CN110539293A - A Four Degrees of Freedom Parallel Mechanism - Google Patents
A Four Degrees of Freedom Parallel Mechanism Download PDFInfo
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- CN110539293A CN110539293A CN201910976422.5A CN201910976422A CN110539293A CN 110539293 A CN110539293 A CN 110539293A CN 201910976422 A CN201910976422 A CN 201910976422A CN 110539293 A CN110539293 A CN 110539293A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
本发明提供了一种四自由度并联机构，包括：固定平台、动平台以及位于固定平台与动平台之间的三个运动支链；每个运动支链均包括曲柄摇杆机构以及第一弧形杆、第二弧形杆，曲柄摇杆机构包括连杆，连杆上安装有可沿连杆轴线方向移动的第一电机，三个第一电机输出轴的轴线相交于空间内一点，第一弧形杆的一端与动平台之间转动副连接、另一端与第二弧形杆的一端转动副连接，第二弧形杆的另一端与第一电机的输出轴连接，第一弧形杆与动平台之间的转动副的轴线以及第一弧形杆与第二弧形杆之间的转动副的轴线相交于空间内另一点，且该点与三个第一电机输出轴的轴线交点重合。本发明的并联机构，可实现三个转动方向解耦、一个移动运动相对3个转动运动解耦。The invention provides a four-degree-of-freedom parallel mechanism, including: a fixed platform, a moving platform, and three motion branch chains between the fixed platform and the moving platform; each movement branch chain includes a crank rocker mechanism and a first arc Shaped rod, second arc rod, the crank rocker mechanism includes a connecting rod, the first motor that can move along the axis of the connecting rod is installed on the connecting rod, the axes of the output shafts of the three first motors intersect at a point in the space, and the first One end of an arc-shaped rod is connected to the rotating pair between the moving platform, the other end is connected to the rotating pair at one end of the second arc-shaped rod, and the other end of the second arc-shaped rod is connected to the output shaft of the first motor. The axis of the rotary pair between the rod and the moving platform and the axis of the rotary pair between the first arc-shaped rod and the second arc-shaped rod intersect at another point in the space, and this point is in line with the axes of the output shafts of the three first motors The intersection coincides. The parallel mechanism of the present invention can realize the decoupling of three rotational directions, and the decoupling of one moving motion relative to three rotational motions.
Description
技术领域technical field
本发明属于并联机构技术领域，具体涉及一种四自由度并联机构。The invention belongs to the technical field of parallel mechanisms, and in particular relates to a four-degree-of-freedom parallel mechanism.
背景技术Background technique
自1938年首次提出并联机器人以来，因其具较大刚度、较强的承载能力、误差小、精度高、自重负荷比小、动力性能好、控制容易等特点，广泛应用于社会的各个领域。目前，常见的有2自由度、3自由度、4自由度、6自由度并联机构；三自由度并联机构是研究最多、应用最广的一类少自由度并联机构。Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society due to its characteristics of large rigidity, strong carrying capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. At present, there are 2-degree-of-freedom, 3-degree-of-freedom, 4-degree-of-freedom, and 6-degree-of-freedom parallel mechanisms; the three-degree-of-freedom parallel mechanism is the most studied and most widely used type of parallel mechanism with few degrees of freedom.
现有的一种三转动并联机构，该并联机构的固定平台为环形，固定平台圆周方向均布三个结构相同，空间均布的运动支链。每个运动支链由一个移动副、一个转动副、一个球铰组成。移动副可以在环形的轨道上移动，三个转动副的转动轴线共面并相交于一点，动平台可以绕此点做三个方向的转动运动。现有还具有另一种三自由度并联机构，其动平台与固定平台之间采用3个圆周方向对称分布的运动支链连接。其中，每个支链由２段共弧心的弧形连杆组成，上段弧形连杆与动平台之间采用球铰的方式连接，上段弧形连杆安装在下段弧形连杆的空腔内，能够沿着此空腔圆弧的切线方向作往复移动。3个下段弧形连杆与固定平台之间均采用转动副连接，转动副的轴线相互重合，并垂直于固定平台，指向弧形连杆的弧心。通过驱动下段弧形连杆绕固定平台的转动，来实现动平台绕弧形连杆中心的3个方向的转动。现有技术还提出了一种一移动三转动四自由度转动移动完全解耦并联机构，它由动平台、固定平台及三条具有双转动自由度支链组成，使得动平台做一维移动和绕固定点做球面三自由度转动。There is an existing three-rotation parallel mechanism, the fixed platform of the parallel mechanism is ring-shaped, and three moving branch chains with the same structure and uniform space are evenly distributed in the circumferential direction of the fixed platform. Each motion branch chain is composed of a moving joint, a rotating joint and a spherical joint. The moving pair can move on a circular track, the rotation axes of the three rotating pairs are coplanar and intersect at one point, and the moving platform can rotate in three directions around this point. There is also another three-degree-of-freedom parallel mechanism, in which the moving platform and the fixed platform are connected by three symmetrically distributed kinematic branch chains in the circumferential direction. Among them, each branch chain is composed of two arc-shaped connecting rods with the same arc center. The upper arc-shaped connecting rod and the moving platform are connected by a ball joint. In the cavity, it can move back and forth along the tangential direction of the cavity arc. The three lower arc-shaped connecting rods are connected with the fixed platform by rotating joints. The axes of the rotating joints coincide with each other, are perpendicular to the fixed platform, and point to the arc center of the arc-shaped connecting rods. By driving the rotation of the lower segment of the arc-shaped connecting rod around the fixed platform, the rotation of the movable platform in three directions around the center of the arc-shaped connecting rod is realized. The prior art also proposes a completely decoupled parallel mechanism with one movement, three rotations and four degrees of freedom. The fixed point performs spherical three-degree-of-freedom rotation.
然而上述并联机构均具备3个自由度，转动中心为转动副交点或者弧形连杆的中心，但转动中心是固定不变的，而后一种并联机构的转动中心仅通过底部移动副调整，当进行大范围调整转动中心时，导致移动副的运动位移较大，且运动支链的力/力矩传递性能不佳。基于此，有必要提供一种新的并联机构。However, the above-mentioned parallel mechanisms all have three degrees of freedom. The center of rotation is the intersection point of the rotation pair or the center of the arc-shaped connecting rod, but the center of rotation is fixed. The center of rotation of the latter parallel mechanism is only adjusted by the bottom moving pair. When the center of rotation is adjusted in a large range, the motion displacement of the moving pair is large, and the force/torque transmission performance of the kinematic branch chain is not good. Based on this, it is necessary to provide a new parallel mechanism.
发明内容Contents of the invention
本发明的一个目的是解决上述问题，并提供至少后面将说明的优点。It is an object of the present invention to solve the above-mentioned problems and to provide at least the advantages described hereinafter.
本发明还有一个目的是提供一种四自由度并联机构，可实现三个转动方向解耦、一个移动运动相对3个转动运动解耦。Another object of the present invention is to provide a four-degree-of-freedom parallel mechanism, which can realize the decoupling of three rotational directions and the decoupling of one moving motion relative to three rotational motions.
为了实现根据本发明的这些目的和其它优点，提供了一种四自由度并联机构，包括：固定平台、动平台以及位于固定平台与动平台之间的三个运动支链；In order to achieve these objects and other advantages according to the present invention, a four-degree-of-freedom parallel mechanism is provided, including: a fixed platform, a moving platform, and three kinematic branch chains between the fixed platform and the moving platform;
其中，每个运动支链均包括曲柄摇杆机构以及第一弧形杆、第二弧形杆，曲柄摇杆机构包括连杆，所述连杆上安装有可沿连杆轴线方向移动的第一电机，三个第一电机输出轴的轴线相交于空间内一点，所述第一弧形杆的一端与动平台之间转动副连接、另一端与第二弧形杆的一端转动副连接，第二弧形杆的另一端与第一电机的输出轴连接，所述第一弧形杆与动平台之间的转动副的轴线以及第一弧形杆与第二弧形杆之间的转动副的轴线相交于空间内另一点，且该点与三个第一电机输出轴的轴线交点重合。Wherein, each motion branch chain includes a crank-rocker mechanism, a first arc-shaped rod, and a second arc-shaped rod. A motor, the axes of the output shafts of the three first motors intersect at a point in the space, one end of the first arc-shaped rod is connected to the rotating pair between the moving platform, and the other end is connected to the rotating pair at one end of the second arc-shaped rod, The other end of the second arc-shaped rod is connected to the output shaft of the first motor, the axis of the rotary pair between the first arc-shaped rod and the moving platform and the rotation between the first arc-shaped rod and the second arc-shaped rod The axes of the auxiliary intersect at another point in space, and this point coincides with the intersection of the axes of the output shafts of the three first motors.
优选的是，所述的四自由度并联机构，曲柄摇杆机构还包括位于连杆两侧的曲柄以及摇杆，所述连杆的两端分别与曲柄以及摇杆的一端可转动连接，所述固定平台上还固连有第一支杆、第二支杆，第一支杆与摇杆的另一端可转动连接，所述第二支杆上安装有第二电机，第二电机输出轴连接曲柄以驱动曲柄转动。Preferably, in the four-degree-of-freedom parallel mechanism, the crank-rocker mechanism further includes a crank and a rocker located on both sides of the connecting rod, and the two ends of the connecting rod are respectively rotatably connected to the crank and one end of the rocker, so that The fixed platform is also fixedly connected with a first pole and a second pole, the first pole is rotatably connected with the other end of the rocker, a second motor is installed on the second pole, and the output shaft of the second motor Connect the crank to drive the crank to turn.
优选的是，所述的四自由度并联机构，还包括一支架，所述支架安装于连杆上且可沿连杆轴线方向移动，所述第一电机安装于支架上。Preferably, the four-degree-of-freedom parallel mechanism further includes a bracket, the bracket is mounted on the connecting rod and can move along the axis of the connecting rod, and the first motor is mounted on the bracket.
本发明至少包括以下有益效果：The present invention at least includes the following beneficial effects:
1、本发明的四自由度并联机构，通过驱动曲柄摇杆机构的曲柄转动，从而使得三个第一电机输出轴轴线的交点沿固定平台的法线上下移动，进而使得动平台具有一个沿固定平台的法线方向的往复运动。同时，通过第一电机的转动带动第二弧形杆转动，进而使第一弧形杆转动，从而使动平台绕以第一弧形杆的转动副的轴线以及第二弧形杆的转动副的轴线的交点为三维坐标系原点的三维坐标系的X轴、Y轴和Z轴转动，该并联机构可实现三个转动方向解耦、一个移动运动相对3个转动运动解耦。1. The four-degree-of-freedom parallel mechanism of the present invention drives the crank of the crank-rocker mechanism to rotate, so that the intersection of the axis of the output shafts of the three first motors moves up and down along the normal line of the fixed platform, so that the movable platform has a Reciprocating motion in the normal direction of the platform. At the same time, the rotation of the first motor drives the second arc-shaped rod to rotate, and then the first arc-shaped rod rotates, so that the moving platform can rotate around the axis of the rotation pair of the first arc-shaped rod and the rotation pair of the second arc-shaped rod. The intersection point of the axis is the X-axis, Y-axis and Z-axis rotation of the three-dimensional coordinate system origin. The parallel mechanism can realize the decoupling of three rotation directions, and the decoupling of one moving motion relative to three rotating motions.
2、本发明的四自由度并联机构，通过三个第二电机9和三个第一电机驱动该并联机构实现四个自由度运动，一方面有利于运动支链进行力/力矩的传递，且可以增加该并联机构的工作空间，并且它的结构简单、灵活度较高，可应用于虚轴机床、航空模拟设备、踝关节康复设备等领域。2. The four-degree-of-freedom parallel mechanism of the present invention drives the parallel mechanism through three second motors 9 and three first motors to realize four-degree-of-freedom motion. On the one hand, it is beneficial to the force/torque transmission of the motion branch chain, and The working space of the parallel mechanism can be increased, and it has a simple structure and high flexibility, and can be applied to fields such as virtual axis machine tools, aviation simulation equipment, ankle joint rehabilitation equipment, and the like.
附图说明Description of drawings
图1为本发明的四自由度并联机构的结构示意图；Fig. 1 is the structural representation of four degrees of freedom parallel mechanism of the present invention;
图2为本发明的三个第一电机输出轴的轴线相交于一点的示意图；Fig. 2 is the schematic diagram that the axes of three first motor output shafts of the present invention intersect at one point;
图3为本发明的第一弧形杆与动平台之间的转动副的轴线以及第一弧形杆与第二弧形杆之间的转动副的轴线相交于一点的示意图。Fig. 3 is a schematic diagram showing that the axis of the rotation joint between the first arc-shaped rod and the moving platform and the axis of the rotation joint between the first arc-shaped rod and the second arc-shaped rod intersect at one point according to the present invention.
具体实施方式Detailed ways
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.
需要说明的是，在本发明的描述中，术语“横向”、“纵向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，并不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。It should be noted that, in the description of the present invention, the terms "horizontal", "vertical", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and It is not to indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, or operate in a particular orientation, and thus should not be construed as limiting the invention.
如图1~3所示，一种四自由度并联机构，包括：固定平台1、动平台12，固定平台1、动平台12的横截面可为圆形，实际中可根据需要设置为正方形、长方形等等，固定平台1、动平台12之间安装有三个运动支链，三个运动支链均匀间隔分布于固定平台1；其中，每个运动支链均包括曲柄摇杆机构以及第一弧形杆11、第二弧形杆10，本领域技术人员知道，曲柄摇杆机构包括相互铰接的曲柄、连杆6以及摇杆，连杆6上安装有可沿连杆6轴线方向移动的第一电机8，且三个曲柄摇杆机构的连杆6上的第一电机8输出轴的轴线相交与空间中一点，如图2中O点，第一弧形杆11的两端分别与动平台12、第二弧形杆10之间均转动副连接，第二弧形杆10的另一端与第一电机8的输出轴连接，第一弧形杆11与动平台12之间的转动副的轴线以及第一弧形杆11与第二弧形杆10之间的转动副的轴线相交于空间内另一点，如图3中O点，且该点与三个第一电机8输出轴的轴线交点重合。本发明的四自由度并联机构，通过驱动曲柄摇杆机构的曲柄转动，从而使连杆6与固定平台1之间形成角度，进而使得第一电机8输出轴线也与此连杆6平行，并与固定平台1之间形成同样的夹角，从而使得三个第一电机8输出轴轴线的交点沿固定平台1的法线上下移动，进而使得动平台12具有一个沿固定平台1的法线方向的往复运动。同时，通过第一电机8的转动带动第二弧形杆10转动，进而使第一弧形杆11转动，从而使动平台12绕以第一弧形杆11的转动副的轴线以及第二弧形杆10的转动副的轴线的交点，即图2、3中O点，以该点为三维坐标系原点的三维坐标系的X轴、Y轴和Z轴转动，即上述并联机构动平台12的转动中心为O点，动平台120绕O点做三自由度转动运动，上述并联机构可实现三个转动方向解耦、一个移动运动相对3个转动运动解耦，且其运动支链力/力矩的传递性能优良。As shown in Figures 1 to 3, a four-degree-of-freedom parallel mechanism includes: a fixed platform 1 and a moving platform 12. The cross-sections of the fixed platform 1 and the moving platform 12 can be circular, but in practice they can be set as square, Rectangular, etc., there are three kinematic branch chains installed between the fixed platform 1 and the moving platform 12, and the three kinematic branch chains are evenly spaced on the fixed platform 1; wherein, each kinematic branch chain includes a crank rocker mechanism and a first arc Shaped bar 11, the second arc bar 10, those skilled in the art know, crank-rocker mechanism comprises the crank that is hinged mutually, connecting rod 6 and rocking bar, and the connecting rod 6 is equipped with the first that can move along connecting rod 6 axis directions. A motor 8, and the axes of the first motor 8 output shafts on the connecting rod 6 of the three crank-rocker mechanisms intersect with a point in the space, as at point O in Figure 2, the two ends of the first arc bar 11 are respectively connected to the moving The platform 12 and the second arc rod 10 are connected by a rotating pair, the other end of the second arc rod 10 is connected with the output shaft of the first motor 8, and the rotating pair between the first arc rod 11 and the moving platform 12 The axis and the axis of the revolving pair between the first arc bar 11 and the second arc bar 10 intersect at another point in space, such as point O in Figure 3, and this point is consistent with the output shafts of the three first motors 8 Axis intersections coincide. The four-degree-of-freedom parallel mechanism of the present invention drives the crank of the crank-rocker mechanism to rotate, thereby forming an angle between the connecting rod 6 and the fixed platform 1, so that the output axis of the first motor 8 is also parallel to the connecting rod 6, and Form the same angle with the fixed platform 1, so that the intersection of the output shaft axes of the three first motors 8 moves up and down along the normal line of the fixed platform 1, so that the moving platform 12 has a direction along the normal line of the fixed platform 1 reciprocating motion. At the same time, the rotation of the first motor 8 drives the second arc rod 10 to rotate, and then the first arc rod 11 is rotated, so that the moving platform 12 is wound around the axis of the rotation pair of the first arc rod 11 and the second arc The intersection point of the axes of the revolving pair of shape bar 10, i.e. O point in Fig. The center of rotation is point O, and the moving platform 120 performs three-degree-of-freedom rotational motion around point O. The above-mentioned parallel mechanism can realize the decoupling of three rotational directions, and the decoupling of one moving motion relative to three rotational motions, and its motion branch chain force/ Excellent torque transmission performance.
在另一种技术方案中，曲柄摇杆机构还包括位于连杆6两侧的曲柄3以及摇杆5，所述连杆6的两端分别与曲柄3以及摇杆5的一端可转动连接，具体的，连杆6的两端分别与曲柄3以及摇杆5铰接，同时，在固定平台1上还固连有第一支杆4、第二支杆2，第一支杆4、第二支杆2以焊接方式固定在固定平台1上，第一支杆4、第二支杆2的长度相同，曲柄3以及摇杆5的长度不同，第一支杆4与摇杆5的另一端可转动连接，第二支杆2上安装有第二电机9，第二电机9输出轴连接曲柄3以驱动曲柄3转动，曲柄3转动，从而使连杆6与固定平台1之间形成角度，进而使得第一电机8输出轴线也与此连杆6平行，并与固定平台1之间形成同样的夹角。通过借助冗余电机驱动，即三个第二电机9和三个第一电机8驱动该并联机构实现四个自由度运动，一方面有利于运动支链进行力/力矩的传递，且可以增加该并联机构的工作空间，并且它的结构简单、灵活度较高，可应用于虚轴机床、航空模拟设备、踝关节康复设备等领域。In another technical solution, the crank-rocker mechanism further includes a crank 3 and a rocker 5 located on both sides of the connecting rod 6, and the two ends of the connecting rod 6 are rotatably connected to the crank 3 and one end of the rocking rod 5 respectively, Specifically, the two ends of the connecting rod 6 are hinged with the crank 3 and the rocker 5 respectively. The pole 2 is fixed on the fixed platform 1 by welding, the length of the first pole 4 and the second pole 2 is the same, the length of the crank 3 and the rocker 5 are different, the other end of the first pole 4 and the rocker 5 Rotatably connected, the second pole 2 is equipped with a second motor 9, the output shaft of the second motor 9 is connected to the crank 3 to drive the crank 3 to rotate, and the crank 3 rotates, so that an angle is formed between the connecting rod 6 and the fixed platform 1, Furthermore, the output axis of the first motor 8 is also parallel to the connecting rod 6 and forms the same angle with the fixed platform 1 . Driven by redundant motors, that is, three second motors 9 and three first motors 8 drive the parallel mechanism to realize four degrees of freedom movement. The working space of the parallel mechanism, and its simple structure and high flexibility, can be applied to virtual axis machine tools, aviation simulation equipment, ankle joint rehabilitation equipment and other fields.
在另一种技术方案中，还包括一支架7，所述支架7安装于连杆6上且可沿连杆6轴线方向移动，所述第一电机8安装于支架7上。具体的，该支架7可为一条状长方体，该长方体上开设有一通孔，连杆6穿过该通孔且可沿该通孔来回移动，第一电机8安装在该支架7上且输出轴与第二弧形杆10连接，第一电机8带动第二弧形杆10转动。In another technical solution, a bracket 7 is further included, the bracket 7 is mounted on the connecting rod 6 and can move along the axis of the connecting rod 6 , and the first motor 8 is mounted on the bracket 7 . Specifically, the bracket 7 can be a strip-shaped cuboid, and a through hole is opened on the cuboid, the connecting rod 6 passes through the through hole and can move back and forth along the through hole, the first motor 8 is installed on the bracket 7 and the output shaft Connected with the second arc rod 10, the first motor 8 drives the second arc rod 10 to rotate.
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.
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