR24The axis rotates.
The sliding pair IP1And a sliding pair IIP2And a sliding pair IIIP3For active input, the movable platform 1 generates movement perpendicular to the static platform 0 and respectively rotates around the revolute pair IIR2And a revolute pair IR24Rotation of the axis. The complex branched chain connecting the static platform 0 and the movable platform 1 has a translation and two rotation output, the degree of freedom of the movable platform 1 of the mechanism is limited, and the complex branched chain is the branched chain with the minimum azimuth characteristic of the mechanism, in the graph 2, the point O is the output point of the complex branched chain, and the motion output by the point O is the translation and two rotation. The degree of coupling of the mechanism is 1.
Wherein, one end of the component 2 is connected with the hooke pair I U1(or ball pair) connected by moving pair IP of member 2 and member 31The other end of the component 3 is connected by a ball pair I S1Is connected with the movable platform 1; one end of the component 4 and the hooke pair III U3(or ball pair) connected by moving pair IIIP3Connected by a ball pair IIIS at the other end of the member 53Is connected with the movable platform 1; one end of the member 6 and the revolute pair IVR4Connected by a sliding pair IV P of the members 6 and 74The other end of the component 7 is fixedly connected with the movable platform 1; one end of member 8 and revolute pair IIR2Connected by a sliding pair IIP between the member 8 and the member 92Connected by a ball pair IIS at the other end of the member 92Is connected with the movable platform 1.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (3)
1. A spherical coordinate type low-coupling parallel mechanism comprises a static platform, a movable platform and a kinematic chain for connecting the static platform and the movable platform, and is characterized in that the kinematic chain comprises a simple branched chain I, a simple branched chain II and a complex branched chain with one translation and two rotation outputs;
simple branched chain I is the initiative branched chain, by quiet platform extremely the platform that moves includes interconnect in proper order: the device comprises a hinge I, a moving pair I and a ball pair I, wherein the hinge I, the moving pair I and the ball pair I have at least two degrees of freedom, one end of the simple branched chain I is connected with the static platform through the hinge I, and the other end of the simple branched chain I is connected with the moving platform through the ball pair I;
simple branched chain II is the initiative branched chain, by quiet platform extremely move the platform and include interconnect in proper order: the hinge III, the moving pair III and the ball pair III are provided with at least two degrees of freedom, one end of the simple branched chain II is connected with the static platform through the hinge III, and the other end of the simple branched chain II is connected with the moving platform through the ball pair III;
the complex branched chain comprises a subchain I, a subchain II and a revolute pair I, the subchain I and the subchain II are coplanar and are connected between the static platform and the movable platform in parallel, and the revolute pair I is connected between the ends of the subchain I and the subchain II in series and is connected with the static platform; the subchain I is an active branched chain, the subchain I sequentially comprises a revolute pair II, a revolute pair II and a ball pair II which are connected with each other from the static platform to the movable platform, and the tail end of the subchain I is connected with the movable platform through the ball pair II; the subchain II is a passive branched chain, a revolute pair IV and a moving pair IV which are connected with each other are sequentially arranged from the static platform to the moving platform, and the tail end of the subchain II is fixedly connected with the moving platform; the revolute pair II is parallel to the revolute pair IV in axis, is vertical to the revolute pair I in axis and rotates around the revolute pair I in axis at the same time;
the moving pair I, the moving pair II and the moving pair III are in active input, and the moving platform generates movement perpendicular to the static platform and rotation around the axes of the rotating pair II and the rotating pair I respectively.
2. The spherical coordinate type low-coupling parallel mechanism as claimed in claim 1, wherein the hinge I and the hinge III both adopt Hooke pairs with randomly arranged axes.
3. The spherical coordinate type low-coupling parallel mechanism as claimed in claim 1, wherein the hinge I and the hinge III both adopt spherical pairs.
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| CN201811323317.3A CN109333509B (en) | 2018-11-08 | 2018-11-08 | Spherical coordinate type low coupling parallel mechanism |
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| CN201811323317.3A CN109333509B (en) | 2018-11-08 | 2018-11-08 | Spherical coordinate type low coupling parallel mechanism |
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| CN109333509A CN109333509A (en) | 2019-02-15 |
| CN109333509B true CN109333509B (en) | 2021-05-25 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1257771A (en) * | 2000-01-17 | 2000-06-28 | 河北工业大学 | Vernier robot with decoupled parallel four freedoms and four-axle structure |
| CA2574788A1 (en) * | 2004-07-22 | 2006-03-02 | Institut National Des Sciences Appliquees De Rennes | Parallel robot comprising means for setting in motion a mobile element split in two separate subassemblies |
| CN201736223U (en) * | 2010-06-07 | 2011-02-09 | 浙江理工大学 | Two-rotation one-movement three-freedom micromotion parallel mechanism |
| CN105252528A (en) * | 2015-11-02 | 2016-01-20 | 西安电子科技大学 | Rope-driven parallel translational micro movement platform |
| CN105619383A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform |
-
2018
- 2018-11-08 CN CN201811323317.3A patent/CN109333509B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1257771A (en) * | 2000-01-17 | 2000-06-28 | 河北工业大学 | Vernier robot with decoupled parallel four freedoms and four-axle structure |
| CA2574788A1 (en) * | 2004-07-22 | 2006-03-02 | Institut National Des Sciences Appliquees De Rennes | Parallel robot comprising means for setting in motion a mobile element split in two separate subassemblies |
| CN201736223U (en) * | 2010-06-07 | 2011-02-09 | 浙江理工大学 | Two-rotation one-movement three-freedom micromotion parallel mechanism |
| CN105252528A (en) * | 2015-11-02 | 2016-01-20 | 西安电子科技大学 | Rope-driven parallel translational micro movement platform |
| CN105619383A (en) * | 2016-03-12 | 2016-06-01 | 常州大学 | Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform |
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| CN109333509A (en) | 2019-02-15 |
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