CN110238828B - Novel metamorphic parallel robot - Google Patents
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Abstract
The invention discloses a novel metamorphic parallel robot which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through three metamorphic parallel branched chains which are uniformly distributed on the circumference, and the three metamorphic parallel branched chains have the same structure and are respectively a first metamorphic parallel branched chain, a second metamorphic parallel branched chain and a third metamorphic parallel branched chain. The metamorphic parallel robot mechanism is compact in structure, when three metamorphic series-parallel branched chains are switched between A, B and C different working modes, the metamorphic parallel robot mechanism can correspondingly have ten different working modes including 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R, and the requirements of different working tasks of actual engineering are met, and the topological structure and the degree of freedom of the metamorphic parallel robot mechanism are changed.
Description
Technical Field
The invention relates to the field of mechanics and robotics, in particular to a novel metamorphic parallel robot.
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 metamorphic 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 relates to a novel metamorphic parallel robot, which comprises a fixed platform and a moving platform, wherein the fixed platform and the moving platform are connected through three metamorphic parallel branched chains which are uniformly distributed on the circumference, and the three metamorphic parallel branched chains have the same structure and are respectively a first metamorphic parallel branched chain, a second metamorphic parallel branched chain and a third metamorphic parallel branched chain; the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain, the metamorphic single-ring closed chain is connected to the fixed platform, and the top end of the four-degree-of-freedom series branched chain is connected to the moving platform.
Furthermore, the metamorphic single-ring closed chain comprises a Hooke hinge, a first moving pair, a third rotating pair, a fourth rotating pair and a fifth rotating pair, the Hooke hinge comprises a first rotating pair and a second rotating pair, the first rotating pair is installed on the fixed platform, the axes of the first rotating pair and the second rotating pair are in orthogonal connection, and a first connecting rod is connected above the second rotating pair; the first moving pair is installed on the fixed platform, the fifth rotating pair is connected to a moving rod of the first moving pair through a fourth connecting rod, the fifth rotating pair is connected with the fourth rotating pair through a third connecting rod, the fourth rotating pair is connected with the third rotating pair through a second connecting rod, and the third rotating pair is connected with the Hooke hinge through the first connecting rod; the axes of the first rotating pair and the fifth rotating pair are collinear, and the axis of the first moving pair is parallel to the axis of the first rotating pair.
Furthermore, the four-degree-of-freedom series branched chain comprises a cylindrical pair, a sixth revolute pair and a seventh revolute pair, the cylindrical pair is connected to the middle of the first connecting rod of the metamorphic single-ring closed chain through a changeover rod, the cylindrical pair and the sixth revolute pair are connected through a fifth connecting rod, the sixth revolute pair and the seventh revolute pair are connected through a sixth connecting rod, and the seventh revolute pair is connected with the motion platform; the axes of the sixth rotating pair and the seventh rotating pair are parallel, the axis of the cylindrical pair is orthogonal to the axes of the sixth rotating pair and the seventh rotating pair, and the axis of the cylindrical pair is parallel to the axes of the second rotating pair and the third rotating pair.
Furthermore, the four-degree-of-freedom series branched chain comprises a second sliding pair, a sixth sliding pair, a seventh sliding pair and an eighth sliding pair, the eighth sliding pair is connected to the middle of the first connecting rod of the metamorphic single-ring closed chain through a changeover rod, the second sliding pair and the eighth sliding pair are connected through a seventh connecting rod, the second sliding pair is connected with the sixth sliding pair through a fifth connecting rod, the sixth sliding pair is connected with the seventh sliding pair through a sixth connecting rod, and the seventh sliding pair is connected with the motion platform; the axes of the sixth revolute pair and the seventh revolute pair are parallel, the axes of the second revolute pair and the eighth revolute pair are parallel, the axis of the second revolute pair is orthogonal to the axes of the sixth revolute pair and the seventh revolute pair, and the axis of the second revolute pair is parallel to the axes of the second revolute pair and the third revolute pair.
Still further, the first sliding pair specifically comprises two guide rings connected with the fixed platform and a moving rod inserted in the guide rings, the axes of the circular sections of the two guide rings are located on the same straight line, and the moving rod moves linearly along the axes of the guide rings.
Further, the adapter rod specifically comprises a first straight rod, an intermediate rod and a second straight rod which are fixedly connected into a whole, one end of the first straight rod is vertically connected to the middle of the first connecting rod, the other end of the first straight rod is connected with one end of the second straight rod through the intermediate rod, and the other end of the second straight rod is connected with the cylindrical pair; the first straight rod and the second straight rod are perpendicular to each other and are horizontally arranged, and the first straight rod and the second straight rod are perpendicular to the middle rod.
Further, the adapter rod specifically comprises a first straight rod, an intermediate rod and a second straight rod which are fixedly connected into a whole, one end of the first straight rod is vertically connected to the middle of the first connecting rod, the other end of the first straight rod is connected with one end of the second straight rod through the intermediate rod, and the other end of the second straight rod is connected with the eighth revolute pair; the first straight rod and the second straight rod are perpendicular to each other and are horizontally arranged, and the first straight rod and the second straight rod are perpendicular to the middle rod.
Still further, the seventh connecting rod is fixedly connected with the eighth revolute pair into a whole, and the second moving pair moves along the axis of the seventh connecting rod.
Compared with the prior art, the invention has the beneficial technical effects that:
the metamorphic parallel robot mechanism comprises a fixed platform and a moving platform which are connected through three metamorphic parallel branched chains which are uniformly distributed on the circumference, wherein the three metamorphic parallel branched chains have the same structure, and each metamorphic parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom serial branched chain. When the device works, the first rotating pair and the first moving pair are selected as input pairs of the metamorphic single-ring closed chain, and the first connecting rod is an output component of the metamorphic single-ring closed chain. And when the common normal of the axes of the second rotating pair and the third rotating pair is orthogonal to the fixed platform, the initial configuration of the metamorphic single-ring closed chain is formed. And in the initial configuration, the instantaneous degree of freedom of the first connecting rod is 2. By locking or driving the first revolute pair and the first revolute pair, the metamorphic single-ring closed chain can realize three different sub-configuration states, namely a sub-configuration state A, a sub-configuration state B and a sub-configuration state C; the metamorphic single-ring closed chain is connected with a four-degree-of-freedom series branched chain to obtain a metamorphic hybrid branched chain, and the metamorphic hybrid branched chain comprises an initial position and three different working modes due to the metamorphic single-ring closed chain.
When three metamorphic parallel connection branched chains are switched between A, B and C different working modes, the metamorphic parallel robot mechanism can correspondingly have ten different working modes (representing the working modes, the letter T represents movement, the letter R represents rotation, the number in front of the letter represents the movement number represented by T or R) of 3T3R, 3T2R, 2T3R, 3T1R, 2T2R, 1T3R, 3T, 2T1R, 1T2R and 3R, and the topological structure and the degree of freedom of the metamorphic parallel robot mechanism are changed according to different working task requirements of actual engineering.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic structural diagram of a metamorphic parallel robot mechanism of the present invention;
FIG. 2 is a schematic diagram of a metamorphic hybrid branched chain structure according to the present invention;
FIG. 3 is a diagram of the metamorphic hybrid branched chain substructure A of the present invention;
FIG. 4 is a diagram of the metamorphic hybrid branched chain substructure B of the present invention;
FIG. 5 is a diagram of the metamorphic hybrid branched chain substructure C of the present invention;
FIG. 6 is a schematic structural diagram of another embodiment of the metamorphic parallel robot mechanism of the present invention;
FIG. 7 is a schematic structural diagram of another embodiment of the metamorphic hybrid branched chain of the present invention;
description of reference numerals: 1. a fixed platform; 2. a motion platform; 3. a first metamorphic hybrid branch; 4. a second metamorphic hybrid branch; 5. a third metamorphic hybrid branch;
201. a first rotating pair; 202. a second revolute pair; 203. a third revolute pair; 204. a fourth revolute pair; 205. a fifth revolute pair; 206. a cylindrical pair; 206-1, a second sliding pair; 207. a sixth revolute pair; 208. a seventh revolute pair; 209. a transfer lever; 210. a first sliding pair;
211. a first link; 212. a second link; 213. a third link; 214. a fourth link; 215. a fifth link; 216. a sixth link; 217. a seventh connecting rod; 218. and an eighth revolute pair.
Detailed Description
Example 1:
as shown in fig. 1-5, a novel metamorphic parallel robot comprises a fixed platform 1 and a moving platform 2, wherein the fixed platform 1 and the moving platform 2 are connected through three metamorphic parallel-serial branched chains which are uniformly distributed circumferentially, and the three metamorphic parallel-serial branched chains have the same structure and are respectively a first metamorphic parallel-serial branched chain 3, a second metamorphic parallel-serial branched chain 4 and a third metamorphic parallel-serial branched chain 5. Specifically, the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain, the metamorphic single-ring closed chain is connected to the fixed platform 1, and the top end of the four-degree-of-freedom series branched chain is connected to the moving platform 2.
As shown in fig. 2, the metamorphic single-ring closed chain comprises a hooke joint, a first revolute pair 210, a third revolute pair 203, a fourth revolute pair 204 and a fifth revolute pair 205, the hooke joint comprises a first revolute pair 201 and a second revolute pair 202, the first revolute pair 201 is mounted on the fixed platform 1, the axes of the first revolute pair 201 and the second revolute pair 202 are orthogonally connected, and a first connecting rod 211 is connected above the second revolute pair 202; the first moving pair 210 is installed on the fixed platform 1, the fifth rotating pair 205 is connected to a moving rod of the first moving pair 210 through a fourth connecting rod 214, the fifth rotating pair 205 is connected to the fourth rotating pair 204 through a third connecting rod 213, the fourth rotating pair 204 is connected to the third rotating pair 203 through a second connecting rod 212, and the third rotating pair 203 is connected to the hooke joint through the first connecting rod 211; the axes of the first rotating pair 201 and the fifth rotating pair 205 are collinear, and the axis of the first moving pair 210 is parallel to the axis of the first rotating pair 201.
As shown in fig. 2, the four-degree-of-freedom serial branched chain includes a cylinder pair 206, a sixth revolute pair 207 and a seventh revolute pair 208, the cylinder pair 206 is connected to the middle of a first connecting rod 211 of the metamorphic single-ring closed chain through a switching rod 209, the cylinder pair 206 and the sixth revolute pair 207 are connected through a fifth connecting rod 215, the sixth revolute pair 207 and the seventh revolute pair 208 are connected through a sixth connecting rod 216, and the seventh revolute pair 208 is connected to the motion platform 2; the axes of the sixth revolute pair 207 and the seventh revolute pair 208 are parallel, the axis of the cylindrical pair 206 is orthogonal to the axes of the sixth revolute pair 207 and the seventh revolute pair 208, and the axis of the cylindrical pair 206 is parallel to the axes of the second revolute pair 202 and the third revolute pair 203.
The first sliding pair 210 specifically includes two guide rings connected to the fixed platform 1 and a moving rod inserted into the guide rings, the circular cross-section axes of the two guide rings are located on the same straight line, and the moving rod moves linearly along the axes of the guide rings.
The adapter rod 209 specifically comprises a first straight rod, an intermediate rod and a second straight rod which are fixedly connected into a whole, wherein one end of the first straight rod is vertically connected to the middle of the first connecting rod 211, the other end of the first straight rod is connected with one end of the second straight rod through the intermediate rod, and the other end of the second straight rod is connected with the cylindrical pair 206; the first straight rod and the second straight rod are perpendicular to each other and are horizontally arranged, and the first straight rod and the second straight rod are perpendicular to the middle rod.
Example 2:
as shown in fig. 6, another embodiment of the novel metamorphic parallel robot is a structural diagram, and the structural diagram includes a fixed platform 1 and a moving platform 2, the fixed platform 1 and the moving platform 2 are connected through three metamorphic hybrid branched chains which are uniformly distributed circumferentially, and the three metamorphic hybrid branched chains have the same structure and are respectively a first metamorphic hybrid branched chain 3, a second metamorphic hybrid branched chain 4 and a third metamorphic hybrid branched chain 5. Specifically, the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain, the metamorphic single-ring closed chain is connected to the fixed platform 1, and the top end of the four-degree-of-freedom series branched chain is connected to the moving platform 2.
As shown in fig. 7, the metamorphic single-ring closed chain structure in this embodiment is the same as that in embodiment 1, the four-degree-of-freedom serial branched chain includes a second sliding pair 206-1, a sixth sliding pair 207, a seventh sliding pair 208 and an eighth sliding pair 218, the eighth sliding pair 218 is connected to the middle of the first link 211 of the metamorphic single-ring closed chain through a switching rod 209, the second sliding pair 206-1 and the eighth sliding pair 218 are connected through a seventh link 217, the second sliding pair 206-1 and the sixth sliding pair 207 are connected through a fifth link 215, the sixth sliding pair 207 and the seventh sliding pair 208 are connected through a sixth link 216, and the seventh sliding pair 208 is connected to the motion platform 2; the axes of the sixth revolute pair 207 and the seventh revolute pair 208 are parallel, the axes of the second revolute pair 206-1 and the eighth revolute pair 218 are parallel, the axis of the second revolute pair 206-1 is orthogonal to the axes of the sixth revolute pair 207 and the seventh revolute pair 208, and the axis of the second revolute pair 206-1 is parallel to the axes of the second revolute pair 202 and the third revolute pair 203.
The adapter rod 209 specifically comprises a first straight rod, an intermediate rod and a second straight rod which are fixedly connected into a whole, wherein one end of the first straight rod is vertically connected to the middle of the first connecting rod 211, the other end of the first straight rod is connected with one end of the second straight rod through the intermediate rod, and the other end of the second straight rod is connected with the eighth revolute pair 218; the first straight rod and the second straight rod are perpendicular to each other and are horizontally arranged, and the first straight rod and the second straight rod are perpendicular to the middle rod. The seventh connecting rod 217 and the eighth revolute pair 218 are fixedly connected into a whole, and the second moving pair 206-1 moves along the axis of the seventh connecting rod 217.
The action process of the invention is as follows:
first, the first rotating pair 201 and the first moving pair 210 are selected as input pairs of the metamorphic monocyclic closed chain, and the first link 211 is selected as an output member of the metamorphic monocyclic closed chain.
As shown in FIG. 2, when the common normal of the axes of the second and third revolute pairs 202 and 203 is orthogonal to the fixed platform 1, it is the initial configuration of the metamorphic single-ring closed chain. The instantaneous degree of freedom of the first link 211 at the initial configuration is 2.
As shown in FIG. 3, when the first rotating pair 201 is locked and the first moving pair 210 is driven, the metamorphic single-loop closed chain is switched from the initial bit shape to the sub-configuration A. In the sub-configuration a, the degree of freedom of the first link 211 is 1. In the sub-configuration a, the first link 211 rotates continuously with a single degree of freedom, and the rotation axis is the axis of the second revolute pair 202.
As shown in FIG. 4, when the first sliding pair 210 is locked and the first rotating pair 201 is driven, the metamorphic single-loop closed chain is switched from the initial bit shape to the sub-configuration B. In the sub-configuration B, the degree of freedom of the first link 211 is 1. In the sub-configuration B, the first link 211 rotates continuously with a single degree of freedom, and the rotation axis is the axis of the first rotating pair 201.
As shown in fig. 5, when the first rotating pair 201 and the first moving pair 210 are driven simultaneously, the metamorphic monocyclic closed chain is switched from the initial bit shape to the sub-configuration C. In the sub-configuration C, the degree of freedom of the first link 211 is 2. In the sub-configuration C, the first link 211 rotates continuously with two degrees of freedom, and the rotation axes are the axis of the first rotating pair 201 and the axis of the second rotating pair 202. In the sub-configuration C, the two-degree-of-freedom continuous rotation of the metamorphic single-ring closed chain is complete decoupling motion, and the continuous rotation around the axis of the first rotating pair 201 is only related to the input angular displacement of the first rotating pair 201 and is not related to the input line displacement of the first moving pair 210; the continuous rotation about the axis of the second revolute pair 202 is only dependent on the input line displacement of the first revolute pair 210 and not on the input angular displacement of the first revolute pair 201.
As shown in fig. 2, the metamorphic monocyclic closed chain is connected with a four-degree-of-freedom series branched chain to obtain a novel metamorphic hybrid branched chain; when the single closed chain of the metamorphic nucleus is in the initial configuration, the mixed branched chain of the metamorphic nucleus is also in the initial configuration. In the initial configuration, the axis of the first rotary pair 201 intersects the axis of the cylindrical pair 206 at a point O. In the initial configuration, the axis of the second revolute pair 202 is parallel to the axis of the cylindrical pair 206. 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 correspondingly 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 axes of the second rotating pair 202 and the cylindrical pair 206 form a set of parallel line vectors, the axes of the sixth rotating pair 207 and the seventh rotating pair 208 form another set of parallel line vectors, and the common normal direction of the two sets of line vectors is the direction of the restraining force coupling.
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 branch is correspondingly switched from the initial configuration to the working mode B. In the operation mode B, the axis of the first rotating pair 201 intersects with the axis of the cylindrical pair 206 at a point O. 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 vector of the constraining force passes through the intersection point O of the axis of the first revolute pair 201 and the axis of the cylindrical pair 206, and the vector of the constraining force is in the same direction as the axes of the sixth revolute pair 207 and the seventh revolute pair 208.
As shown in fig. 5, when the metamorphic monocyclic closed chain is switched from the initial configuration to the sub-configuration C, the metamorphic hybrid branch is correspondingly 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.
As shown in figure 1, a novel metamorphic parallel robot mechanism can be obtained by connecting a moving platform 2 and a fixed platform 1 of a parallel mechanism by using three metamorphic parallel branched chains which are symmetrically arranged. When the three metamorphic hybrid branched chains are switched between A, B and C three different working modes, the novel metamorphic 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, the letter T represents movement, the letter R represents rotation, and the number in front of the letter represents the number of movements represented by T or R).
As shown in fig. 1, the axes of the fifth revolute pair 205 of the three metamorphic parallel branched chains which are uniformly distributed circumferentially meet at a point P, where the point P is the rotation center of the novel metamorphic parallel robot mechanism.
When the three metamorphic parallel connection branched chains are all located at the initial configuration, the novel metamorphic parallel connection robot mechanism is located at the initial configuration. When the metamorphic model is in an initial configuration, no geometric constraint is applied to the motion platform 2 by the three metamorphic series-parallel branched chains, and the instantaneous degree of freedom of the motion platform 2 is 6. The initial configuration is the configuration for switching different working modes of the novel metamorphic parallel robot mechanism.
When the three metamorphic parallel connection branched chains are all switched to the working mode C, no geometric constraint is applied to the motion platform 2 by the three metamorphic parallel connection branched chains, the motion platform 2 can have 3T3R motion, and the novel metamorphic parallel robot mechanism is switched to the 3T3R working mode from the initial position.
When two metamorphic parallel robot mechanisms are switched to a working mode C, the remaining metamorphic parallel chain is switched to a working mode A, a constraint force coupling acts on the motion platform 2 at the moment, one rotation of the motion platform 2 is constrained, the motion platform 2 has 3T2R motion, and the novel metamorphic parallel robot mechanism is switched to a 3T2R working mode.
When two metamorphic parallel robot mechanisms are switched to a working mode C, the remaining metamorphic parallel chain is switched to a working mode B, a constraint force vector acts on the motion platform 2 at the moment, one movement of the motion platform 2 is constrained, the motion platform 2 has 2T3R motion, and the novel metamorphic parallel robot mechanism is switched to a 2T3R working mode.
When two metamorphic parallel robot mechanisms are switched to a working mode A, the remaining metamorphic parallel robot mechanism is switched to a working mode C, two constraint force couplings act on the motion platform 2 at the moment, two rotations of the motion platform 2 are constrained, the motion platform 2 has 3T1R motion, and the novel metamorphic parallel robot mechanism is switched to a 3T1R working mode.
When one metamorphic parallel robot mechanism is switched to a working mode A, one metamorphic parallel chain is switched to a working mode B, the remaining metamorphic parallel chain is switched to a working mode C, a constraint force couple and a constraint force vector act on the motion platform 2, one rotation and one movement of the motion platform 2 are constrained, the motion platform 2 has 2T2R motion, and the novel metamorphic parallel robot mechanism is switched to a 2T2R working mode.
When two metamorphic parallel robot mechanisms are switched to a working mode B, the remaining metamorphic parallel robot mechanism is switched to a working mode C, two constraint vectors act on the motion platform 2 at the moment, two movements of the motion platform 2 are constrained, the motion platform 2 has 1T3R motion, and the novel metamorphic parallel robot mechanism is switched to a 1T3R working mode.
When the three metamorphic parallel connection branched chains are all switched to a working mode A, at the moment, three constraint force couplings act on the motion platform 2, the three rotations of the motion platform 2 are all constrained, the motion platform 2 has 3T motion, and the novel metamorphic parallel connection robot mechanism is switched to a 3T working mode.
When two metamorphic parallel connection branched chains are switched to a working mode A, the remaining metamorphic parallel connection 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 2, two rotations and one movement of the motion platform 2 are constrained, the motion platform 2 has 2T1R motion, and at the moment, the novel metamorphic parallel connection robot mechanism is switched to a 2T1R working mode.
When two metamorphic parallel robot mechanisms are switched to a working mode B, the remaining metamorphic parallel chain is switched to a working mode A, two constraint force vectors and one constraint force couple act on the motion platform 2, two movements and one rotation of the motion platform 2 are constrained, the motion platform 2 has 1T2R motion, and the novel metamorphic parallel robot mechanism is switched to a 1T2R working mode.
When the three metamorphic parallel connection branched chains are all switched to the working mode B, at the moment, three constraint force vectors act on the motion platform 2, three movements of the motion platform 2 are all constrained, the motion platform 2 has 3R motion, and the novel metamorphic parallel connection 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 (1)
1. A metamorphic parallel robot is characterized in that: the metamorphic hybrid branched chain comprises a fixed platform (1) and a moving platform (2), wherein the fixed platform (1) and the moving platform (2) are connected through three metamorphic hybrid branched chains which are uniformly distributed on the circumference, the three metamorphic hybrid branched chains have the same structure and are respectively a first metamorphic hybrid branched chain (3), a second metamorphic hybrid branched chain (4) and a third metamorphic hybrid branched chain (5); the metamorphic series-parallel branched chain comprises a metamorphic single-ring closed chain and a four-degree-of-freedom series branched chain, the metamorphic single-ring closed chain is connected to the fixed platform (1), and the top end of the four-degree-of-freedom series branched chain is connected to the motion platform (2);
the metamorphic single-ring closed chain comprises a Hooke hinge, a first moving pair (210), a third rotating pair (203), a fourth rotating pair (204) and a fifth rotating pair (205), the Hooke hinge comprises a first rotating pair (201) and a second rotating pair (202), the first rotating pair (201) is installed on the fixed platform (1), the axes of the first rotating pair (201) and the second rotating pair (202) are in orthogonal connection, and a first connecting rod (211) is connected above the second rotating pair (202); the first sliding pair (210) is installed on the fixed platform (1), the fifth rotating pair (205) is connected to a moving rod of the first sliding pair (210) through a fourth connecting rod (214), the fifth rotating pair (205) is connected with the fourth rotating pair (204) through a third connecting rod (213), the fourth rotating pair (204) is connected with the third rotating pair (203) through a second connecting rod (212), and the third rotating pair (203) is connected with the Hooke hinge through the first connecting rod (211);
the axes of the first rotating pair (201) and the fifth rotating pair (205) are collinear, and the axis of the first moving pair (210) is parallel to the axis of the first rotating pair (201);
the first sliding pair (210) specifically comprises two guide rings connected with the fixed platform (1) and a moving rod inserted in the guide rings, the circular section axes of the two guide rings are positioned on the same straight line, and the moving rod moves linearly along the axis of the guide rings;
the four-degree-of-freedom serial branched chain comprises a second moving pair (206-1), a sixth rotating pair (207), a seventh rotating pair (208) and an eighth rotating pair (218), wherein the eighth rotating pair (218) is connected to the middle of a first connecting rod (211) of the metamorphic single-ring closed chain through a switching rod (209), the second moving pair (206-1) and the eighth rotating pair (218) are connected through a seventh connecting rod (217), the second moving pair (206-1) and the sixth rotating pair (207) are connected through a fifth connecting rod (215), the sixth rotating pair (207) and the seventh rotating pair (208) are connected through a sixth connecting rod (216), and the seventh rotating pair (208) is connected with the motion platform (2);
the axes of the sixth revolute pair (207) and the seventh revolute pair (208) are parallel, the axes of the second revolute pair (206-1) and the eighth revolute pair (218) are parallel, the axis of the second revolute pair (206-1) is orthogonal to the axes of the sixth revolute pair (207) and the seventh revolute pair (208), and the axis of the second revolute pair (206-1) is parallel to the axes of the second revolute pair (202) and the third revolute pair (203);
the adapter rod (209) specifically comprises a first straight rod, a middle rod and a second straight rod which are fixedly connected into a whole, one end of the first straight rod is vertically connected to the middle of the first connecting rod (211), the other end of the first straight rod is connected with one end of the second straight rod through the middle rod, and the other end of the second straight rod is connected with the eighth revolute pair (218); the first straight rod and the second straight rod are mutually vertical and horizontal, and are both vertical to the middle rod;
the seventh connecting rod (217) and the eighth rotating pair (218) are fixedly connected into a whole, and the second moving pair (206-1) moves along the axis of the seventh connecting rod (217).
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|---|---|---|---|---|
| CN103072132B (en) * | 2013-01-14 | 2015-08-05 | 燕山大学 | The Three Degree Of Freedom moved decoupling parallel robot mechanism of structure full symmetric |
| CN107116557A (en) * | 2017-07-03 | 2017-09-01 | 北华航天工业学院 | Restructural space five-rod |
| CN107398891A (en) * | 2017-08-16 | 2017-11-28 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107283427B (en) * | 2017-08-16 | 2020-06-02 | 北华航天工业学院 | Metamorphic parallel mechanism |
| CN107650112A (en) * | 2017-08-16 | 2018-02-02 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN107520835A (en) * | 2017-08-16 | 2017-12-29 | 北华航天工业学院 | Become born of the same parents' parallel institution |
| CN110238826B (en) * | 2019-07-19 | 2021-03-16 | 北华航天工业学院 | Metamorphic parallel robot mechanism |
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