CN110238825B - Novel multi-mode parallel robot mechanism - Google Patents
Novel multi-mode parallel robot mechanism Download PDFInfo
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- CN110238825B CN110238825B CN201910654743.3A CN201910654743A CN110238825B CN 110238825 B CN110238825 B CN 110238825B CN 201910654743 A CN201910654743 A CN 201910654743A CN 110238825 B CN110238825 B CN 110238825B
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- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a novel multi-mode parallel robot mechanism which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through three metamorphic hybrid branched chains which are uniformly distributed on the circumference, and the three metamorphic hybrid branched chains have the same structure and are respectively a first metamorphic hybrid branched chain, a second metamorphic hybrid branched chain and a third metamorphic hybrid branched chain. When the three metamorphic hybrid branched chains are switched between A, B and C three different working modes, the novel multi-mode parallel robot mechanism can correspondingly have ten different working modes of 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R, so that the topological structure and the degree of freedom of the novel multi-mode parallel robot mechanism are changed according to the difference of actual engineering and the requirements of working tasks.
Description
Technical Field
The invention relates to the technical field of mechanics and robotics, in particular to a novel multi-mode parallel robot mechanism.
Background
In the early stages of mechanistic and robotics development, there is a general focus on traditional robotic mechanisms with fixed degrees of freedom and a single mode of operation.
However, with the development of scientific technology, the demand for integrated equipment with multiple working stages, multiple functions and smart operation capabilities is increasing. Particularly, in the field of robots in industrial production and living applications, there are more demands for an integrated robot system capable of realizing conversion of various different working modes and further adapting to different working task requirements.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel multi-mode parallel robot mechanism which can change the topological structure and the degree of freedom according to different work task requirements of actual engineering.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention discloses a novel multi-mode parallel robot mechanism which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through three metamorphic hybrid branched chains which are uniformly distributed on the circumference, and the three metamorphic hybrid branched chains have the same structure and are respectively a first metamorphic hybrid branched chain, a second metamorphic hybrid branched chain and a third metamorphic hybrid branched chain.
Further, the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain which are connected with each other, the bottom of the metamorphic single-ring closed chain is connected to the fixed platform, and the top of the four-degree-of-freedom series branched chain is connected to the motion platform; the metamorphic single-ring closed chain comprises a fixed base plate, a spherical five-bar mechanism, a hook hinge, a first connecting rod, a first connecting bar and a second connecting bar, wherein one end of the first connecting bar and one end of the second connecting bar are respectively connected onto the fixed base plate through the spherical five-bar mechanism and the hook hinge, the other end of the first connecting bar and the other end of the second connecting bar are respectively connected with the first connecting rod through a sixth revolute pair and a seventh revolute pair, and the top end of the first connecting rod is connected with the four-degree-of-freedom serial branched chain; the four-degree-of-freedom series branched chain comprises a second connecting rod and a third connecting rod, one end of the second connecting rod is connected with the top end of the first connecting rod through a cylindrical pair, the other end of the second connecting rod is connected with one end of the third connecting rod through an eighth revolute pair, and the other end of the third connecting rod is connected with the motion platform through a ninth revolute pair.
Still further, the spherical five-bar mechanism comprises a first straight bar and a second straight bar which are vertically fixed on the fixed bottom plate; the end of the first straight rod is connected with one end of a first bent rod through a first revolute pair, and the end of the second straight rod is connected with one end of a second bent rod through a second revolute pair; the other end of the first bent rod is connected with one end of a third bent rod through a third revolute pair, the other end of the second bent rod is connected with one end of a fourth bent rod through a fourth revolute pair, and the other end of the fourth bent rod is connected with the other end of the third bent rod through a fifth revolute pair; the bend angles of the first bent rod, the second bent rod, the third bent rod and the fourth bent rod are all 90 degrees; the lower end of the first connecting rod is fixed at the corner of the fourth bent rod, the first connecting rod is upwards vertical to the plane where the fourth bent rod is located, the axes of the first rotating pair, the second rotating pair, the third rotating pair, the fourth rotating pair and the fifth rotating pair all pass through the same rotating center O point, and the tracks of all points on all components of the spherical five-rod mechanism are spherical curves taking the O point as the center;
the hook joint comprises a third straight rod, a lower U-shaped revolute pair and an upper U-shaped revolute pair, the bottom end of the third straight rod is connected to the fixed base plate, the center of a U-shaped rod of the lower U-shaped revolute pair is connected to the top end of the third straight rod, and the axes of the lower U-shaped revolute pair and the upper U-shaped revolute pair are in orthogonal connection;
the center of the U-shaped rod of the upper U-shaped revolute pair is connected with the bottom end of the second side link; the lower U-shaped revolute pair and the second revolute pair are coaxially arranged.
Still further, a clearance hole is formed in the fixed bottom plate and located right below the spherical five-rod mechanism.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention relates to a novel multi-mode parallel robot mechanism which comprises a fixed platform and a moving platform, wherein the two platforms are connected through three metamorphic hybrid branched chains which are uniformly distributed on the circumference and have the same structure; the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain which are connected with each other, the metamorphic single-ring closed chain comprises a fixed base plate, a spherical five-rod mechanism, a hooke hinge, a first connecting rod and a second connecting rod, and the four-degree-of-freedom series branched chain comprises two connecting rods, two revolute pairs and a cylindrical pair. When the novel multi-mode parallel robot mechanism works, an upper U-shaped revolute pair of a Hooke's hinge and a second revolute pair of a spherical five-bar mechanism are selected as two input pairs of metamorphic single-ring closed chains, three different sub-configuration states of ABC can be formed when different revolute pairs are driven or locked, and when three metamorphic hybrid branched chains are switched between three different working modes of A, B and C, the novel multi-mode parallel robot mechanism can correspondingly have ten different working modes of 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R (when the working modes are represented, a letter T represents movement, a letter R represents rotation, and a number before the letter represents the number of movement represented by T or R), so that the topological structure and the degree of freedom of the novel multi-mode parallel robot mechanism are changed according to different actual engineering and working task requirements.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic diagram of the novel multi-mode parallel robot mechanism of the present invention;
FIG. 2 is a schematic diagram of the initial configuration of the metamorphic hybrid branch of the present invention;
FIG. 3 is a schematic view of the working mode A of the metamorphic hybrid branched chain of the present invention;
FIG. 4 is a schematic diagram of the operation mode B of the metamorphic hybrid branched chain of the present invention;
FIG. 5 is a schematic view of the operation mode C of the metamorphic hybrid branched chain of the present invention;
description of reference numerals: 1. a first metamorphic hybrid branch; 2. a second metamorphic hybrid branch; 3. a third metamorphic hybrid branch; 4. a fixed platform; 5. a motion platform;
101. fixing the bottom plate; 102. a spherical five-bar mechanism; 102-1, a first straight rod; 102-2, a second straight rod; 102-3, a first rotating pair; 102-4, a first bent rod; 102-5 and a second revolute pair; 102-6 and a second bent rod; 102-7 and a third revolute pair; 102-8 and a third bent rod; 102-9 and a fourth revolute pair; 102-10 and a fourth bent rod; 102-11 and a fifth revolute pair;
103. hooke's joint; 103-1, a third straight rod; 103-2, a lower U-shaped revolute pair; 103-3, an upper U-shaped revolute pair;
104. a first link lever; 105. a first link; 106. a second side link; 107. a sixth revolute pair; 108. a seventh revolute pair;
109. a cylindrical pair; 110. a second link; 111. a third link; 112. an eighth revolute pair; 113. and a ninth revolute pair.
Detailed Description
As shown in fig. 1-2, a novel multi-mode parallel robot mechanism comprises a fixed platform 4 and a moving platform 5, wherein the fixed platform 4 and the moving platform 5 are connected through three metamorphic hybrid branched chains which are uniformly distributed on the circumference, the structures of the metamorphic hybrid branched chains are the same, the metamorphic hybrid branched chains are respectively a first metamorphic hybrid branched chain 1, a second metamorphic hybrid branched chain 2 and a third metamorphic hybrid branched chain 3, the included angle between two adjacent metamorphic hybrid branched chains which are connected randomly is 120 degrees, and the metamorphic hybrid branched chain is installed in an installation groove of the fixed platform 4 through a bolt.
As shown in fig. 2, the specific metamorphic hybrid branched chain includes a metamorphic monocyclic closed chain and a four-degree-of-freedom serial branched chain connected to each other, the bottom of the metamorphic monocyclic closed chain is connected to the fixed platform 4, and the top of the four-degree-of-freedom serial branched chain is connected to the moving platform 5;
the metamorphic single-ring closed chain comprises a fixed base plate 101, a spherical five-bar mechanism 102, a Hooke hinge 103, a first connecting bar 105, a first connecting bar 104 and a second connecting bar 106, wherein one end of the first connecting bar 104 and one end of the second connecting bar 106 are respectively connected to the fixed base plate 101 through the spherical five-bar mechanism 102 and the Hooke hinge 103, the other end of the first connecting bar 104 and the other end of the second connecting bar 106 are respectively connected with the first connecting bar 105 through a sixth revolute pair 107 and a seventh revolute pair 108, and the top end of the first connecting bar 105 is connected with the four-degree-of-freedom serial branched chain;
the four-degree-of-freedom serial branched chain comprises a second connecting rod 110 and a third connecting rod 111, one end of the second connecting rod 110 is connected with the top end of the first connecting rod 105 through a cylindrical pair 109, the other end of the second connecting rod 110 is connected with one end of the third connecting rod 111 through an eighth rotating pair 112, and the other end of the third connecting rod 111 is connected with the motion platform 5 through a ninth rotating pair 113.
The spherical five-bar mechanism 102 comprises a first straight bar 102-1 and a second straight bar 102-2 which are vertically fixed on the fixed bottom plate 101; the end of the first straight rod 102-1 is connected with one end of a first bent rod 102-4 through a first revolute pair 102-3, and the end of the second straight rod 102-2 is connected with one end of a second bent rod 102-6 through a second revolute pair 102-5; the other end of the first bent rod 102-4 is connected with one end of a third bent rod 102-8 through a third revolute pair 102-7, the other end of the second bent rod 102-6 is connected with one end of a fourth bent rod 102-10 through a fourth revolute pair 102-9, and the other end of the fourth bent rod 102-10 is connected with the other end of the third bent rod 102-8 through a fifth revolute pair 102-11; the bending angles of the first bending rod 102-4, the second bending rod 102-6, the third bending rod 102-8 and the fourth bending rod 102-10 are all 90 degrees; the lower end of the first connecting rod 104 is fixed at the corner of the fourth curved rod 102-10, the first connecting rod 104 is upward perpendicular to the plane where the fourth curved rod 102-10 is located, the axes of the first revolute pair 102-3, the second revolute pair 102-5, the third revolute pair 102-7, the fourth revolute pair 102-9 and the fifth revolute pair 102-11 all pass through the same rotation center O point, and the trajectories of all points on all the components of the spherical five-rod mechanism 102 are spherical curves with the O point as the center;
the hook hinge 103 comprises a third straight rod 103-1, a lower U-shaped revolute pair 103-2 and an upper U-shaped revolute pair 103-3, the bottom end of the third straight rod 103-1 is connected to the fixed base plate 101, the center of a U-shaped rod of the lower U-shaped revolute pair 103-2 is connected to the top end of the third straight rod 103-1, and the axes of the lower U-shaped revolute pair 103-2 and the upper U-shaped revolute pair 103-3 are in orthogonal connection; the center of the U-shaped rod of the upper U-shaped revolute pair 103-3 is connected with the bottom end of the second side link 106; the lower U-shaped revolute pair 103-2 is arranged coaxially with the second revolute pair 102-5.
The fixed bottom plate 101 is provided with a clearance hole which is located right below the spherical five-bar mechanism 102 and provides enough space for the movement of the spherical five-bar mechanism 102.
The action process of the invention is as follows:
a lower U-shaped revolute pair 103-2 of a Hooke's hinge 103 and a first revolute pair 102-3 on a spherical five-bar mechanism 102 are selected as two input pairs of metamorphic single-ring closed chains, namely the lower U-shaped revolute pair 103-2 and the first revolute pair 102-3 are input pairs of metamorphic hybrid branched chains.
As shown in fig. 2, when the first frame bar 104 and the first frame bar 106 of the metamorphic monocyclic closed chain are both orthogonal to the fixed base 101, the bit shape is the initial bit shape of the metamorphic monocyclic closed chain. In the initial configuration, the axes of the sixth revolute pair 107 and the seventh revolute pair 108 are parallel to the axes of the first revolute pair 102-3 and the upper U-shaped revolute pair 103-3. In the initial configuration, the axes of the second revolute pair 102-5, the fifth revolute pair 102-11 and the lower U-shaped revolute pair 103-2 are collinear.
As shown in FIG. 3, when the first revolute pair 102-3 connecting the driving spherical five-bar mechanism with the fixed base plate and the lower U-shaped revolute pair 103-2 connecting the locked Hooke's joint with the fixed platform are locked, the metamorphic single-ring closed chain is switched from the initial position to the sub-configuration A. In the sub-configuration a, the first link 105 of the metamorphic single-loop closed chain moves relative to the fixed base 101 in a direction which is instantaneously changed, and the moving direction is orthogonal to the first link 104 and the second link 106. In the sub-configuration A, the closed chain of the metamorphic monocyclic ring is equivalent to a moving pair, and the number of degrees of freedom of the closed chain of the metamorphic monocyclic ring is 1.
As shown in fig. 4, when the locked spherical five-bar mechanism is connected to the first revolute pair 102-3 connected to the fixed base plate and drives the hooke's joint to connect to the lower U-shaped revolute pair 103-2 connected to the fixed platform, the metamorphic single-ring closed chain is switched from the initial position to the sub-configuration B. And in the sub-configuration B, the whole metamorphic single-ring closed chain rotates around the axis of a second revolute pair 102-5 connected with the fixed bottom plate by the spherical five-rod mechanism, the metamorphic single-ring closed chain is equivalent to a revolute pair, and the number of degrees of freedom of the metamorphic single-ring closed chain is 1.
As shown in FIG. 5, when the first revolute pair 102-3 of the spherical five-bar mechanism connected with the fixed base plate and the lower U-shaped revolute pair 103-2 of the Hooke's joint connected with the fixed platform are driven simultaneously, the metamorphic single-ring closed chain is switched from the initial configuration to the sub-configuration C. In the sub-configuration C, the number of degrees of freedom of the metamorphic single-ring closed chain is 2, the degree of freedom of the first link 105 of the metamorphic single-ring closed chain is characterized by rotation around the axis of the second revolute pair 102-5 connected with the fixed bottom plate by the spherical five-bar mechanism and movement along the direction orthogonal to the first link 104 and the second link 106, and the movement direction of the first link 105 is changed instantaneously.
The relationship between the axes of the lower U-shaped revolute pair 103-2 and the upper U-shaped revolute pair 103-3 of the Hooke's hinge and the axes of the first revolute pair 102-3 and the second revolute pair 102-5 of the spherical five-bar mechanism connected with the fixed platform needs to be arranged according to the scheme, and the single-ring closed chain has metamorphic characteristics. If the single-ring closed chain is not arranged according to the scheme, the single-ring closed chain has no metamorphic characteristic and has a motor bifurcation characteristic.
As shown in FIG. 1, a metamorphic monocyclic closed chain is connected with a four-degree-of-freedom tandem branched chain to obtain a metamorphic hybrid branched chain. The four-degree-of-freedom serial branched chain consists of a cylindrical pair 109, an eighth revolute pair 112 and a ninth revolute pair 113, the axes of the eighth revolute pair 112 and the ninth revolute pair 113 are parallel, and the directions of the axes of the eighth revolute pair 112 and the ninth revolute pair 113 are different from those of the cylindrical pair 109. The four-degree-of-freedom serial branched chain is connected with a metamorphic single-ring closed chain through a cylindrical pair 109. And the ninth revolute pair 113 is used for connecting the metamorphic hybrid branched chain and the motion platform.
As shown in FIGS. 1 and 2, when the closed chain of the metamorphic monocycle is in the initial configuration, the hybrid side chain of the metamorphic also is in the initial configuration. In the initial configuration, the cylindrical pair 109 intersects the axis of the second revolute pair 102-5 at a point P. The transient degree of freedom of the metamorphic hybrid branch is 6 when the metamorphic hybrid branch is in an initial configuration, and no geometric constraint exists.
As shown in FIG. 3, when the metamorphic monocyclic closed chain is switched from the initial configuration to the sub-configuration A, the metamorphic hybrid branched chain is also switched from the initial configuration to the working mode A. In the working mode A, the number of degrees of freedom of the metamorphic hybrid branched chain is 5, and a constraint force coupling exists in the metamorphic hybrid branched chain. The axis of the cylindrical pair 109 is a set of line vectors, the axes of the eighth rotating pair 112 and the ninth rotating pair 113 form another set of line vectors, and the common normal direction of the two sets of line vectors is the direction of the restraining force couple.
As shown in fig. 4, when the metamorphic monocyclic closed chain is switched from the initial configuration to the sub-configuration B, the metamorphic hybrid branched chain is also switched from the initial configuration to the working mode B. In the working mode B, the axis of the cylinder pair 109 and the axis of the second revolute pair 102-5 intersect at a point P. And in the working mode B, the number of degrees of freedom of the metamorphic hybrid branched chain is 5, and a constraint vector exists in the metamorphic hybrid branched chain. The constraining force vector passes through the intersection point P of the axis of the cylindrical pair 109 and the axis of the second revolute pair 102-5, and the constraining force vector is in the same direction with the axes of the eighth revolute pair 112 and the ninth revolute pair 113.
As shown in FIG. 5, when the metamorphic monocyclic closed chain is switched to the sub-configuration C, the metamorphic hybrid branched chain is also switched from the initial configuration to the operation mode C. And in the working mode C, the number of degrees of freedom of the metamorphic hybrid branched chain is 6, and the metamorphic hybrid branched chain has no geometric constraint.
In summary, as shown in fig. 1, the moving platform 5 and the fixed base plate 101 of the parallel mechanism are connected by three metamorphic hybrid-series branched chains which are uniformly distributed circumferentially, so that a novel multi-mode parallel robot mechanism can be obtained. When the three metamorphic hybrid branched chains are switched between A, B and C three different working modes, the novel multi-mode parallel robot mechanism can correspondingly have ten different working modes of 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R.
Fig. 1 shows an initial configuration of the novel multi-mode parallel robot mechanism, and at this time, three symmetrically arranged metamorphic hybrid branched chains are all located in the initial configuration. When the metamorphic model is initialized, the axes of the second revolute pair 102-5 and the cylindrical pair 109 on the three metamorphic hybrid branched chains are converged at a point P. The point P in fig. 1 is the rotation center of the novel multi-mode parallel robot mechanism.
When the three metamorphic hybrid branched chains are all located at the initial configuration, the novel multi-mode parallel robot mechanism is called to be located at the initial configuration. When the metamorphic model is in an initial configuration, no geometric constraint is applied to the motion platform 5 by the three metamorphic hybrid branched chains, and the instantaneous degree of freedom of the motion platform 5 is 6. The initial configuration is the configuration for switching different working modes of the multi-mode parallel robot mechanism.
When the three metamorphic hybrid branched chains are all switched to the working mode C, no geometric constraint is applied to the motion platform 5 by the three metamorphic hybrid branched chains, the motion platform 5 can have 3T3R motion, and the multi-mode parallel robot mechanism is switched to the 3T3R working mode.
When two of the metamorphic hybrid branched chains are switched to the working mode C, the remaining metamorphic hybrid branched chain is switched to the working mode A, a constraint force coupling acts on the motion platform 5 at the moment, one rotation of the motion platform 5 is constrained, the motion platform has 3T2R motion, and the multimode parallel robot mechanism is switched to the 3T2R working mode at the moment.
When two of the metamorphic hybrid branched chains are switched to the working mode C, the remaining metamorphic hybrid branched chain is switched to the working mode B, a constraint force vector acts on the motion platform 5 at the moment, one movement of the motion platform 5 is constrained, the motion platform has 2T3R motion, and the multi-mode parallel robot mechanism is switched to the 2T3R working mode at the moment.
When two of the metamorphic hybrid branched chains are switched to the working mode A, the remaining metamorphic hybrid branched chain is switched to the working mode C, at the moment, two constraint force couplings act on the motion platform 5, two rotations of the motion platform 5 are constrained, the motion platform has 3T1R motion, and at the moment, the multimode parallel robot mechanism is switched to the 3T1R working mode.
When one metamorphic hybrid branched chain is switched to the working mode A, one metamorphic hybrid branched chain is switched to the working mode B, the remaining metamorphic hybrid branched chain is switched to the working mode C, a constraint force coupler and a constraint force vector act on the motion platform 5, one rotation and one movement of the motion platform 5 are constrained, the motion platform has 2T2R motion, and the multi-mode parallel robot mechanism is switched to the 2T2R working mode.
When two metamorphic hybrid branched chains are switched to a working mode B, the remaining metamorphic hybrid branched chain is switched to a working mode C, two constraint vectors act on the motion platform 5 at the moment, two movements of the motion platform 5 are constrained, the motion platform has 1T3R motion, and the multi-mode parallel robot mechanism is switched to a 1T3R working mode at the moment.
When the three metamorphic hybrid branched chains are all switched to a working mode A, at the moment, three constraint force couplings act on the motion platform 5, the three rotations of the motion platform 5 are all constrained, the motion platform has 3T motion, and at the moment, the multi-mode parallel robot mechanism is switched to a 3T working mode.
When two metamorphic hybrid branched chains are switched to a working mode A, the remaining metamorphic hybrid branched chain is switched to a working mode B, at the moment, two constraint force couplings and one constraint force vector act on the motion platform 5, two rotations and one movement of the motion platform 5 are constrained, the motion platform has 2T1R motion, and at the moment, the multimode parallel robot mechanism is switched to a 2T1R working mode.
When two metamorphic hybrid branched chains are switched to a working mode B, the remaining metamorphic hybrid branched chain is switched to a working mode A, two constraint force vectors and one constraint force coupling act on the motion platform 5, two movements and one rotation of the motion platform 5 are constrained, the motion platform has 1T2R motion, and at the moment, the multi-mode parallel robot mechanism is switched to a 1T2R working mode.
When the three metamorphic hybrid branched chains are all switched to the working mode B, at the moment, three constraint force vectors act on the motion platform 5, three movements of the motion platform 5 are all constrained, the motion platform has 3R motion, and at the moment, the multi-mode parallel robot mechanism is switched to the 3R working mode.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (2)
1. A multi-mode parallel robot mechanism characterized by: the metamorphic hybrid branched chain comprises a fixed platform (4) and a moving platform (5), wherein the fixed platform (4) and the moving platform (5) are connected through three metamorphic hybrid branched chains which are uniformly distributed in the circumference, the three metamorphic hybrid branched chains have the same structure and are respectively a first metamorphic hybrid branched chain (1), a second metamorphic hybrid branched chain (2) and a third metamorphic hybrid branched chain (3);
the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain which are mutually connected, the bottom of the metamorphic single-ring closed chain is connected to the fixed platform (4), and the top of the four-degree-of-freedom series branched chain is connected to the motion platform (5);
the metamorphic single-ring closed chain comprises a fixed base plate (101), a spherical five-bar mechanism (102), a Hooke hinge (103), a first connecting rod (105), a first connecting bar (104) and a second connecting bar (106), wherein one ends of the first connecting bar (104) and the second connecting bar (106) are connected to the fixed base plate (101) through the spherical five-bar mechanism (102) and the Hooke hinge (103), the other ends of the first connecting bar (104) and the second connecting bar (106) are connected with the first connecting rod (105) through a sixth rotating pair (107) and a seventh rotating pair (108), and the top end of the first connecting rod (105) is connected with four serial branched chains in freedom degree;
the four-degree-of-freedom serial branched chain comprises a second connecting rod (110) and a third connecting rod (111), one end of the second connecting rod (110) is connected with the top end of the first connecting rod (105) through a cylindrical pair (109), the other end of the second connecting rod (110) is connected with one end of the third connecting rod (111) through an eighth revolute pair (112), and the other end of the third connecting rod (111) is connected with the motion platform (5) through a ninth revolute pair (113);
the spherical five-bar mechanism (102) comprises a first straight bar (102-1) and a second straight bar (102-2) which are vertically fixed on the fixed bottom plate (101); the end of the first straight rod (102-1) is connected with one end of a first bent rod (102-4) through a first revolute pair (102-3), and the end of the second straight rod (102-2) is connected with one end of a second bent rod (102-6) through a second revolute pair (102-5); the other end of the first bent rod (102-4) is connected with one end of a third bent rod (102-8) through a third revolute pair (102-7), the other end of the second bent rod (102-6) is connected with one end of a fourth bent rod (102-10) through a fourth revolute pair (102-9), and the other end of the fourth bent rod (102-10) is connected with the other end of the third bent rod (102-8) through a fifth revolute pair (102-11); the bending angles of the first bending rod (102-4), the second bending rod (102-6), the third bending rod (102-8) and the fourth bending rod (102-10) are all 90 degrees; the lower end of the first connecting rod (104) is fixed at the corner of the fourth bent rod (102-10), the first connecting rod (104) is upward vertical to the plane where the fourth bent rod (102-10) is located, the axes of the first rotating pair (102-3), the second rotating pair (102-5), the third rotating pair (102-7), the fourth rotating pair (102-9) and the fifth rotating pair (102-11) all pass through the same rotating center O point, and the track of all points on all members of the spherical five-rod mechanism (102) is a spherical curve taking the O point as the center;
the hook hinge (103) comprises a third straight rod (103-1), a lower U-shaped revolute pair (103-2) and an upper U-shaped revolute pair (103-3), the bottom end of the third straight rod (103-1) is connected to the fixed base plate (101), the center of a U-shaped rod of the lower U-shaped revolute pair (103-2) is connected to the top end of the third straight rod (103-1), and the axes of the lower U-shaped revolute pair (103-2) and the upper U-shaped revolute pair (103-3) are in orthogonal connection; the center of a U-shaped rod of the upper U-shaped revolute pair (103-3) is connected with the bottom end of the second side link (106); the lower U-shaped revolute pair (103-2) and the second revolute pair (102-5) are coaxially arranged;
selecting a lower U-shaped revolute pair (103-2) of a Hooke hinge (103) and a first revolute pair (102-3) on a spherical five-bar mechanism (102) as two input pairs of a metamorphic single-ring closed chain;
when a first rotating pair (102-3) for driving the spherical five-bar mechanism to be connected with the fixed bottom plate and a lower U-shaped rotating pair (103-2) for locking the hook joint to be connected with the fixed platform are locked, the metamorphic single-ring closed chain is switched from an initial position shape to a sub-configuration A;
when a locking spherical five-rod mechanism is connected with a first rotating pair (102-3) of a fixed bottom plate, a lower U-shaped rotating pair (103-2) of a Hooke hinge connected with a fixed platform is driven, and a metamorphic single-ring closed chain is switched from an initial position shape to a sub-configuration state B;
when a first rotating pair (102-3) of the spherical five-bar mechanism connected with the fixed bottom plate and a lower U-shaped rotating pair (103-2) of the Hooke hinge connected with the fixed platform are driven simultaneously, the metamorphic single-ring closed chain is switched from an initial position shape to a sub-configuration state C;
the three metamorphic hybrid branched chains are switched between A, B and C three different sub-configuration states, and the multi-mode parallel robot mechanism correspondingly has ten different working modes of 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R.
2. The multi-mode parallel robotic mechanism of claim 1, wherein: the fixed bottom plate (101) is provided with a clearance hole, and the clearance hole is located right below the spherical five-rod mechanism (102).
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| CN201910654743.3A CN110238825B (en) | 2019-07-19 | 2019-07-19 | Novel multi-mode parallel robot mechanism |
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