CN109848970B - Three-rotational-freedom-degree spatial decoupling mechanism for virtual-axis machine tool and robot - Google Patents
Three-rotational-freedom-degree spatial decoupling mechanism for virtual-axis machine tool and robot Download PDFInfo
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Abstract
The invention relates to a three-rotational-freedom-degree spatial decoupling mechanism for a virtual axis machine tool and a robot, which comprises a static platform (5), a dynamic platform (6), and a first moving branched chain I (1ab), a second moving branched chain II (2ab) and a third moving branched chain III (3ab) which are connected between the static platform (5) and the dynamic platform (6), wherein one end of a first connecting rod I (1b-1) in the first moving branched chain I (1ab) is connected with the static platform (5) through a first revolute pair I (1a-1), and one surface of a sixth connecting rod III (3b-6) in the third moving branched chain III (3ab) is fixedly connected with one surface of the dynamic platform (6). Compared with the prior art, the three-degree-of-freedom motion decoupling device is simple in structure, easy to control, capable of achieving motion decoupling of three rotational degrees of freedom, easy to calibrate and good in linear relation.
Description
Technical Field
The invention belongs to the technical field of machine tools and robots, and particularly relates to a three-rotational-freedom-degree spatial decoupling mechanism for a virtual axis machine tool and a robot.
Background
In the motion control process of the robot operating arm, the time from the initial state to the target pose of the tail end is required to be minimum usually to improve the execution efficiency of the robot, which necessarily requires that all joints move simultaneously, but because the motion coupling between the joints exists in the rotation process of the joints, each degree of freedom has the problem of rotation sequence when reaching the target, other joints of the robot are locked to move or rotate one joint in sequence in the actual control process, and the working method is obviously inefficient and uneconomical.
The motion decoupling parallel robot means that any degree of freedom of output motion only depends on a single driving unit, and other driving units do not influence the degree of freedom. Therefore, the parallel mechanism with complete decoupling has simple motion relation, high control precision and simple, convenient and quick calibration, and has wide application prospect in the fields of virtual axis machine tools and robots. Most of the existing decoupling mechanisms are usually driven by a single driver because of complicated structure and incomplete output freedom, can only realize partial decoupling, and meanwhile, have low control precision and low working efficiency.
Chinese patent CN104942795B discloses a one-movement two-rotation three-degree-of-freedom rotation and movement complete decoupling parallel mechanism, which includes: move platform, base and three branched chains, wherein: one end of each branched chain is movably connected with the base, the other end of each branched chain is movably connected with the movable platform, and the three branched chains comprise: at least one branch chain is movably connected with the base in one dimension, so that the movable platform moves in one dimension and rotates in three degrees of freedom in spherical surface around a fixed point O; the two-dimensional rotation characteristic of the movable platform is only related to the revolute pair drive and is not related to the revolute pair drive; the one-dimensional movement characteristic of the point O is only related to the moving pair drive and is not related to the rotating pair drive; the rotating characteristic and the moving characteristic of the moving platform have the advantage of complete decoupling. However, the technique includes two different kinematic pairs, so that it is inconvenient to solve the motion and a good linear relationship cannot be guaranteed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a three-rotational-freedom spatial decoupling mechanism for a virtual axis machine tool and a robot, and by designing the three-rotational-freedom spatial decoupling mechanism, the problems that the existing spatial decoupling mechanism cannot be completely decoupled, the structure is complex and the control difficulty is large are solved, so that the motion control of the mechanism is simpler, and the forward and backward solution is easier.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a three rotational degree of freedom space decoupling zero mechanisms for imaginary axis lathe and robot, includes quiet platform, moves the platform and connects at quiet platform and move first motion branch chain I, second motion branch chain II, third motion branch chain III between the platform, its characterized in that:
the first moving branched chain I comprises a first rotating pair I, a second rotating pair I, a third rotating pair I, a fourth rotating pair I, a first connecting rod I, a second connecting rod I and a third connecting rod I,
the second moving branched chain II comprises a first rotating pair II, a second rotating pair II, a third rotating pair II, a first connecting rod II and a second connecting rod II,
the third movement branched chain III comprises a first connecting rod III, a second connecting rod III, a third connecting rod III, a fourth connecting rod III, a fifth connecting rod III, a sixth connecting rod III, a first revolute pair III, a second revolute pair III, a third revolute pair III, a fourth revolute pair III, a fifth revolute pair III and a sixth connecting rod III,
one end of a first connecting rod I in the first moving branched chain I is connected with the static platform through a first revolute pair I, the other end of the first connecting rod I is connected with one end of a second connecting rod I through a second revolute pair I, the other end of the second connecting rod I is connected with one end of a third connecting rod I through a third revolute pair I, and the other end of the third connecting rod I is connected with one end of a third connecting rod II in the second moving branched chain II through a fourth revolute pair I;
one end of a first connecting rod II in the second moving branched chain II is connected with the static platform through a first revolute pair II, the other end of the first connecting rod II is connected with one end of a second connecting rod II through a second revolute pair II, one surface of the second connecting rod II is fixedly connected with the other end of a third connecting rod II, and the other end of the second connecting rod II is connected with one end of the moving platform through the third revolute pair II;
one end of a first connecting rod III in the third moving branch chain III is connected with the static platform through a first revolute pair III, the other end of the first connecting rod III is connected with one end of a second connecting rod III through a second revolute pair III, the other end of the second connecting rod III is connected with one end of a third connecting rod III through a third revolute pair III, the other end of the third connecting rod III is connected with one end of a fourth connecting rod III through a fourth revolute pair III, the other end of the fourth connecting rod is connected with one end of a fifth connecting rod III through a fifth revolute pair III, the other end of the fifth connecting rod III is connected with one end of a sixth connecting rod III through a sixth revolute pair, and the other end of the sixth connecting rod III is connected with the other end of the moving platform through a third revolute pair II in the second moving branch chain II.
Furthermore, the axes of the second revolute pair I, the third revolute pair I and the fourth revolute pair I in the first kinematic branch chain I are parallel and perpendicular to the axis of the first revolute pair I, so that the stability of the first kinematic branch chain I in the rotation process of the movable platform can be ensured, and the kinematic stability of the mechanism is ensured.
Furthermore, the axes of the first rotating pair II, the second rotating pair II and the third rotating pair II in the second moving branched chain II are vertical and intersect at one point, and as the three axes intersect at one point, the point around which the three rotations of the moving platform wind is unique, and the calibration is easier.
Furthermore, the axes of the second revolute pair III, the third revolute pair III and the fourth revolute pair III in the third kinematic branched chain III are parallel to the axis of the second revolute pair II in the second kinematic branched chain II and are perpendicular to the axes of the first revolute pair III, the fifth revolute pair III and the sixth revolute pair III; the axes of the first rotating pair III and the fifth rotating pair III are vertical, so that the redundant degree of freedom of the mechanism can be eliminated, and the movement precision of the mechanism is ensured.
Furthermore, the axes of a fifth revolute pair III and a sixth revolute pair III in the third moving branched chain III are parallel, so that the stability of the first moving branched chain I in the rotating process of the moving platform is ensured, and the moving stability of the whole mechanism is ensured.
Further, the axes of the first rotating pair I in the first moving branched chain I and the first rotating pair II in the second moving branched chain II are collinear and are parallel to the axis of the first rotating pair III in the third moving branched chain III, when the mechanism is driven by the driving pair in the second moving branched chain II as the first rotating pair II, the stability and uniqueness of the first moving branched chain I and the third moving branched chain III are ensured and the complete decoupling of the mechanism is ensured because the axes of the first rotating pair II and the first rotating pair I are collinear and are parallel to the axis of the first moving pair III.
Furthermore, the axes of a third revolute pair II in the second moving branched chain II and a sixth revolute pair III in the third moving branched chain III are parallel, and when the mechanism is driven by the fifth revolute pair III, the axes are parallel, so that the movable platform can be ensured to rotate around the axis of the third revolute pair II.
Furthermore, a driving pair in the first moving branch chain I is a second rotating pair I, a driving pair in the second moving branch chain II is a first rotating pair II, and a driving pair in the third moving branch chain III is a fifth rotating pair III.
Compared with the prior art, the invention has the following advantages:
1. the three driving pairs are used for respectively and independently driving the three moving branched chains, the three moving branched chains are respectively used as driving chains under the driving of the driving pairs, the other two moving chains can eliminate redundant freedom degrees of movement, the stability of the mechanism is ensured, complete decoupling can be realized, the structure is more stable, the forward and backward solving is simple, and a good linear relation is realized.
2. The invention has the advantages of motion decoupling, easy calibration, simple control and development cost reduction, and basically only needs to control a single driving unit for single output degree of freedom.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure, 1 ab-first kinematic branch I, 2 ab-second kinematic branch II, 3 ab-third kinematic branch III, 1 a-1-first revolute pair I, 1 a-2-second revolute pair I, 1 a-3-third revolute pair I, 1 a-4-fourth revolute pair I, 1 b-1-first link I, 1 b-2-second link I, 1 b-3-third link I, 2 a-1-first revolute pair II, 2 a-2-second revolute pair II, 2 a-3-third revolute pair II, 2 b-1-first link II, 2 b-2-second link II, 2 b-3-third link II, 3 a-1-first revolute pair III, 3 a-2-second revolute pair III, 3 a-3-third revolute pair III, 3 a-4-fourth revolute pair III, 3 a-5-fifth revolute pair III, 3 a-6-sixth revolute pair III, 3 b-1-first connecting rod III, 3 b-2-second connecting rod III, 3 b-3-third connecting rod III, 3 b-4-fourth connecting rod III, 3 b-5-fifth connecting rod III, 5-static platform and 6-dynamic platform.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
A three-rotational-freedom spatial decoupling mechanism for virtual-axis machine tools and robots is structurally shown in figure 1 and comprises a static platform 5, a movable platform 6, and a first moving branched chain I1 ab, a second moving branched chain II 2ab and a third moving branched chain III 3ab which are connected between the static platform 5 and the movable platform 6.
The first moving branched chain I1 ab mainly comprises a first revolute pair I1 a-1, a second revolute pair I1 a-2, a third revolute pair I1 a-3, a fourth revolute pair I1 a-4, a first connecting rod I1 b-1, a second connecting rod I1 b-2 and a third connecting rod I1 b-3, and the driving pair is the second revolute pair I1 a-2. The second moving branched chain II 2ab mainly comprises a first rotating pair II 2a-1, a second rotating pair II 2a-2, a third rotating pair II 2a-3, a first connecting rod II 2b-1 and a second connecting rod II 2b-2, and the driving pair is the first rotating pair II 2 a-1. The third moving branched chain III 3ab mainly comprises a first connecting rod III 3b-1, a second connecting rod III 3b-2, a third connecting rod III 3b-3, a fourth connecting rod III 3b-4, a fifth connecting rod III 3b-5, a sixth connecting rod III 3b-6, a first rotating pair III 3a-1, a second rotating pair III 3a-2, a third rotating pair III 3a-3, a fourth rotating pair III 3a-4, a fifth rotating pair III 3a-5 and a sixth connecting rod III 3b-6, and the driving pair is the fifth rotating pair III 3 a-5.
One end of a first connecting rod I1 b-1 in the first moving branched chain I1 ab is connected with the static platform 5 through a first revolute pair I1 a-1, the other end of the first connecting rod I1 b-1 is connected with one end of a second connecting rod I1 b-2 through a second revolute pair I1 a-2, the other end of the second connecting rod I1 b-2 is connected with one end of a third connecting rod I1 b-3 through a third revolute pair I1 a-3, and the other end of the third connecting rod I1 b-3 is connected with one end of a third connecting rod II 2b-3 in the second moving branched chain II 2ab through a fourth revolute pair I1 a-4. The axes of the second revolute pair I1 a-2, the third revolute pair I1 a-3 and the fourth revolute pair I1 a-4 are parallel and vertical to the axis of the first revolute pair I1 a-1;
one end of a first connecting rod II 2b-1 in the second moving branched chain II 2ab is connected with the static platform 5 through a first revolute pair II 2a-1, the other end of the first connecting rod II 2b-1 is connected with one end of a second connecting rod II 2b-2 through a second revolute pair II 2a-2, one surface of the second connecting rod II 2b-2 is fixedly connected with the other end of a third connecting rod II 2b-3, and the other end of the second connecting rod II 2b-2 is connected with one end of the moving platform 6 through a third revolute pair II 2 a-3. The axes of the first revolute pair II 2a-1, the second revolute pair II 2a-2 and the third revolute pair II 2a-3 are vertical and intersect at one point;
one end of a first connecting rod III 3b-1 in the third moving branched chain III 3ab is connected with the static platform 5 through a first revolute pair III 3a-1, the other end of the first connecting rod III 3b-1 is connected with one end of a second connecting rod III 3b-2 through a second revolute pair III 3a-2, the other end of the second connecting rod III 3b-2 is connected with one end of a third connecting rod III 3b-3 through a third revolute pair III 3a-3, the other end of the third connecting rod III 3b-3 is connected with one end of a fourth connecting rod III 3b-4 through a fourth revolute pair III 3a-4, the other end of the fourth connecting rod 3b-4 is connected with one end of a fifth connecting rod III 3b-5 through a fifth revolute pair III a-5, and the other end of the fifth connecting rod III b-5 is connected with a sixth connecting rod III b 3b-4 through a sixth revolute pair 3a-6 One end of the sixth connecting rod III 3b-6 is connected, and the other end of the sixth connecting rod III 3b-6 is fixedly connected with the other end of the movable platform 6 through a third revolute pair II 2a-3 in the second moving branched chain II. The axes of the second revolute pair III 3a-2, the third revolute pair III 3a-3 and the fourth revolute pair III 3a-4 are parallel to the axis of the second revolute pair II 2a-2 in the second kinematic branched chain II 2ab and are vertical to the axes of the first revolute pair III 3a-1, the fifth revolute pair III 3a-5 and the sixth revolute pair III 3 a-6; the axes of the first rotating pair III 3a-1 and the fifth rotating pair III 3a-5 are vertical, and the axes of the fifth rotating pair III 3a-5 and the sixth rotating pair III 3a-6 are parallel.
The axes of the first revolute pair I1 a-1 of the first kinematic branch I1 ab and of the first revolute pair II 2a-1 of the second kinematic branch II 2ab are collinear and parallel to the axis of the first revolute pair III 3a-1 of the third kinematic branch III 3 ab. The axes of the fourth revolute pair I1 a-4 in the first kinematic branch I1 ab, of the second revolute pair I2 a-2 in the second kinematic branch II 2ab and of the second revolute pair III 3a-2 in the third kinematic branch III 3ab are parallel. The axes of the third revolute pair II 2a-3 of the second kinematic branch II 2ab and of the sixth revolute pair III 3a-6 of the third kinematic branch III 3ab are parallel. The driving pair in the first moving branch chain I1 ab is a second rotating pair I1 a-2, the driving pair in the second moving branch chain II 2ab is a first rotating pair II 1a-1, and the driving pair in the third moving branch chain III 3ab is a fifth rotating pair III 3 a-5.
Example 2
The three-rotational freedom degree space decoupling mechanism for the virtual axis machine tool and the robot has the following specific application: the three driving pairs are respectively driven, each driving pair only controls one rotational degree of freedom of the movable platform, and complete decoupling of three rotational degrees of freedom can be realized. The first connecting rod I1 b-1 and the first connecting rod II 2b-1 are respectively connected with the static platform 5 through a first revolute pair I1 a-1 and a first revolute pair II 2a-1, four revolute pairs with mutually parallel axes are arranged between the first revolute pair I1 a-1 and the first revolute pair II 2a-1, namely a second revolute pair I1 a-2, a third revolute pair I1 a-3, a fourth revolute pair I1 a-4 and a second revolute pair II 2a-2, and the axes of the first revolute pair I1 a-1 and the second revolute pair II 2a-2 are collinear and vertical to the axes of the four parallel revolute pairs, so that the rotation of the dynamic platform at any position can be realized under the driving of the driving pairs; the first connecting rod II 2b-1 and the first connecting rod III 3b-1 are connected with the static platform 5 through a first rotating pair II 2a-1 and a first rotating pair III 3a-1 respectively, four rotating pairs with mutually parallel axes are arranged between the first rotating pair II 2a-1 and the first rotating pair III 3a-1, namely a first rotating pair II 2a-1, a fourth rotating pair III 3a-4, a third rotating pair III 3a-3 and a second rotating pair III 3a-2 respectively, and the axes of the first rotating pair II 2a-1 and the second rotating pair III 3a-2 are parallel and vertical to the axes of the four parallel rotating pairs, so that the rotating platform can rotate at any position under the driving of the driving pairs.
When the mechanism is driven by only the second revolute pair I1 a-2 and the other two driving pairs are not driven, the second connecting rod I1 b-2 in the first moving branched chain I1 ab moves under the drive of the second revolute pair I1 a-2, the third connecting rod I1 b-3 can be driven to move through the third revolute pair I1 a-3, the third connecting rod I1 b-3 can drive the third connecting rod II 2b-3 in the second moving branched chain II to rotate through the fourth revolute pair I1 a-4, and the axes of the second revolute pair I1 a-2 are collinear and vertical due to the axes of the first revolute pair I1 a-1 and the first revolute pair II 2 a-1; the axes of the second revolute pair I1 a-2, the third revolute pair I1 a-3, the fourth revolute pair I1 a-4 and the second revolute pair II 2a-2 are parallel and vertical to the axis of the third revolute pair II 2 a-3; one end of the third connecting rod II 2b-3 is fixedly connected with one surface of the second connecting rod II 2b-2, so the third connecting rod II 2b-3 and the second connecting rod II 2b-2 can rotate around the second revolute pair II 2a-2, and the third revolute pair II 2a-3 does not rotate because the axes of the third revolute pair II 2a-3 and the second revolute pair II 2a-2 are vertical and intersect at one point, and the movable platform connected with one end of the third revolute pair II 2a-3 can rotate around the axis of the second revolute pair II 2a-2 under the driving of the second connecting rod II 2b-2, so the movable platform 6 has the degree of freedom of rotating around the second revolute pair II 2 a-2; the axes of the fifth revolute pair III 3a-5 and the sixth revolute pair III 3a-6 in the third moving branched chain III 3ab are parallel to the third revolute pair II 2a-3 and do not rotate, so that the fifth connecting rod III 3a-5 and the fourth connecting rod III 3a-4 are driven by the moving platform to rotate around the second revolute pair II 2 a-2; meanwhile, the axes of the second revolute pair III 3a-2, the third revolute pair III 3a-3 and the fourth revolute pair III 3a-4 are parallel to the second revolute pair II 2a-2, so that the third connecting rod III 3b-3 is driven by the fourth connecting rod III 3b-4 through the fourth revolute pair III 3a-4 to rotate, and the second connecting rod III 3b-2 is driven by the third connecting rod III 3b-3 through the third revolute pair III 3a-3 to rotate; one end of the first connecting rod III 3b-1 is connected with the second connecting rod III 3b-2 through the second revolute pair III 3a-2, and the other end of the first connecting rod III 3b-1 is connected with the static platform through the first revolute pair III 3a-1 vertical to the axis of the second revolute pair III 3a-2, so that redundant freedom can be eliminated, and the movable platform is ensured to rotate only around the axis of the second revolute pair II 2 a-2.
When the mechanism is driven by only the first revolute pair I2 a-1 and the other two driving pairs are not driven, the first connecting rod II 2b-1 in the second kinematic branched chain II 2ab rotates under the drive of the first revolute pair II 2a-1, and as the axes of the first revolute pair II 2a-1, the second revolute pair II 2a-2 and the third revolute pair II 2a-3 are vertical and intersect at one point, the axis of the first revolute pair II 2a-1 is collinear with the axis of the first revolute pair I1 a-1 and is parallel to the first revolute pair III 3a-1, the first connecting rod II 2b-1 drives the second connecting rod II 2b-2 to rotate around the first revolute pair II 2 a-1; the first connecting rod I2 b-1 is connected with the static platform 5 through the first revolute pair II 2a-1, the axes of the second revolute pair II 2a-2 and the third revolute pair II 2a-3 are vertical to the axis of the first revolute pair II 2a-1, so that the axes of the second revolute pair II 2a-2 and the third revolute pair II 2a-3 do not rotate, and the movable platform connected with one end of the third revolute pair II 2a-3 can rotate around the axis of the first revolute pair II 2a-1 under the driving of the second connecting rod II 2b-2, so that the movable platform 6 has the degree of freedom of rotating around the first revolute pair II 2 a-1; meanwhile, three parallel revolute pairs, namely a second revolute pair I2 a-2, a third revolute pair I2 a-3 and a fourth revolute pair I2 a-4 in a first kinematic branched chain I1 ab parallel to a second revolute pair II 2a-2, and three parallel revolute pairs, namely a second revolute pair I2 a-2, a third revolute pair I2 a-3 and a fourth revolute pair I2 a-4 in a third kinematic branched chain III 3ab parallel to a second revolute pair II 2a-2 do not rotate, so that only respective first connecting rods (1b-1 and 3b-1) in the first kinematic branched chain I1 ab and the third kinematic branched chain III 3ab rotate around respective first revolute pairs (1a-1 and 3a-1) respectively, so that redundant freedom can be eliminated, ensuring that the movable platform only rotates around the axis of the second revolute pair II 2 a-1.
When the mechanism is driven by only the fifth revolute pair III 3a-5 and the other two driving pairs are not driven, the fourth connecting rod III 3b-4 and the fifth connecting rod III 3b-5 in the third movement branched chain III are driven by the fifth revolute pair III 3a-5 to rotate; because the axes of the fifth revolute pair III 3a-5, the sixth revolute pair III 3a-6 and the third revolute pair II 2a-3 are parallel and vertical to the first revolute pair III 3a-1, the movable platform 6 can rotate around the axis of the third revolute pair II 2a-3 under the driving of the fifth connecting rod III 3b-5, and therefore the movable platform 6 has the degree of freedom of rotating around the third kinematic pair II 2 a-3; because the axes of the second revolute pair II 3a-2, the third revolute pair III 3a-3, the fourth revolute pair III 3a-4 and the second revolute pair II 2a-2 are parallel and vertical to the axes of the first revolute pair III 3a-1 and the fifth revolute pair III 3a-5, the first connecting rod III 3b-1 in the third moving branched chain III 3ab can rotate around the first revolute pair III 3a-1, and the second connecting rod III b-2, the third connecting rod III 3b-3 and the fourth connecting rod III 3b-4 which are connected through the three parallel revolute pairs can also rotate to counteract the rotation of the first connecting rod III 3 a-1; and because the second driving pair I1 a-2 and the first driving pair II 2a-1 of the other two driving pairs are not driven, the connecting rods of the first moving branched chain I1 ab and the second moving branched chain II 2ab do not move, so that redundant freedom can be eliminated, and the movable platform is ensured to only rotate around the axis of the second revolute pair II 2a-1
As the axis of the first revolute pair I1 a-1 in the first kinematic branch I1 ab and the axis of the first revolute pair II 2a-1 in the second kinematic branch II 2ab are collinear and parallel to the axis of the first revolute pair III 3a-1 in the third kinematic chain III 3 ab; the axes of the first revolute pair II 2a-1, the second revolute pair II 2a-2 and the third revolute pair II 2a-3 in the second kinematic branched chain II 2ab are vertical and intersect at one point; the axis of a fourth revolute pair I1 a-4 in the first kinematic branched chain I1 ab is parallel to the axis of a first revolute pair II 2a-1 in the second kinematic branched chain II 2 ab; the sixth revolute pair III 3a-6 of the third kinematic branch III 3ab and the third revolute pair II 2a-3 of the second kinematic branch II 2ab are parallel, so that the mechanism has three decoupled rotational degrees of freedom.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (4)
1. The utility model provides a three rotational degree of freedom space decoupling zero mechanisms for imaginary axis lathe and robot, includes quiet platform (5), moves platform (6) and connects first motion branch chain I (1ab), second motion branch chain II (2ab), third motion branch chain III (3ab) between quiet platform (5) and moving platform (6), its characterized in that:
the first moving branched chain I (1ab) comprises a first rotating pair I (1a-1), a second rotating pair I (1a-2), a third rotating pair I (1a-3), a fourth rotating pair I (1a-4), a first connecting rod I (1b-1), a second connecting rod I (1b-2) and a third connecting rod I (1b-3),
the second moving branched chain II (2ab) comprises a first rotating pair II (2a-1), a second rotating pair II (2a-2), a third rotating pair II (2a-3), a first connecting rod II (2b-1) and a second connecting rod II (2b-2),
the third moving branched chain III (3ab) comprises a first connecting rod III (3b-1), a second connecting rod III (3b-2), a third connecting rod III (3b-3), a fourth connecting rod III (3b-4), a fifth connecting rod III (3b-5), a sixth connecting rod III (3b-6), a first revolute pair III (3a-1), a second revolute pair III (3a-2), a third revolute pair III (3a-3), a fourth revolute pair III (3a-4), a fifth revolute pair III (3a-5) and a sixth revolute pair III (3a-6),
one end of a first connecting rod I (1b-1) in the first moving branched chain I (1ab) is connected with the static platform (5) through a first revolute pair I (1a-1), the other end of the first connecting rod I (1b-1) is connected with one end of a second connecting rod I (1b-2) through a second revolute pair I (1a-2), the other end of the second connecting rod I (1b-2) is connected with one end of a third connecting rod I (1b-3) through a third revolute pair I (1a-3), and the other end of the third connecting rod I (1b-3) is connected with one end of a third connecting rod II (2b-3) in the second moving branched chain II (2ab) through a fourth revolute pair I (1 a-4);
one end of a first connecting rod II (2b-1) in the second moving branched chain II (2ab) is connected with the static platform (5) through a first revolute pair II (2a-1), the other end of the first connecting rod II (2b-1) is connected with one end of a second connecting rod II (2b-2) through a second revolute pair II (2a-2), one surface of the second connecting rod II (2b-2) is fixedly connected with the other end of a third connecting rod II (2b-3), and the other end of the second connecting rod II (2b-2) is connected with one end of a movable platform (6) through a third revolute pair II (2 a-3);
one end of a first connecting rod III (3b-1) in the third moving branched chain III (3ab) is connected with the static platform (5) through a first revolute pair III (3a-1), the other end of the first connecting rod III (3b-1) is connected with one end of a second connecting rod III (3b-2) through a second revolute pair III (3a-2), the other end of the second connecting rod III (3b-2) is connected with one end of a third connecting rod III (3b-3) through a third revolute pair III (3a-3), the other end of the third connecting rod III (3b-3) is connected with one end of a fourth connecting rod III (3b-4) through a fourth revolute pair III (3a-4), the other end of the fourth connecting rod III (3b-4) is connected with one end of a fifth connecting rod III (3b-5) through a fifth revolute pair III (3a-5), the other end of the fifth connecting rod III (3b-5) is connected with one end of the sixth connecting rod III (3b-6) through a sixth revolute pair III (3a-6), and the other end of the sixth connecting rod III (3b-6) is connected with the other end of the movable platform (6);
the axes of the second revolute pair I (1a-2), the third revolute pair I (1a-3) and the fourth revolute pair I (1a-4) in the first kinematic branched chain I (1ab) are parallel and vertical to the axis of the first revolute pair I (1 a-1);
the axes of a first revolute pair II (2a-1), a second revolute pair II (2a-2) and a third revolute pair II (2a-3) in the second kinematic branched chain II (2ab) are vertical and intersect at a point;
the axes of the second revolute pair III (3a-2), the third revolute pair III (3a-3) and the fourth revolute pair III (3a-4) in the third kinematic branched chain III (3ab) are parallel to the axis of the second revolute pair II (2a-2) in the second kinematic branched chain II (2ab) and are vertical to the axes of the first revolute pair III (3a-1), the fifth revolute pair III (3a-5) and the sixth revolute pair III (3 a-6); the axes of the first rotating pair III (3a-1) and the fifth rotating pair III (3a-5) are vertical;
the axes of the fifth revolute pair III (3a-5) and of the sixth revolute pair III (3a-6) of the third kinematic branch III (3ab) are parallel;
the axes of the first revolute pair I (1a-1) of the first kinematic branch I (1ab) and of the first revolute pair II (2a-1) of the second kinematic branch II (2ab) are collinear and parallel to the axis of the first revolute pair III (3a-1) of the third kinematic branch III (3 ab).
2. The mechanism of claim 1, wherein the axes of the fourth revolute pair I (1a-4) in the first kinematic branch I (1ab), the second revolute pair II (2a-2) in the second kinematic branch II (2ab), and the second revolute pair III (3a-2) in the third kinematic branch III (3ab) are parallel.
3. Three rotational degree of freedom spatial decoupling mechanism for virtual axis machine tools and robots according to claim 1 characterised in that the axes of the third revolute pair II (2a-3) in the second kinematic branch II (2ab) and the sixth revolute pair III (3a-6) in the third kinematic branch III (3ab) are parallel.
4. The mechanism of claim 1, wherein the driving pair in the first moving branch I (1ab) is a second rotating pair I (1a-2), the driving pair in the second moving branch II (2ab) is a first rotating pair II (2a-1), and the driving pair in the third moving branch III (3ab) is a fifth rotating pair III (3 a-5).
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