CN109531550B - Coupling-free two-rotation parallel mechanism - Google Patents
Coupling-free two-rotation parallel mechanism Download PDFInfo
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- CN109531550B CN109531550B CN201910064384.6A CN201910064384A CN109531550B CN 109531550 B CN109531550 B CN 109531550B CN 201910064384 A CN201910064384 A CN 201910064384A CN 109531550 B CN109531550 B CN 109531550B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 230000008878 coupling Effects 0.000 claims abstract description 8
- 238000010168 coupling process Methods 0.000 claims abstract description 8
- 238000005859 coupling reaction Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 abstract 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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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
A non-coupling two-rotation parallel mechanism comprises a fixed platform, a movable platform, a first branch moving chain and a second branch moving chain, wherein the first branch moving chain and the second branch moving chain are connected with the fixed platform and the movable platform; the first branch kinematic chain is formed by connecting a space closed loop structure and a second revolute pair in series, the space closed loop structure comprises two sub-branches, the first sub-branch comprises a first revolute pair, the second sub-branch is a single open chain formed by a first spiral pair, a third revolute pair, a fourth revolute pair and a first universal hinge, and the first spiral pair is used as an active pair to control one rotation degree of freedom of the movable platform; the second branch kinematic chain consists of a second spiral pair, a fifth revolute pair, a sixth revolute pair and a second universal hinge, wherein the driving pair is the second spiral pair, and the other rotational degree of freedom of the movable platform can be controlled. The speed jacobian matrix of the mechanism is a diagonal matrix, so that the mechanism has good kinematic characteristics, is simple in control design, and solves the problem of poor kinematic decoupling of a common parallel mechanism.
Description
Technical Field
The invention relates to the field of robot space mechanisms, in particular to a non-coupling two-rotation parallel mechanism.
Background
The parallel mechanism is widely applied to the fields of numerical control machine tools, sensors, micro-operation robots, medical robots and the like, and generally consists of a movable platform, a fixed platform and 2-6 moving branched chains for connecting the two platforms. Compared with a serial mechanism, the parallel mechanism has the advantages of compact structure, high rigidity, high bearing capacity, high precision, small accumulated error and the like. The parallel mechanism can be divided into a six-degree-of-freedom parallel mechanism and a few-degree-of-freedom parallel mechanism, and compared with the six-degree-of-freedom parallel mechanism, the few-degree-of-freedom parallel mechanism has the advantages of simple structure, lower processing and manufacturing cost, large working space and the like, and has wider development prospect. At present, a two-degree-of-freedom rotating parallel mechanism has been proposed by a learner, and a national invention patent, such as a two-degree-of-freedom space rotating parallel mechanism with the application number of CN201110031919.3, is applied, and has strong kinematic coupling although the mechanism can realize the rotation of two degrees of freedom, and has a plurality of difficulties in the aspects of design, analysis calculation, track planning and the like. It is therefore necessary to achieve decoupling of the parallel mechanism and to improve its movement properties.
Disclosure of Invention
The invention aims to design a non-coupling two-rotation parallel mechanism, and solve the defects of strong coupling, difficult control and the like of the existing two-rotation parallel mechanism.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a non-coupling two-rotation parallel mechanism comprises a fixed platform, a movable platform, a first branch moving chain and a second branch moving chain, wherein the first branch moving chain and the second branch moving chain are connected with the fixed platform and the movable platform;
the first branch moving chain is a mixed chain and is formed by connecting a space closed loop structure and a second revolute pair in series, the space closed loop structure comprises two sub-branches, the first sub-branch comprises a first revolute pair, and the second sub-branch is a single open chain formed by a first spiral pair, a third revolute pair, a fourth revolute pair and a first universal hinge; one end of the first revolute pair, one end of the second revolute pair and one end of the first universal hinge are respectively connected with three mutually perpendicular branches of the first connecting rod, and the other end of the first universal hinge, the third revolute pair, the fourth revolute pair and the first spiral pair are mutually connected in sequence through the second connecting rod, the third connecting rod and the fourth connecting rod; the first screw pair axis, the third rotating pair axis, the fourth rotating pair axis and the rotating axes connected with the second connecting rod in the first universal hinge are parallel to each other, and the first rotating pair axis and the rotating axes connected with the first connecting rod in the first universal hinge are parallel to and perpendicular to the second rotating pair axis;
the second branch kinematic chain is a single open chain and consists of a second spiral pair, a fifth revolute pair, a sixth revolute pair and a second universal hinge; the second screw pair, the fifth revolute pair, the sixth revolute pair and the second universal hinge are sequentially connected with each other through a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; the second screw pair axis, the fifth revolute pair axis, the sixth revolute pair axis and the rotating axes connected with the seventh connecting rod in the second universal hinge are mutually parallel;
the first screw pair, the first rotating pair and the second screw pair in the second branch moving chain are all arranged on a fixed platform of the mechanism, and the axis of the second screw pair is parallel to the axis of the first rotating pair and is perpendicular to the axis of the first screw pair; the second revolute pair in the first branch moving chain and the second universal hinge in the second branch moving chain are both arranged on a moving platform of the mechanism, and the axis of the second revolute pair is parallel to the axis of rotation connected with the moving platform in the second universal hinge; the first branch moving chain controls the moving platform to do overturning motion around the first revolute pair, and the second branch moving chain controls the moving platform to do overturning motion around the second revolute pair.
The first spiral pair in the first branch moving chain and the second spiral pair in the second branch moving chain are driving pairs of the mechanism.
Compared with the prior art, the invention has the beneficial effects that:
the first branch kinematic chain is a mixed chain, the first spiral pair is used for controlling one rotation degree of freedom of the mechanism movable platform by the active pair, the second branch kinematic chain is a single open chain, and the second spiral pair is used for controlling the other degree of freedom of the mechanism movable platform by the active pair.
Drawings
FIG. 1 is a schematic diagram of a non-coupling two-rotation parallel mechanism according to the present invention;
reference numerals: 1. the device comprises a fixed platform, 2, a movable platform, L1, a first branch moving chain, L2, a second branch moving chain, H1, a first screw pair, H2, a second screw pair, R11, a first rotating pair, R12, a second rotating pair, R13, a third rotating pair, R14, a fourth rotating pair, R21, a fifth rotating pair, R22, a sixth rotating pair, U1, a first universal hinge, U2, a second universal hinge, I-1, a first connecting rod, I-2, a second connecting rod, I-3, a third connecting rod, I-4, a fourth connecting rod, II-1, a fifth connecting rod, II-2, a sixth connecting rod, II-3 and a seventh connecting rod.
Detailed Description
The technical scheme of the invention is further described by the specific embodiments with reference to the attached drawings.
As shown in the figure, the uncoupled two-rotation parallel mechanism consists of a fixed platform 1, a movable platform 2, a first branch moving chain L1 and a second branch moving chain L2, wherein the first branch moving chain L1 and the second branch moving chain L2 are connected between the fixed platform and the movable platform.
The first branch kinematic chain L1 is a hybrid chain and is formed by connecting a space closed loop structure and a second revolute pair R12 in series, the space closed loop structure further comprises two sub-branches, the first sub-branch only comprises one kinematic pair, the kinematic pair is a first revolute pair R11, and the second sub-branch is a single open chain formed by a first revolute pair H1, a third revolute pair R13, a fourth revolute pair R14 and a first universal hinge U1. One end of the first revolute pair R11, one end of the second revolute pair R12 and one end of the first universal hinge U1 are connected with three branches of the first connecting rod I-1, the three branches are perpendicular to each other, the other end of the first universal hinge U1 is connected with the third revolute pair R13 through the second connecting rod I-2, the third revolute pair R13 is connected with the fourth revolute pair R14 through the third connecting rod I-3, and the fourth revolute pair R14 is connected with the first spiral pair H1 through the fourth connecting rod I-4. The axis of a first screw pair H1, the axis of a third rotating pair R13, the axis of a fourth rotating pair R14 in the first branch moving chain L1 and the axis of a rotating axis U1-1 connected with a second connecting rod I-2 in the first universal hinge U1 are mutually parallel, the axis of a first rotating pair R11 and a rotating shaft U1-2 connected with the first connecting rod I-1 in the first universal hinge U1 are parallel and perpendicular to the axis of a second rotating pair R12, the axis of the first screw pair H1 is perpendicular to the plane of a fixed platform 1, and the axis of the second rotating pair R12 is parallel to the plane of a movable platform 2.
The second branch kinematic chain L2 is a single open chain and consists of a second screw pair H2, a fifth revolute pair R21, a sixth revolute pair R22 and a second universal hinge U2, wherein the second screw pair H2 is connected with the fifth revolute pair R21 through a fifth connecting rod II-1, the fifth revolute pair R21 is connected with the sixth revolute pair R22 through a sixth connecting rod II-2, and the sixth revolute pair R22 is connected with the second universal hinge U2 through a seventh connecting rod II-3. The second spiral pair H2 axis, the fifth revolute pair R21 axis, the sixth revolute pair R22 axis and the rotation axis U2-2 connected with the seventh connecting rod II-3 in the second universal hinge U2 in the second branch moving chain L2 are parallel to each other.
The first screw pair H1, the first rotating pair R11 and the second screw pair H2 in the first branch moving chain L1 are arranged on the fixed platform 1, the first screw pair H1 and the first rotating pair R11 are arranged on the fixed platform 1 in a diagonal line, and the axis of the second screw pair H2 in the second branch moving chain L2 is parallel to the axis of the first rotating pair R11 in the first branch moving chain L1 and is perpendicular to the axis of the first screw pair H1 in the first branch moving chain L1.
The second revolute pair R12 of the first branch moving chain L1 and the second universal hinge U2 in the second branch moving chain L2 are arranged on the moving platform 2 of the mechanism, the second revolute pair R12 is connected to the side face of the moving platform, the second universal hinge U2 is connected to the lower surface of the moving platform 2 opposite to the second revolute pair R12, and the axis of the second revolute pair R12 of the first branch moving chain L1 and the rotation axis U2-1 connected with the moving platform 2 in the second universal hinge U2 of the second branch moving chain L2 are parallel.
The parallel mechanism takes a first spiral pair H1 and a second spiral pair H2 in a first branch moving chain L1 and a second branch moving chain L2 as driving pairs respectively, wherein the first branch moving chain L1 controls a moving platform 2 to do overturning motion around a first rotating pair R11 of the first branch moving chain L1, and the second branch moving chain L2 controls the moving platform 2 to do overturning motion around a second rotating pair R12 of the first branch moving chain L1.
Claims (2)
1. The utility model provides a two rotation parallel mechanism of no coupling which characterized in that: the device comprises a fixed platform, a movable platform, a first branch moving chain and a second branch moving chain, wherein the first branch moving chain and the second branch moving chain are connected with the fixed platform and the movable platform;
the first branch moving chain is a mixed chain and is formed by connecting a space closed loop structure and a second revolute pair in series, the space closed loop structure comprises two sub-branches, the first sub-branch comprises a first revolute pair, and the second sub-branch is a single open chain formed by a first spiral pair, a third revolute pair, a fourth revolute pair and a first universal hinge; one end of the first revolute pair, one end of the second revolute pair and one end of the first universal hinge are respectively connected with three mutually perpendicular branches of the first connecting rod, and the other end of the first universal hinge, the third revolute pair, the fourth revolute pair and the first spiral pair are mutually connected in sequence through the second connecting rod, the third connecting rod and the fourth connecting rod; the first screw pair axis, the third rotating pair axis, the fourth rotating pair axis and the rotating axes connected with the second connecting rod in the first universal hinge are parallel to each other, and the first rotating pair axis and the rotating axes connected with the first connecting rod in the first universal hinge are parallel to and perpendicular to the second rotating pair axis;
the second branch kinematic chain is a single open chain and consists of a second spiral pair, a fifth revolute pair, a sixth revolute pair and a second universal hinge; the second screw pair, the fifth revolute pair, the sixth revolute pair and the second universal hinge are sequentially connected with each other through a fifth connecting rod, a sixth connecting rod and a seventh connecting rod; the second screw pair axis, the fifth revolute pair axis, the sixth revolute pair axis and the rotating axes connected with the seventh connecting rod in the second universal hinge are mutually parallel;
the first screw pair, the first rotating pair and the second screw pair in the second branch moving chain are all arranged on a fixed platform of the mechanism, and the axis of the second screw pair is parallel to the axis of the first rotating pair and is perpendicular to the axis of the first screw pair; the second revolute pair in the first branch moving chain and the second universal hinge in the second branch moving chain are both arranged on a moving platform of the mechanism, and the axis of the second revolute pair is parallel to the axis of rotation connected with the moving platform in the second universal hinge; the first branch moving chain controls the moving platform to do overturning motion around the first revolute pair, and the second branch moving chain controls the moving platform to do overturning motion around the second revolute pair.
2. The uncoupled two-turn parallel mechanism of claim 1, wherein: the first spiral pair in the first branch moving chain and the second spiral pair in the second branch moving chain are driving pairs of the mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910064384.6A CN109531550B (en) | 2019-01-23 | 2019-01-23 | Coupling-free two-rotation parallel mechanism |
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| CN201910064384.6A CN109531550B (en) | 2019-01-23 | 2019-01-23 | Coupling-free two-rotation parallel mechanism |
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| CN109531550B true CN109531550B (en) | 2024-02-13 |
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| CN112757266B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotary parallel mechanism |
| CN112757265B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Two-degree-of-freedom rotary parallel mechanism |
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| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103600348A (en) * | 2013-11-25 | 2014-02-26 | 燕山大学 | Parallel mechanism with four branches, no concurrent point and two rotational degrees of freedom |
| CN104626121A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | (2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN105522560A (en) * | 2016-01-11 | 2016-04-27 | 河南科技大学 | Three-freedom-degree, asymmetric and fully-isotropic parallel robot mechanism |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
| CN109531551A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of easily controllable two-freedom-degree parallel mechanism |
| CN209425434U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7707907B2 (en) * | 2005-11-17 | 2010-05-04 | Socovar, Société En Commandite | Planar parallel mechanism and method |
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- 2019-01-23 CN CN201910064384.6A patent/CN109531550B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| CN103600348A (en) * | 2013-11-25 | 2014-02-26 | 燕山大学 | Parallel mechanism with four branches, no concurrent point and two rotational degrees of freedom |
| CN104626121A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | (2R) and 1T1R four-degree-of-freedom decoupling series-parallel mechanism |
| CN105215975A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There is the asymmetric parallel institution of two turn of one shift three degrees of freedom |
| CN105522560A (en) * | 2016-01-11 | 2016-04-27 | 河南科技大学 | Three-freedom-degree, asymmetric and fully-isotropic parallel robot mechanism |
| CN106826776A (en) * | 2017-04-07 | 2017-06-13 | 河南科技大学 | A kind of isotropic space two degrees of freedom one-rotation parallel mechanism |
| CN109531551A (en) * | 2019-01-23 | 2019-03-29 | 河南科技大学 | A kind of easily controllable two-freedom-degree parallel mechanism |
| CN209425434U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | It is a kind of without coupling two one-rotation parallel mechanisms |
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