CN110270983B - 2R1T type parallel mechanism with spherical rotary motion pair - Google Patents

2R1T type parallel mechanism with spherical rotary motion pair Download PDF

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CN110270983B
CN110270983B CN201910372860.0A CN201910372860A CN110270983B CN 110270983 B CN110270983 B CN 110270983B CN 201910372860 A CN201910372860 A CN 201910372860A CN 110270983 B CN110270983 B CN 110270983B
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connecting rod
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CN110270983A (en
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刘伟
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Xi'an Depsecco Measuring Equipment Co ltd
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Xian Polytechnic University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains

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Abstract

The invention discloses a 2R1T type parallel mechanism with a spherical rotating kinematic pair, which comprises a movable platform and a fixed platformThe movable platform is connected with the fixed platform through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain respectively; the parallel mechanism of the invention drives the sliding pair P by controlling the arrangement of the four branched chains under certain conditions12And a sliding pair P22And a sliding pair P32And realizing the control of the mechanism. The mechanism has one-dimensional spherical surface rotational freedom (Rs), one-dimensional rotational freedom (R) and one-dimensional movement freedom (P); the structure of the existing mechanism 2R1T (two rotation and one movement) is enriched, and the novel parallel mechanism has a certain application prospect in the fields of motion simulation, lathes and the like.

Description

2R1T type parallel mechanism with spherical rotary motion pair
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a 2R1T type parallel mechanism with a spherical rotary motion pair.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristic, compact structure and the like, and is widely applied to the industrial fields of machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom, at present, the parallel mechanism with 6 degrees of freedom is researched more comprehensively and deeply, but the reduction of the degrees of freedom of the parallel mechanism enables the mechanism structure to be simpler, and the manufacturing and control cost to be relatively lower, so that the parallel robot with less degrees of freedom has unique advantages under the condition of meeting the expected working requirement.
At present, the second rotation axis of the existing 2R1T type parallel mechanism can only change along with the rotation of the first rotation axis, and the parallel mechanism with one-dimensional rotation freedom (R), one-dimensional spherical rotation freedom (Rs) and one-dimensional movement freedom (P) is rare. The novel parallel mechanism has certain application prospect in the fields of motion simulation, lathes and the like.
Disclosure of Invention
The invention aims to provide a 2R1T type parallel mechanism with a spherical rotary motion pair, which solves the problem that the second rotary axis of the existing 2R1T type parallel mechanism can only change along with the rotation of a first rotary shaft.
The invention adopts the technical scheme that the 2R1T type parallel mechanism with the spherical rotary motion pair comprises a movable platform and a fixed platform, wherein the movable platform is connected with the fixed platform through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain respectively.
The present invention is also characterized in that,
the first branch chain comprises ball pairs S connected in sequence11A first connecting rod and a sliding pair P12A second connecting rod and a ball pair S13Ball pair S11And also connected with the fixed platform, a ball pair S13The movable platform is also connected with the movable platform;
sliding pair P12A hydraulic driving motor is connected.
The second branched chain comprises ball pairs S connected in sequence21A third connecting rod and a sliding pair P22Fourth connecting rod and ball pair S23Ball pair S21And also connected with the fixed platform, a ball pair S23The movable platform is also connected with the movable platform;
sliding pair P22A hydraulic driving motor is connected.
The third branched chain comprises ball pairs S connected in sequence31A fifth connecting rod and a sliding pair P32Sixth connecting rod and ball pair S32Ball pair S31And also connected with the fixed platform, a ball pair S32The movable platform is also connected with the movable platform;
sliding pair P32A hydraulic driving motor is connected.
The fourth branched chain comprises revolute pairs R connected with each other41And the seventh Y-shaped connecting rod comprises a first straight rod, one end of the first straight rod is provided with two fork rods, and the other end of the first straight rod and the revolute pair R41The two fork arms of the seventh Y-shaped connecting rod are respectively connected with a fifth sub-branched chain and a sixth sub-branched chain; the fourth branched chain also comprises a moving pair P connected with each other46And the tenth Y-shaped connecting rod comprises a second straight rod, one end of the second straight rod is provided with two fork rods, and the other end of the second straight rod is connected with the sliding pair P46The two fork arms of the tenth Y-shaped connecting rod are respectively connected with the fifth sub-branched chain and the sixth sub-branched chain; sliding pair P46And is also connected with a movable platform and a revolute pair R41And is also connected with the fixed platform.
The fifth sub-branch chain comprises revolute pairs R which are connected in sequence42Eighth connecting rod and revolute pair R44The sixth sub-branch chain comprises revolute pairs R which are connected in sequence43Ninth connecting rod and revolute pair R45(ii) a Revolute pair R42And is also connected with one fork rod in a seventh Y-shaped connecting rod, and a revolute pair R43And also in a seventh Y-shaped linkThe other fork rod is connected; revolute pair R44And is also connected with one fork rod in the tenth Y-shaped connecting rod, and a revolute pair R45And also to the other fork arm in the tenth Y-shaped link.
The parallel mechanism has the beneficial effects that the second rotating axis of the parallel mechanism is not fixed in space, changes along with the first rotating axis, and can generate one-dimensional spherical rotation, so that the parallel mechanism has a special rotating form; the parallel mechanism has one-dimensional rotational degree of freedom (R), one-dimensional spherical rotational degree of freedom (Rs) and one-dimensional translational degree of freedom (P); the structure of the existing mechanism 2R1T (two rotation and one movement) is enriched, and the novel parallel mechanism has a certain application prospect in the fields of motion simulation, lathes and the like.
Drawings
Fig. 1 is a schematic mechanism diagram of a 2R1T type parallel mechanism with a spherical rotary kinematic pair according to the present invention.
In the figure, 1, a first connecting rod, 2, a second connecting rod, 3, a third connecting rod, 4, a fourth connecting rod, 5, a fifth connecting rod, 6, a sixth connecting rod, 7, a seventh Y-shaped connecting rod, 8, an eighth connecting rod, 9, a ninth connecting rod, 10, a tenth Y-shaped connecting rod, 11, a movable platform and 12 are fixed platforms.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a 2R1T type parallel mechanism with a spherical rotary motion pair, which comprises a movable platform 11 and a fixed platform 12 as shown in figure 1, wherein the movable platform 11 is respectively connected with the fixed platform 12 through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain; a is defined as the joint of the movable platform 11 and the first branch chain1The joint of the movable platform 11 and the second branch chain is defined as A2The joint of the movable platform 11 and the third branch chain is defined as A3And the joint of the movable platform 11 and the fourth branch chain is defined as o. Defining the joint of the fixed platform 12 and the first branch chain as B1Defining the joint of the platform 12 and the second branch chain as B2Defining the joint of the platform 12 and the third branch chain as B3Defining the joint of the platform 12 and the fourth branch chain as B4. The moving platform 11 is A1、A2、A3O is located on the plane, and the fixed platform 12 is B1、B2、B3And B4The plane of the device.
The first branch chain comprises ball pairs S connected in sequence11A first connecting rod 1 and a sliding pair P12A second connecting rod 2 and a ball pair S13Ball pair S11And also connected with a fixed platform 12, a ball pair S13Is also connected with the movable platform 11;
the second branched chain comprises ball pairs S connected in sequence21A third connecting rod 3 and a sliding pair P22Fourth connecting rod 4 and ball pair S23Ball pair S21And also connected with a fixed platform 12, a ball pair S23Is also connected with the movable platform 11;
the third branched chain comprises ball pairs S connected in sequence31A fifth connecting rod 5 and a sliding pair P32Sixth connecting rod 6 and ball pair S32Ball pair S31And also connected with a fixed platform 12, a ball pair S32Is also connected with the movable platform 11;
the fourth branched chain comprises revolute pairs R connected with each other41And a seventh Y-shaped connecting rod 7, wherein the seventh Y-shaped connecting rod 7 comprises a first straight rod, one end of the first straight rod is provided with two fork rods, and the other end of the first straight rod and the revolute pair R41The two fork arms of the seventh Y-shaped connecting rod 7 are respectively connected with a fifth sub-branched chain and a sixth sub-branched chain; the fourth branched chain also comprises a moving pair P connected with each other46A tenth Y-shaped connecting rod 10, wherein the tenth Y-shaped connecting rod 10 comprises a second straight rod, one end of the second straight rod is provided with two fork rods, and the other end of the second straight rod is connected with a sliding pair P46The two fork arms of the tenth Y-shaped connecting rod 10 are respectively connected with the fifth sub-branched chain and the sixth sub-branched chain; sliding pair P46And is also connected with a movable platform 11 and a revolute pair R41And also to the stationary platen 12.
The seventh Y-shaped connecting rod passes through a revolute pair R41Connected with the fixed platform 12, the tenth Y-shaped connecting rod passes through a sliding pair P46Is connected with the movable platform 11.
The fifth sub-branch chain comprises revolute pairs R which are connected in sequence42Eighth connecting rod 8 and revolute pair R44The sixth sub-branch chain comprises revolute pairs R which are connected in sequence43Ninth connecting rod 9 and revolute pair R45(ii) a Revolute pair R42And is also connected with one fork rod in the seventh Y-shaped connecting rod 7, and a revolute pair R43And is also connected with the other fork rod in the seventh Y-shaped connecting rod 7; revolute pair R44And is also connected with one fork rod in the tenth Y-shaped connecting rod 10, and a revolute pair R45And also to the other fork arm in the tenth Y-shaped link 10. Revolute pair R41And a revolute pair R42And a revolute pair R43And a revolute pair R44And a revolute pair R45Intersects at point 1.
Sliding pair P12A hydraulic driving motor is connected.
Sliding pair P22A hydraulic driving motor is connected.
Sliding pair P32A hydraulic driving motor is connected.
In the configuration of the mechanism shown in FIG. 1, the sliding pair P46Three moving pairs P vertical to the plane of the moving platform 1112And a sliding pair P22And a sliding pair P32In the general direction of space. Revolute pair R42And a revolute pair R43And a revolute pair R44And a revolute pair R45Intersect at a point. Revolute pair R41Intersects the intersection point.
Connection point A of kinematic pair on movable platform 111A2A3Forming an equilateral triangle, the connecting point B of the kinematic pair on the fixed platform 121B2B3Forming an equilateral triangle. The point o on the movable platform is an equilateral triangle A1A2A3Of the center of (c). Revolute pair R41、R42、R43、R44、R45The intersection point of the axes is a fixed platform B1B2B3The center of an equilateral triangle.
When the mechanism is in the configuration shown in FIG. 1, the driving moving pair P is controlled12，P22，P32Can realize the control of the mechanism which can rotate around the revolute pair R41And a revolute pair R42And a revolute pair R43And a revolute pair R44The intersection point of the axes does two-dimensional spherical rotation and moves alongSubsidiary P46And (4) moving.
The parallel mechanism of the invention drives the sliding pair P by controlling the arrangement of the four branched chains under certain conditions12And a sliding pair P22And a sliding pair P32And realizing the control of the mechanism. The mechanism has one-dimensional spherical surface rotational freedom (Rs), one-dimensional rotational freedom (R) and one-dimensional movement freedom (P); the structure of the existing mechanism 2R1T (two rotation and one movement) is enriched, and the novel parallel mechanism has a certain application prospect in the fields of motion simulation, lathes and the like.

Claims (1)

1.一种具有球面转动运动副的2R1T型并联机构，其特征在于，包括有动平台(11)和定平台(12)，所述动平台(11)分别通过第一支链、第二支链、第三支链、第四支链与定平台(12)连接；1. a 2R1T type parallel mechanism with spherical surface rotation motion pair, is characterized in that, comprises moving platform (11) and fixed platform (12), and described moving platform (11) passes through the first branch chain, the second branch respectively The chain, the third branch chain, and the fourth branch chain are connected to the fixed platform (12); 所述第一支链包括有依次连接的球副S11、第一连杆(1)、移动副P12、第二连杆(2)及球副S13，所述球副S11还与定平台(12)连接，所述球副S13还与动平台(11)连接；The first branch chain includes a ball pair S 11 , a first connecting rod (1), a moving pair P 12 , a second connecting rod (2) and a ball pair S 13 that are connected in sequence, and the ball pair S 11 is also connected with the ball pair S 11 . The fixed platform (12) is connected, and the ball pair S 13 is also connected with the moving platform (11); 所述移动副P12连接有液压驱动电机；The moving pair P 12 is connected with a hydraulic drive motor; 所述第二支链包括有依次连接的球副S21、第三连杆(3)、移动副P22、第四连杆(4)及球副S23，所述球副S21还与定平台(12)连接，所述球副S23还与动平台(11)连接；The second branch chain includes a ball pair S 21 , a third connecting rod (3), a moving pair P 22 , a fourth connecting rod (4) and a ball pair S 23 which are connected in sequence, and the ball pair S 21 is also connected with the ball pair S 21 . The fixed platform (12) is connected, and the ball pair S 23 is also connected with the moving platform (11); 所述移动副P22连接有液压驱动电机；The moving pair P 22 is connected with a hydraulic drive motor; 所述第三支链包括有依次连接的球副S31、第五连杆(5)、移动副P32、第六连杆(6)及球副S32，所述球副S31还与定平台(12)连接，所述球副S32还与动平台(11)连接；The third branch chain includes a ball pair S 31 , a fifth link (5), a moving pair P 32 , a sixth link (6) and a ball pair S 32 connected in sequence, and the ball pair S 31 is also connected with the ball pair S 31 . The fixed platform (12) is connected, and the ball pair S 32 is also connected with the moving platform (11); 所述移动副P32连接有液压驱动电机；The moving pair P 32 is connected with a hydraulic drive motor; 所述第四支链包括有相互连接的转动副R41及第七Y形连杆(7)，所述第七Y形连杆(7)包括有第一直杆，所述第一直杆的一端设置有两个叉杆，所述第一直杆的另一端与转动副R41连接，所述第七Y形连杆(7)的两个叉杆分别连接有第五子支链及第六子支链；所述第四支链还包括有相互连接的移动副P46及第十Y形连杆(10)，所述第十Y形连杆(10)包括有第二直杆，所述第二直杆的一端设置有两个叉杆，所述第二直杆的另一端与移动副P46连接，所述第十Y形连杆(10)的两个叉杆分别与第五子支链及第六子支链连接；所述移动副P46还与动平台(11)连接，所述转动副R41还与定平台(12)连接；The fourth branch chain includes an interconnected rotating pair R 41 and a seventh Y-shaped link (7), the seventh Y-shaped link (7) includes a first straight rod, and the first straight rod One end is provided with two fork rods, the other end of the first straight rod is connected with the rotating pair R 41 , and the two fork rods of the seventh Y-shaped link (7) are respectively connected with the fifth sub-branch and The sixth sub-branch; the fourth branch also includes an interconnected moving pair P 46 and a tenth Y-shaped link (10), and the tenth Y-shaped link (10) includes a second straight rod One end of the second straight rod is provided with two fork rods, the other end of the second straight rod is connected with the moving pair P 46 , and the two fork rods of the tenth Y-shaped link (10) are respectively connected with The fifth sub-branch chain and the sixth sub-branch are connected; the moving pair P 46 is also connected with the moving platform (11), and the rotating pair R 41 is also connected with the fixed platform (12); 所述第五子支链包括有依次连接的转动副R42、第八连杆(8)及转动副R44，所述第六子支链包括有依次连接的转动副R43、第九连杆(9)及转动副R45；所述转动副R42还与所述第七Y形连杆(7)中的一个叉杆连接，所述转动副R43还与所述第七Y形连杆(7)中的另一个叉杆连接；所述转动副R44还与所述第十Y形连杆(10)中的一个叉杆连接，所述转动副R45还与所述第十Y形连杆(10)中的另一个叉杆连接。The fifth sub-branch includes a rotation pair R 42 , an eighth link (8) and a rotation pair R 44 connected in sequence, and the sixth sub-branch includes a rotation pair R 43 , a ninth link connected in sequence. A rod (9) and a rotating pair R 45 ; the rotating pair R 42 is also connected with a fork in the seventh Y-shaped link (7), and the rotating pair R 43 is also connected with the seventh Y-shaped link (7). The other fork rod in the connecting rod (7) is connected; the rotating pair R 44 is also connected with a fork rod in the tenth Y-shaped link (10), and the rotating pair R 45 is also connected with the first fork rod in the tenth Y-shaped link (10). The other fork link in the ten Y-link (10) is connected.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1861328A (en) * 2005-10-10 2006-11-15 燕山大学 Adjustable 3,4,5-SPS type parallel mechanism experiment bench
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN103056869A (en) * 2012-12-26 2013-04-24 燕山大学 S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism
WO2017067726A1 (en) * 2015-10-20 2017-04-27 Krones Aktiengesellschaft Parallel-kinematics robot and method for operating same
CN108818502A (en) * 2018-06-28 2018-11-16 西安工程大学 The parallel institution of a two mobile rotations with spherical rotation freedom degree
CN208557482U (en) * 2018-06-28 2019-03-01 西安工程大学 Parallel Mechanism of 2T1R with Spherical Rotational Degree of Freedom

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1861328A (en) * 2005-10-10 2006-11-15 燕山大学 Adjustable 3,4,5-SPS type parallel mechanism experiment bench
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN103056869A (en) * 2012-12-26 2013-04-24 燕山大学 S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism
WO2017067726A1 (en) * 2015-10-20 2017-04-27 Krones Aktiengesellschaft Parallel-kinematics robot and method for operating same
CN108818502A (en) * 2018-06-28 2018-11-16 西安工程大学 The parallel institution of a two mobile rotations with spherical rotation freedom degree
CN208557482U (en) * 2018-06-28 2019-03-01 西安工程大学 Parallel Mechanism of 2T1R with Spherical Rotational Degree of Freedom

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