CN110238821B - High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit - Google Patents
High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit Download PDFInfo
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- CN110238821B CN110238821B CN201910634481.4A CN201910634481A CN110238821B CN 110238821 B CN110238821 B CN 110238821B CN 201910634481 A CN201910634481 A CN 201910634481A CN 110238821 B CN110238821 B CN 110238821B
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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Abstract
The invention discloses a high-redundancy-drive fully-symmetrical parallel mechanism with a closed-loop unit, which relates to the technical field of robots, and mainly comprises a movable platform, a fixed platform, a follow-up platform and a plurality of branched chains; the structure is simple, and the kinematic pairs are all low pairs, so that the manufacturing cost can be reduced; the mechanism has high symmetry and high redundancy driving, and the comprehensive performance is very good; the device has the advantages of high posture adjustment capability, high rigidity, high response speed, high response acceleration, high precision, high rotation capability, good driving stability, large bearing capacity, large working space and the like, and can effectively compensate motor errors and eliminate accompanying errors in the motion process.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-redundancy-drive fully-symmetrical parallel mechanism with a closed-loop unit.
Background
The five-axis parallel mechanism with high precision, large rotation capacity and high flexibility is particularly required to be used as a body mechanism in modern equipment with high performance, high precision, high safety and the like, particularly for machining modern complex curved surfaces, the five-axis parallel mechanism with high precision, large rotation capacity and high flexibility is required, the selection of a parallel module of the five-axis parallel mechanism is particularly important, and the parallel module has to meet the requirements of high posture adjustment capacity, high rigidity, high response speed, high response acceleration, high precision, high rotation capacity, good driving stability, large bearing capacity and the like, so that the comprehensive performance of a five-axis parallel machine tool is better.
Disclosure of Invention
In order to solve the technical problems, the invention provides a high-redundancy drive fully-symmetrical parallel mechanism comprising a closed-loop unit, wherein the mechanism and the drive have high symmetry and high-redundancy drive; therefore, the mechanism has the advantages of large working space, large rotation capacity, large bearing capacity, high rigidity, high flexibility, excellent mechanism motion and force transmission performance, excellent kinematics and dynamics performance, excellent driving stability, capability of eliminating accompanying motion and the like.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a high-redundancy-drive fully-symmetrical parallel mechanism with a closed-loop unit, which comprises a movable platform, a fixed platform, a follow-up platform and a plurality of branched chains, wherein the movable platform is arranged above the follow-up platform, the movable platform is rotationally connected with the follow-up platform through a fifth revolute pair, the fixed platform is arranged below the follow-up platform, two ends of the movable platform and two ends of the follow-up platform are respectively connected with one end of one branched chain, and the other ends of the branched chains are connected with the fixed platform.
Optionally, the branched chain includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;
optionally, one end of the first connecting rod is movably connected with one end of the movable platform or the follow-up platform, and the other end of the first connecting rod is movably connected with one end of the second connecting rod and one end of the fourth connecting rod;
optionally, the other end of the second connecting rod is movably sleeved with one end of the third connecting rod, and the other end of the third connecting rod is movably connected with the fixed platform;
optionally, the other end of the fourth connecting rod is movably sleeved with one end of the fifth connecting rod, and the other end of the fifth connecting rod is movably connected with the fixed platform.
Optionally, the first connecting rod is rotatably connected with the end of the movable platform or the end of the follow-up platform through a first revolute pair.
Optionally, the other end of the third connecting rod is rotatably connected with the fixed platform through a second revolute pair.
Optionally, the other end of the fifth connecting rod is rotatably connected with the fixed platform through a third revolute pair.
Optionally, the other end of the first connecting rod, one end of the second connecting rod, and one end of the fourth connecting rod are rotatably connected through a fourth revolute pair.
Optionally, the rotation axis of the first rotation pair is perpendicular to the rotation axis of the second rotation pair, and the rotation axis of the second rotation pair, the rotation axis of the third rotation pair and the rotation axis of the fourth rotation pair are parallel.
Optionally, the fifth revolute pair axis is perpendicular to the revolute axes of the first revolute pair and the second revolute pair.
Optionally, the two ends of the movable platform and the two ends of the follow-up platform are respectively connected with one end of one of the branched chains.
Optionally, the first rotating pair axes of the two branched chains at the two ends of the movable platform are coaxially arranged.
Optionally, the first revolute pair axis of the two branched chains at the two ends of the movable platform is perpendicular to the first revolute pair axis of the two branched chains at the two ends of the follow-up platform.
Optionally, the movable platform and the follow-up platform are both in a cuboid structure.
Optionally, the movable platform and the follow-up platform are identical in shape.
Compared with the prior art, the invention has the following technical effects:
the high-redundancy-drive fully-symmetrical parallel mechanism with the closed-loop unit mainly structurally comprises a movable platform, a fixed platform, a follow-up platform and a plurality of branched chains; the structure is simple, and the kinematic pairs are all low pairs, so that the manufacturing cost can be reduced; the mechanism has high symmetry and high redundancy driving, and the comprehensive performance is very good; the device has the advantages of high posture adjustment capability, high rigidity, high response speed, high response acceleration, high precision, high rotation capability, good driving stability, large bearing capacity, large working space and the like, and can effectively compensate motor errors and eliminate accompanying errors in the motion process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a fully-symmetrical parallel mechanism with a closed-loop unit and high-redundancy drive.
Description of reference numerals: 1. a fifth revolute pair; 2. a movable platform; 3. a follow-up platform; 4. a first link; 5. a second link; 6. a fourth link; 7. a fifth link; 8. a third link; 9. fixing a platform; 10. a second revolute pair; 11. a third revolute pair; 12. a fourth revolute pair; 13. the first rotating pair.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, this embodiment provides a contain complete symmetrical parallel mechanism of high redundant drive of closed loop unit, including moving platform 2, deciding platform 9, follow-up platform 3 and a plurality of branch chain, move platform 2 set up in follow-up platform 3 top, just move platform 2 with follow-up platform 3 rotates through fifth revolute pair 1 and connects, decide platform 9 set up in follow-up platform 3 below, move platform 2 with follow-up platform 3's both ends are connected one respectively the one end of branch chain, the other end of a plurality of branch chains all with decide platform 9 and be connected.
In this embodiment, as shown in fig. 1, four branched chains are included, and two ends of the movable platform 2 and two ends of the following platform 3 are respectively connected to one end of one branched chain. The branched chain comprises a first connecting rod 4, a second connecting rod 5, a third connecting rod 8, a fourth connecting rod 6 and a fifth connecting rod 7; optionally, one end of the first connecting rod 4 is movably connected with one end of the movable platform 2 or the follow-up platform 3, and the other end of the first connecting rod 4 is movably connected with one end of the second connecting rod 5 and one end of the fourth connecting rod 6; the other end of the second connecting rod 5 is movably sleeved with one end of a third connecting rod 8, and the other end of the third connecting rod 8 is movably connected with the fixed platform 9; the other end of the fourth connecting rod 6 is movably sleeved with one end of the fifth connecting rod 7, and the other end of the fifth connecting rod 7 is movably connected with the fixed platform 9. The first connecting rod 4 is rotatably connected with the end part of the movable platform 2 or the follow-up platform 3 through a first rotating pair 13. The other end of the third connecting rod 8 is rotatably connected with the fixed platform 9 through a second revolute pair 10. The other end of the fifth connecting rod 7 is rotatably connected with the fixed platform 9 through a third revolute pair 11. The other end of the first link 4, one end of the second link 5, and one end of the fourth link 6 are rotatably connected by a fourth revolute pair 12. The rotation axis of the first revolute pair 13 is perpendicular to the rotation axis of the second revolute pair 10, and the rotation axis of the second revolute pair 10, the rotation axis of the third revolute pair 11 and the rotation axis of the fourth revolute pair 12 are parallel. The axis of the fifth revolute pair 1 is perpendicular to the rotation axis of the first revolute pair 13 and the rotation axis of the second revolute pair 10. The four branched chains are included, and two ends of the movable platform 2 and two ends of the follow-up platform 3 are respectively connected with one end of one branched chain. The movable platform 2 and the follow-up platform 3 are both of cuboid structures. And the axes of the first rotating pairs 13 in the two branched chains at the two ends of the moving platform 2 are coaxially arranged. The axial lines of the first rotating pairs 13 in the two branched chains at the two ends of the moving platform 2 are perpendicular to the axial lines of the first rotating pairs 13 in the two branched chains at the two ends of the follow-up platform 3.
In a more specific embodiment, the second connecting rod 5 and the third connecting rod 8 may be a cylinder body and a cylinder rod of the same electric cylinder, or the electric cylinder is disposed between the second connecting rod 5 and the third connecting rod 8, the second connecting rod 5 is fixedly connected with the cylinder rod, and the third connecting rod 8 is fixedly connected with the cylinder body; similarly, the fourth link 6 and the fifth link 7 may be a cylinder body and a cylinder rod of the same electric cylinder, or the electric cylinder may be disposed between the fourth link 6 and the fifth link 7, the fourth link 6 is fixedly connected to the cylinder rod, and the fifth link 7 is fixedly connected to the cylinder body.
The four branched chains are completely and symmetrically arranged on the fixed platform 9, and the parallel mechanism can realize high-degree-of-freedom motion of the movable platform 2 and the follow-up platform 3 under the action of 8 high-redundancy drives.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A high-redundancy-drive fully-symmetrical parallel mechanism with a closed-loop unit is characterized by comprising a movable platform, a fixed platform, a follow-up platform and a plurality of branched chains, wherein the movable platform is arranged above the follow-up platform and is rotationally connected with the follow-up platform through a fifth revolute pair, the fixed platform is arranged below the follow-up platform, two ends of the movable platform and two ends of the follow-up platform are respectively connected with one end of one branched chain, and the other ends of the branched chains are connected with the fixed platform;
the branched chain comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;
one end of the first connecting rod is movably connected with one end of the movable platform or the follow-up platform, and the other end of the first connecting rod is movably connected with one end of the second connecting rod and one end of the fourth connecting rod;
the other end of the second connecting rod is movably sleeved with one end of a third connecting rod, and the other end of the third connecting rod is movably connected with the fixed platform;
the other end of the fourth connecting rod is movably sleeved with one end of the fifth connecting rod, and the other end of the fifth connecting rod is movably connected with the fixed platform;
the first connecting rod is rotatably connected with the end part of the movable platform or the follow-up platform through a first revolute pair;
the other end of the third connecting rod is rotatably connected with the fixed platform through a second revolute pair;
the other end of the fifth connecting rod is rotatably connected with the fixed platform through a third revolute pair;
the other end of the first connecting rod, one end of the second connecting rod and one end of the fourth connecting rod are rotatably connected through a fourth rotating pair;
the rotation axis of the first rotation pair is vertical to the rotation axis of the second rotation pair, and the rotation axis of the second rotation pair, the rotation axis of the third rotation pair and the rotation axis of the fourth rotation pair are parallel;
and the first rotating pair axes of the two branched chains at the two ends of the movable platform are coaxially arranged.
2. The fully symmetric parallel mechanism with high redundancy drive of closed loop unit as claimed in claim 1, wherein the fifth revolute pair axis is perpendicular to the revolute axes of the first and second revolute pairs.
3. The mechanism as claimed in claim 1, comprising four said branches, wherein two ends of said movable platform and two ends of said follower platform are respectively connected to one end of one said branch.
4. The mechanism as claimed in claim 1, wherein the first axis of rotation of the two branched chains at the two ends of the movable platform is perpendicular to the first axis of rotation of the two branched chains at the two ends of the movable platform.
5. The high-redundancy-drive fully-symmetrical parallel mechanism with the closed-loop unit as claimed in claim 1, wherein the movable platform and the follow-up platform are both rectangular structures.
6. The high-redundancy-drive fully-symmetrical parallel mechanism with the closed-loop unit according to claim 1, wherein the movable platform and the follow-up platform are identical in shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910634481.4A CN110238821B (en) | 2019-07-15 | 2019-07-15 | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit |
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| CN201910634481.4A CN110238821B (en) | 2019-07-15 | 2019-07-15 | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit |
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| CN110238821A CN110238821A (en) | 2019-09-17 |
| CN110238821B true CN110238821B (en) | 2020-11-27 |
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| CN111267077B (en) * | 2020-04-02 | 2021-05-07 | 燕山大学 | Non-coplanar two-dimensional rotating one-dimensional moving parallel mechanism |
| CN111267076B (en) * | 2020-04-02 | 2021-05-04 | 燕山大学 | High-rigidity redundant drive parallel mechanism |
| CN111915958B (en) * | 2020-08-07 | 2021-12-07 | 燕山大学 | Symmetrical arrangement full decoupling two-shaft swing mechanism |
| CN113386111A (en) * | 2021-07-16 | 2021-09-14 | 燕山大学 | Three-translation redundant drive parallel mechanism with closed-loop unit |
| CN114366562A (en) * | 2022-01-17 | 2022-04-19 | 山东科技大学 | Three-degree-of-freedom parallel training device for ankle joint rehabilitation |
| CN116766164B (en) * | 2023-08-23 | 2023-10-20 | 太原理工大学 | High-rigidity five-degree-of-freedom parallel driving robot with multi-ring coupling branched chains |
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| WO2015168799A1 (en) * | 2014-05-08 | 2015-11-12 | UNIVERSITé LAVAL | Parallel mechanism with kinematically redundant actuation |
| CN108161490B (en) * | 2017-12-27 | 2019-06-04 | 北京交通大学 | A kind of redundant drive five-freedom parallel machine tool with big corner |
| CN109531543B (en) * | 2018-12-21 | 2022-08-30 | 清华大学 | Four-freedom parallel robot with double-acting platform structure |
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