CN110524518B - Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism - Google Patents
Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism Download PDFInfo
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- CN110524518B CN110524518B CN201910833748.2A CN201910833748A CN110524518B CN 110524518 B CN110524518 B CN 110524518B CN 201910833748 A CN201910833748 A CN 201910833748A CN 110524518 B CN110524518 B CN 110524518B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The utility model provides a two move one and take turns few branch chain redundant drive complete symmetry parallel mechanism, relates to the robotechnology field, and this mechanism is including deciding platform and parallel arrangement moving platform directly over deciding the platform, its characterized in that: a fixed platform and a movable platform are arranged between the two sides of the fixed platform and the movable platformTwo groups of branch chain components with the same structure and complete symmetry, wherein the branch chain components are all
A branched structure. The mechanism has very good comprehensive performance, such as elimination of accompanying movement, reduction of singular position types, enlargement of working space, improvement of integral rigidity, improvement of flexibility, improvement of bearing capacity and acceleration performance, improvement of force/position transmission performance and convenience in control, and is a planar mechanism and has very ideal use value.
Description
Technical Field
The invention relates to the field of robots, in particular to a fully-symmetrical parallel mechanism with two-shift one-rotation less branched chain redundant drive.
Background
The three-degree-of-freedom actuating mechanism with two movements and one rotation redundancy driving is needed in application occasions such as complex curved surface milling with high rigidity, high precision and high dexterity, drilling and riveting needing to compensate instantaneous impact, welding with high precision and large working space, logistics transportation with large bearing capacity, good dynamic characteristics and good adaptability and the like. In the prior art, a two-movement one-rotation redundant driving three-degree-of-freedom planar mechanism with excellent comprehensive performance, which contains a redundant branched chain and a closed-loop unit, has good symmetry and is driven, is especially absent.
Disclosure of Invention
In order to solve the problems, the invention provides a two-shift one-less-branched-chain redundant drive fully-symmetrical parallel mechanism which has the characteristics of high flexibility, large bearing capacity, high rigidity, excellent mechanism motion/force transmission performance, excellent drive stability, capability of eliminating unexpected freedom degree, convenience for kinematic dynamics control, unfixed rotation center and the like.
The invention provides a two-shift one-turn less-branched-chain redundant drive fully-symmetrical parallel mechanism, which comprises a fixed platform and a movable platform arranged in parallel right above the fixed platform, and is characterized in that: the setting is flatTwo groups of branched chain components which have the same structure and are completely symmetrical are arranged between the two sides of the platform and the movable platform, and the branched chain components are all the same
A branched structure.
The branched chain component comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the lower end part of the first connecting rod is connected with the fixed platform through a first revolute pair, the upper end part of the first connecting rod is connected with the lower end part of the second connecting rod through a first moving pair, the upper end part of the second connecting rod and the upper end part of the third connecting rod are connected to the bottom of one side of the movable platform through a composite hinge, the lower end part of the third connecting rod is connected with the upper end part of the fourth connecting rod through a second moving pair, the lower end part of the fourth connecting rod is connected with the fixed platform through a second revolute pair, and the first rotating pair and the second rotating pair in the two sets of branched chain components are uniformly distributed on the upper surface of.
The rotation axes of the first rotating pair, the composite hinge and the second rotating pair are parallel to each other; the first sliding pair is arranged on a common vertical line of a rotating axis of the first rotating pair and a rotating axis of the composite hinge, and the second sliding pair is arranged on a common vertical line of a rotating axis of the second rotating pair and a rotating axis of the composite hinge.
The first moving pair and the second moving pair in the two groups of branched chain assemblies are used as driving pairs and are driven by electric cylinders in a linear mode, and the moving platform achieves horizontal and vertical moving freedom degrees and rotation of an unfixed rotation center perpendicular to a moving plane under the action of the four moving pairs.
And the rotation axes of the first rotating pair and the second rotating pair in the two groups of branched chain assemblies are parallel to each other.
The first rotating pair and the second rotating pair are respectively composed of a U-shaped clamping groove and a hinge shaft corresponding to the U-shaped clamping groove.
The fixed platform and the movable platform are both of cuboid plate structures.
The invention has the beneficial effects that:
the parallel mechanism and all the driving pairs have high symmetry, so that the mechanism has very good comprehensive performance, such as elimination of accompanying movement, reduction of singular position type, enlargement of working space, improvement of integral rigidity, improvement of flexibility, improvement of bearing capacity and acceleration performance, improvement of force/position transmission performance and convenience in control.
Drawings
Fig. 1 is a specific structural diagram of an embodiment of a two-shift one-less-branch redundant drive fully-symmetrical parallel mechanism according to the present invention.
Detailed Description
The following non-limiting examples are presented to enable those of ordinary skill in the art to more fully understand the present invention and are not intended to limit the invention in any way.
Referring to fig. 1, a specific structure of an embodiment of a two-shift one-less-branch redundant drive fully-symmetrical parallel mechanism proposed by the present invention is shown. The mechanism comprises a fixed platform 1, a movable platform 2 and two groups of branched chain components 3.
In the embodiment, the fixed platform 1 and the movable platform 2 are both of a cuboid plate structure, the movable platform 2 is arranged right above the fixed platform 1 in parallel, and the two groups of branched chain assemblies 3 are respectively arranged between the left side and the right side of the fixed platform 1 and the left side and the right side of the movable platform 2; the two groups of branched chain components 3 are both
The branched chain structure, and two groups of branched chain components 3 are identical in structure and are completely symmetrically arranged.
The branched chain component 3 comprises a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a fourth connecting rod 34, the lower end part of the first connecting rod 31 is connected to the upper surface of the fixed platform 1 through a first revolute pair 35, the upper end part of the first connecting rod 31 is connected with the lower end part of the second connecting rod 32 through a first revolute pair 36, the upper end part of the second connecting rod 32 and the upper end part of the third connecting rod 33 are connected to the bottom of one side of the movable platform 2 through a composite hinge 37, the lower end part of the third connecting rod 33 is connected with the upper end part of the fourth connecting rod 34 through a second revolute pair 38, the lower end part of the fourth connecting rod 34 is connected to the upper surface of the fixed platform 1 through a second revolute pair 39, the first revolute pair 35 and the second revolute pair 39 in the two groups of branched chain components 3 are spaced at the same distance, and are uniformly.
The rotation axes of the first rotating pair 35, the compound hinge 37 and the second rotating pair 39 are parallel to each other; the first moving pair 36 is arranged on the common perpendicular line of the rotation axis of the first rotating pair 35 and the rotation axis of the compound hinge 37, and the second moving pair 38 is arranged on the common perpendicular line of the rotation axis of the second rotating pair 39 and the rotation axis of the compound hinge 37.
The first moving pair 36 and the second moving pair 38 in the two groups of branched chain assemblies 3 are used as driving pairs and are driven linearly by electric cylinders, and the moving platform 2 realizes horizontal and vertical moving freedom degrees and rotation of an unfixed rotation center vertical to a moving plane under the action of four driving side effects.
The rotation axes of the first rotating pair and the second rotating pair in the two groups of branched chain assemblies are parallel to each other; the revolute pair may be any one of the prior art, as long as a stable hinge relationship can be achieved in the rotation plane, in this embodiment, the first revolute pair and the second revolute pair are both formed by one U-shaped slot and a hinge shaft corresponding to the U-shaped slot.
Claims (5)
1. The utility model provides a two move one few branch chain redundant drive complete symmetry parallel mechanism, this mechanism is including deciding platform and parallel arrangement moving platform directly over deciding the platform, its characterized in that: two groups of branched chain components which are identical in structure and completely symmetrical are arranged between two sides of the fixed platform and two sides of the movable platform, and the branched chain components are all the same
A branched structure;
the branched chain components comprise a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the lower end part of the first connecting rod is connected with the fixed platform through a first revolute pair, the upper end part of the first connecting rod is connected with the lower end part of the second connecting rod through a first revolute pair, the upper end part of the second connecting rod and the upper end part of the third connecting rod are connected to the bottom of one side of the movable platform through a composite hinge, the lower end part of the third connecting rod is connected with the upper end part of the fourth connecting rod through a second revolute pair, the lower end part of the fourth connecting rod is connected with the fixed platform through a second revolute pair, and the first revolute pair and the second revolute pair in the two groups of branched chain components are uniformly distributed on the;
the rotation axes of the first rotating pair, the composite hinge and the second rotating pair are parallel to each other; the first sliding pair is arranged on a common vertical line of a rotating axis of the first rotating pair and a rotating axis of the composite hinge, and the second sliding pair is arranged on a common vertical line of a rotating axis of the second rotating pair and a rotating axis of the composite hinge.
2. The mechanism of claim 1, wherein the two-shift one-shift-less-branch redundant drive fully-symmetrical parallel mechanism comprises: the first moving pair and the second moving pair in the two groups of branched chain assemblies are used as driving pairs and are driven by electric cylinders in a linear mode, and the moving platform achieves horizontal and vertical moving freedom degrees and rotation of an unfixed rotation center perpendicular to a moving plane under the action of the four moving pairs.
3. The mechanism of claim 2, wherein the two-shift one-shift-less-branch redundant drive fully-symmetrical parallel mechanism comprises: and the rotation axes of the first rotating pair and the second rotating pair in the two groups of branched chain assemblies are parallel to each other.
4. The mechanism of claim 3, wherein the two-shift one-shift-less-branch redundant drive fully-symmetrical parallel mechanism comprises: the first rotating pair and the second rotating pair are respectively composed of a U-shaped clamping groove and a hinge shaft corresponding to the U-shaped clamping groove.
5. The mechanism of claim 1, wherein the two-shift one-shift-less-branch redundant drive fully-symmetrical parallel mechanism comprises: the fixed platform and the movable platform are both of cuboid plate structures.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910833748.2A CN110524518B (en) | 2019-09-04 | 2019-09-04 | Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism |
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| CN201910833748.2A CN110524518B (en) | 2019-09-04 | 2019-09-04 | Two-shift one-rotation less-branch-chain redundant drive fully-symmetrical parallel mechanism |
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| CN110524518B true CN110524518B (en) | 2021-03-16 |
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| CN114786883A (en) * | 2019-12-05 | 2022-07-22 | 苏州迈澜科技有限公司 | Multi-degree-of-freedom parallel mechanism |
| CN113211416B (en) * | 2021-06-04 | 2022-08-02 | 燕山大学 | High-rigidity asymmetric three-translation redundant driving parallel mechanism |
| CN113370190B (en) * | 2021-07-16 | 2022-05-03 | 燕山大学 | Moving branch parallel mechanism with two modes of 2T1R and 2R1T |
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| AU7935294A (en) * | 1993-10-26 | 1995-05-22 | Vincent Hayward | Mechanisms for orienting and placing articles |
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CA2633395C (en) * | 2007-06-01 | 2016-05-31 | Socovar, Societe En Commandite | Parallel manipulator |
| CN102990651B (en) * | 2012-12-27 | 2015-04-01 | 广西大学 | Double closed-loop subchain parallel mechanism with completely symmetrical kinematic pair connection |
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