CN110815185B - Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain - Google Patents
Six-degree-of-freedom high-speed parallel mechanism containing composite branched chain Download PDFInfo
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- CN110815185B CN110815185B CN201911108279.4A CN201911108279A CN110815185B CN 110815185 B CN110815185 B CN 110815185B CN 201911108279 A CN201911108279 A CN 201911108279A CN 110815185 B CN110815185 B CN 110815185B
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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
Abstract
The invention discloses a six-degree-of-freedom high-speed parallel mechanism containing composite branched chains, which comprises a static platform, a movable platform, an end effector and three main driving branched chains, wherein the three main driving branched chains are connected between the static platform and the movable platform in parallel; the driving device also comprises a first auxiliary driving branched chain, a second auxiliary driving branched chain and a third auxiliary driving branched chain; the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively arranged on the second main driving branched chain and the third main driving branched chain to form two double-driving composite branched chains; a rotating shaft which is vertically arranged is arranged in the middle of the movable platform, a hook hinge is arranged below the rotating shaft, and the rotating shaft is connected with the end effector through the hook hinge; the first auxiliary driving branched chain drives the rotating shaft which is vertically arranged to rotate through the moving mechanism, and the end effector is driven to rotate through the Hooke hinge; the invention can realize six-degree-of-freedom motion.
Description
Technical Field
The invention belongs to the field of industrial robots, and particularly relates to a six-degree-of-freedom high-speed parallel mechanism with a composite branched chain.
Background
With the continuous development of parallel robots, more and more complex industrial production tasks, such as the machining and precise assembly of complex curved surfaces, can be completed by using the parallel robots. Traditional few-freedom parallel robots cannot achieve these complex operations, and therefore research on six-freedom parallel robots is becoming a hot spot.
The parallel connection mechanisms disclosed in the prior patents CN101712151B and CN107433574A can realize three-dimensional translation and three-dimensional rotation. In the patent CN101712151B, six-degree-of-freedom motion of the movable platform is realized through five six-degree-of-freedom motion branched chains, wherein four peripheral branched chains are arranged around the movable platform and connected with the base, and a fifth central branched chain is arranged in the middle of the movable platform and connected with the base; only one joint of the peripheral branched chain is a driving branched chain, and the central branched chain is provided with two driving joints. Because the number of branched chains in patent CN101712151B is large, the motion of the movable platform needs the coordinated motion of five branched chains to complete, which results in a small working space and strong coupling of motion in each direction. Patent CN107433574A proposes a three-branched-chain six-degree-of-freedom serial-parallel assembly robot, in which three rotations of the end effector are realized by three transmission branched chains attached to the three branched chains, so that the translational motion and the rotational motion of the robot mechanism have good decoupling characteristics, but a motor controlling the rotation of the end effector is installed on a master arm, which will increase the rotational inertia of the master arm; in addition, a gear transmission mechanism which is transmitted to the end effector is arranged in the movable platform, so that the inertia of the robot is increased, and the dynamic performance of the robot is influenced.
Disclosure of Invention
The invention aims to provide a six-degree-of-freedom high-speed parallel mechanism containing a composite branched chain so as to realize the six-degree-of-freedom movement of three-translation and three-rotation of the parallel mechanism.
The technical solution for realizing the purpose of the invention is as follows:
a six-degree-of-freedom high-speed parallel mechanism containing a composite branched chain comprises a static platform, a movable platform, an end effector 25, a first main driving branched chain, a second main driving branched chain and a third main driving branched chain, wherein the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are connected between the static platform and the movable platform in parallel; the device also comprises a first auxiliary driving branched chain, a second auxiliary driving branched chain and a third auxiliary driving branched chain which are connected with the movable platform and the end effector; the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively arranged on the second main driving branched chain and the third main driving branched chain to form two double-driving composite branched chains; a vertically arranged rotating shaft is arranged in the middle of the movable platform and can rotate around a vertical axis, a hook hinge is arranged below the rotating shaft, and the rotating shaft is connected with the end effector through the hook hinge; the first auxiliary driving branched chain drives the rotating shaft which is vertically arranged to rotate, and the end effector is driven to rotate by the Hooke hinge;
the first main driving branched chain, the second main driving branched chain and the third main driving branched chain have the same structure and comprise driving motors, speed reducers, first driving arms and driven arm assemblies; one end of the first driving arm is connected with the static platform through a revolute pair, and the other end of the first driving arm is connected with the driven arm assembly; the driven arm assembly is connected with the movable platform; the driving motor and the speed reducer are fixed on the static platform, the driving motor drives the first driving arm to rotate through the speed reducer and drives the movable platform connected with the first driving arm to move in a translation mode through the driven arm component;
the driven arm assembly comprises an upper connecting rod, a lower connecting rod and two connecting rods connected in parallel between the upper connecting rod and the lower connecting rod; two ends of the two connecting rods are respectively hinged with the upper connecting rod and the lower connecting rod to form a quadrilateral mechanism; the upper connecting rod and the lower connecting rod are equal in length; the two connecting rods have equal length; the first driving arm is connected with the middle of the upper connecting rod, and the movable platform is connected with the middle of the lower connecting rod in the driven arm component; the axis of the upper connecting rod is parallel to the axis of the first driving arm rotating pair;
the second auxiliary driving branched chain and the third auxiliary driving branched chain have the same structure and comprise a driving motor, a speed reducer, a second driving arm, a pull rod, a first connecting piece, a driven rod, a second connecting piece, a connecting rod and a lantern ring; the driving motors and the speed reducers in the second auxiliary driving branched chain and the third auxiliary driving branched chain are fixed on the static platform; one end of the second driving arm is connected with the static platform through a revolute pair, and the driving motor drives the second driving arm through a speed reducer;
the other end of a second driving arm in the second auxiliary driving branched chain and the third auxiliary driving branched chain is connected with a pull rod through a rotating pair, the other end of the pull rod is connected with a first connecting piece through the rotating pair, the first connecting piece is connected with the first driving arm through the rotating pair, and the axes of the second driving arm, the pull rod and the rotating pair on the first connecting piece are parallel to the axis of the rotating pair of the first driving arm connected with the static platform;
the other end of the first connecting piece in the second auxiliary driving branched chain and the third auxiliary driving branched chain is hinged with the driven rod, and the other end of the driven rod is hinged with the second connecting piece; the second connecting piece is connected with the movable platform through a rotating pair, and the axis of the rotating pair is parallel to the axis of the lower connecting rod 7 of the driven arm assembly;
the second connecting piece is connected with the connecting rod through a spherical hinge, and the other end of the connecting rod is connected with the lantern ring through a revolute pair; the lantern ring is sleeved with the end effector and can rotate relatively; the axis of the rotation pair sleeved by the lantern ring and the end effector is vertical to and intersected with the axis of the rotation pair connected by the connecting rod and the lantern ring; two connecting rods in the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively connected with a lantern ring, the two lantern rings are overlapped with the axis of a rotating pair sleeved by the end actuator, and the two lantern rings are uniformly arranged below the hooke joint.
Compared with the prior art, the invention has the following remarkable advantages:
(1) the invention utilizes the composite branched chain to form a special constraint relation between the movable platform and the end effector, so that the parallel mechanism can realize partial motion decoupling capability.
(2) The mechanism has fewer number of constrained branched chains of the movable platform, and the working space of the movable platform is large; the driving motor can be arranged on the base, and the inertia of the mechanism is small, so that the high-acceleration movement of the mechanism is facilitated.
Drawings
Fig. 1(a) is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 1(b) is a schematic structural view of a movable platform according to embodiment 1 of the present invention.
Fig. 2(a) is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 2(b) is a schematic structural view of a movable platform according to embodiment 2 of the present invention.
Fig. 3(a) is a schematic structural diagram of embodiment 3 of the present invention.
Fig. 3(b) is a schematic structural view of a movable platform according to embodiment 3 of the present invention.
Fig. 4(a) is a schematic structural diagram of embodiment 4 of the present invention.
Fig. 4(b) is a schematic structural view of a movable platform according to embodiment 4 of the present invention.
Fig. 5(a) is a schematic structural diagram of embodiment 5 of the present invention.
Fig. 5(b) is a schematic structural view of a movable platform according to embodiment 5 of the present invention.
Fig. 6(a) is a schematic structural diagram of embodiment 6 of the present invention.
Fig. 6(b) is a schematic structural view of a movable platform according to embodiment 6 of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Example 1
With reference to fig. 1(a) and 1(b), the six-degree-of-freedom high-speed parallel mechanism including a composite branched chain in this embodiment includes a static platform 1, a dynamic platform 16, an end effector 25, a first main driving branched chain, a second main driving branched chain, and a third main driving branched chain, which are connected in parallel between the static platform 1 and the dynamic platform 16; the device also comprises a first auxiliary driving branched chain, a second auxiliary driving branched chain and a third auxiliary driving branched chain which are connected with the static platform 1, the main driving branched chain, the movable platform 16 and the end effector 25; the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively arranged on the second main driving branched chain and the third main driving branched chain to form two double-driving composite branched chains; a vertically arranged rotating shaft 15 is arranged in the middle of the movable platform 16, the rotating shaft 15 can rotate around a vertical axis, a hook joint 20 is arranged below the rotating shaft 15, and the rotating shaft 15 is connected with an end effector 25 through the hook joint 20; the first auxiliary driving branched chain drives the vertically arranged rotating shaft 15 to rotate through the moving mechanism, and then drives the end effector 25 to rotate through the hooke joint 20.
The three main driving branched chains have the same structure and comprise a first driving motor 3, a first speed reducer 2, a first driving arm 4 and a driven arm component; one end of a first driving arm 4 is connected with the static platform 1 through a revolute pair, and the other end of the first driving arm is connected with a driven arm component; the driven arm component is connected with the movable platform 16; the first driving motor 3 and the first speed reducer 2 are fixed on the static platform 1, and the first driving motor 3 drives the first driving arm 4 to rotate through the first speed reducer 2 and drives the movable platform 16 connected with the first driving arm to move in a translation mode through the driven arm component.
The driven arm component adopts a space 4S quadrilateral mechanism and comprises an upper connecting rod 5, a lower connecting rod 7 and two connecting rods 6a and 6b which are connected between the upper connecting rod 5 and the lower connecting rod 7 in parallel; the connecting rods 6a and 6b are connected with the upper connecting rod 5 and the lower connecting rod 7 through spherical hinges to form a space quadrilateral mechanism; the lengths of the upper connecting rod 5 and the lower connecting rod 7 are equal; the two connecting rods 6a and 6b are equal in length; the first driving arm 4 is fixedly connected with the upper connecting rod 5, and the lower connecting rod 7 is fixedly connected with the movable platform 16; the axis of the upper connecting rod 5 is parallel to the axis of the rotating pair of the first active arm 4.
In the three branched chains of the embodiment, the second branched chain II and the third branched chain III are two composite branched chains with the same structure, and respectively include a second main driving branched chain, a second auxiliary driving branched chain, a third main driving branched chain and a third auxiliary driving branched chain; the second auxiliary driving branched chain and the third auxiliary driving branched chain have the same structure and comprise a second driving motor 63, a second speed reducer 62, a second driving arm 8, a pull rod 9, a first connecting piece 10, a driven rod 12, a second connecting piece 14, a connecting rod 18 and a sleeve ring 19; a second driving motor 63 and a second speed reducer 62 are fixed on the static platform 1; one end of the second driving arm 8 is connected with the static platform 1 through a revolute pair, and the second driving motor 63 drives the second driving arm 8 through the second speed reducer 62; the other end of the second driving arm 8 is connected with one end of a pull rod 9 through a revolute pair, the other end of the pull rod 9 is connected with a first connecting piece 10 through a first revolute pair, one end of the first connecting piece 10 is connected with the first driving arm 4 through a second revolute pair, and the axes of the revolute pairs on the second driving arm 8, the pull rod 9 and the first connecting piece 10 are parallel to the axis of the revolute pair connected with the first driving arm 4 and the static platform 1; the other end of the first connecting piece 10 is hinged with one end of a driven rod 12, and the other end of the driven rod 12 is hinged with a second connecting piece 14; the second connecting piece 14 is connected with the movable platform 16 through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod 7 of the driven arm assembly; the second connecting piece 14 is connected with one end of a connecting rod 18 through a spherical hinge, and the other end of the connecting rod 18 is connected with a lantern ring 19 through a revolute pair; the lantern ring 19 is sleeved with the end effector 25 and can rotate relatively; the axis of the revolute pair sleeved by the lantern ring 19 and the end effector 25 is vertical to and intersected with the axis of the revolute pair connected with the connecting rod 18 and the lantern ring 19; two connecting rods 18 in the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively connected with a lantern ring 19, the axes of the two lantern rings 19 and the rotating pair sleeved by the end effector 25 are overlapped, and the two lantern rings 19 are both arranged below the hooke joint 20.
The first branched chain I in this embodiment is also a composite branched chain, but has a structure different from the second branched chain II and the third branched chain III, and includes a first main driving branched chain and a first auxiliary driving branched chain; the first auxiliary driving branched chain comprises a third driving motor 73, a third speed reducer 72, a second driving arm 8, a pull rod 9, a first connecting piece 10, a driven rod 12, a third connecting piece 24, and a transmission mechanism connected between a rotating shaft 15 on the movable platform 16 and the third connecting piece 24; the first auxiliary driving branched chain is arranged on the first main driving branched chain to form a dual-driving composite branched chain; a third driving motor 73 and a third speed reducer 72 are fixed on the static platform 1; one end of the second driving arm 8 is connected with the static platform 1 through a revolute pair, and the third driving motor 73 drives the second driving arm 8 through the third speed reducer 72; the other end of the second driving arm 8 is connected with a pull rod 9 through a revolute pair, the other end of the pull rod 9 is connected with a first connecting piece 10 through a revolute pair, the first connecting piece 10 is connected with a first driving arm 4 in a first main driving branched chain through a revolute pair, and the axes of the revolute pairs on the second driving arm 8, the pull rod 9 and the first connecting piece 10 are parallel to the axis of the revolute pair, connected with the static platform 1, of the first driving arm 4 in the first main driving branched chain; the other end of the first connecting piece 10 is hinged with a driven rod 12, and the other end of the driven rod 12 is hinged with a third connecting piece 24; the third connecting piece 24 is connected with the movable platform 16 through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod 7 of the driven arm assembly; the transmission mechanism converts the rotation of the third connecting member 24 relative to the movable platform 16 into the rotation of the rotating shaft 15 on the movable platform 16, thereby driving the end effector 25 to rotate.
The transmission mechanism comprises a swinging rod 23, a gear 21, a rack 22 and a guide block 31; the guide block 31 is fixed on the movable platform 16, and the rack 22 is arranged on the guide block 31 and can horizontally slide relative to the movable platform 16; one end of the swinging rod 23 is connected with the third connecting piece 24 in the first auxiliary driving branched chain through a revolute pair, and the other end is connected with the rack 22 through a revolute pair; the rack 22 is meshed with the gear 21; the axis of rotation of the gear 21 coincides with the axis of the rotating shaft 15 arranged perpendicularly on the movable platform 16, said gear 21 being fixedly connected to the rotating shaft 15.
In the embodiment, the revolute pairs of the first active arm 4 of the three main driving branched chains connected with the static platform 1 are horizontally arranged and are uniformly arranged at intervals of 120 degrees in pairs. The three-dimensional translation of the movable platform 16 can be realized by driving the three first driving arms 4, and the three-dimensional rotation of the end effector 25 relative to the movable platform 16 can be realized by driving the three second driving arms 8, so that the six-degree-of-freedom motion of the end effector 25 is realized.
Example 2
The structure of this embodiment is as shown in fig. 2(a) and 2(b), different from embodiment 1, the first branch chain I in this embodiment is a single driving branch chain, and only includes a first main driving branch chain, and the structure of the first main driving branch chain is the same as that in embodiment 1; the first auxiliary driving branched chain comprises a first rotating motor 32, a fourth speed reducer 33, a first hook joint 26, a sliding rod 27, a sliding sleeve 28 and a second hook joint 29; the first rotating electric machine 32 and the fourth speed reducer 33 are fixed on the stationary platform 1; the first rotating motor 32 is connected with the driving end of the first hook joint 26 through a fourth speed reducer 33, and the driven end of the first hook joint 26 is fixedly connected with one end of the sliding rod 27; the other end of the sliding rod 27 is connected with a sliding sleeve 28, and the sliding rod and the sliding sleeve can slide relatively without relative rotation; the other end of the sliding sleeve 28 is fixedly connected with the driving end of a second hook hinge 29; the passive end of the second hook joint 29 is fixedly connected with the rotating shaft 15 of the movable platform 16 through a rotating pair. The first rotating motor 32 drives the first auxiliary driving branched chain to rotate through the fourth speed reducer 33, so as to drive the rotating shaft 15 to rotate, and then the end effector 25 is driven to rotate through the hooke joint 20.
Example 3
The structure of the present embodiment is shown in fig. 3(a) and 3(b), and the present embodiment is different from embodiment 2 in that: the first pair of driving branched chains have different structures; the first auxiliary driving branched chain comprises a second rotating motor 30, the second rotating motor 30 is fixed on the movable platform 16, the rotating axis of the output shaft of the second rotating motor 30 is overlapped with the axis of the rotating shaft 15 vertically arranged on the movable platform 16, and the output shaft of the second rotating motor 30 is fixedly connected with the rotating shaft 15. The second rotating motor 30 is rotated to drive the rotating shaft 15 to rotate, and then the end effector 25 is driven to rotate by the hooke joint 20.
Example 4
The structure of this embodiment is shown in fig. 4(a), and the present embodiment is different from embodiment 3 in that: and the revolute pair formed by connecting the two first driving arms 4 in the first branched chain I and the third branched chain III with the static platform 1 is horizontally arranged, and the plane formed by the two first driving arms 4 is orthogonally arranged with the revolute pair formed by connecting the first driving arms 4 in the second branched chain II with the static platform 1. The driven connecting rod 12 in the dual-drive composite branched chain II and the two connecting rods 6a and 6b in the space quadrilateral mechanism are arranged in a crossed mode, and the driven connecting rod 12 in the dual-drive composite branched chain III and the two connecting rods 6a and 6b in the space quadrilateral mechanism are arranged in a parallel mode.
As shown in fig. 4(b), since the first and third branches I, III and the second branch II are orthogonally arranged, the lower links 7 of the first and third branches I, III are arranged in a horizontal plane with their axes parallel to each other; the lower link 7 in the second branch II is arranged in a vertical plane.
Example 5
The structure of this embodiment is shown in fig. 5(a), and the present embodiment is different from embodiment 4 in that: and the revolute pair formed by connecting the two first driving arms 4 in the second branched chain II and the third branched chain III with the static platform 1 is vertically arranged, and the plane formed by the two first driving arms 4 is orthogonally arranged with the revolute pair formed by connecting the first driving arm 4 in the first branched chain I with the static platform 1. The driven connecting rods 12 in the dual-drive composite branched chains II and III and the two connecting rods 6a and 6b in the space quadrilateral mechanism are arranged in parallel.
As shown in fig. 5(b), since the second and third branches II and III are orthogonally arranged to the first branch I, the lower links 7 of the second and third branches II and III are arranged in a vertical plane with their axes parallel to each other; the lower connecting rod 7 in the first branch chain I is arranged in the horizontal plane, and the rest of the components and the connection mode are the same as those in the embodiment 4.
Example 6
The structure of this embodiment is shown in fig. 6(a), and the present embodiment is different from embodiment 1 in that: the driven arm component adopts a plane 4R quadrilateral mechanism, namely the connecting rods 6a and 6b are connected with the upper connecting rod 5 and the lower connecting rod 7 through a revolute pair; the first driving arm 4 is connected with the upper connecting rod 5 through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the static platform 1 through the first driving arm 4; the lower connecting rod 7 is connected with the movable platform 16 through a rotating pair, and the axis of the rotating pair is superposed with the axis of the lower connecting rod 7.
And the revolute pair formed by connecting the two first driving arms 4 in the second branched chain II and the third branched chain III with the static platform 1 is vertically arranged, and the plane formed by the two first driving arms 4 is orthogonally arranged with the revolute pair formed by connecting the first driving arm 4 in the first branched chain I with the static platform 1. The lower connecting rods 7 in the second and third branched chains II and III are arranged in a vertical plane, and the axes are parallel to each other; the lower links 7 in the first branches I are arranged in a horizontal plane.
As shown in fig. 6(b), the transmission mechanism is different from embodiment 1 in structure, and includes a sector gear 333 and a conical gear 34; the sector gear 333 is fixedly connected with the third connecting piece 24 in the first auxiliary driving branched chain, and the rotating axis of the sector gear 333 is superposed with the rotating axis of the third connecting piece 24 connected to the movable platform 16; the sector gear 333 is meshed with the conical gear 34; the rotation axis of the conical gear 34 coincides with the axis of the rotation shaft 15 vertically arranged on the movable platform 16, and the conical gear 34 is fixedly connected with the rotation shaft 15.
Claims (9)
1. A six-degree-of-freedom high-speed parallel mechanism containing a composite branched chain comprises a static platform (1), a movable platform (16), an end effector (25), a first main driving branched chain, a second main driving branched chain and a third main driving branched chain, wherein the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are connected between the static platform (1) and the movable platform (16) in parallel; the device is characterized by further comprising a first auxiliary driving branched chain, a second auxiliary driving branched chain and a third auxiliary driving branched chain which are connected with the movable platform (16) and the end effector (25); the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively arranged on the second main driving branched chain and the third main driving branched chain to form two double-driving composite branched chains; a rotating shaft (15) which is vertically arranged is arranged in the middle of the movable platform (16), the rotating shaft (15) can rotate around a vertical axis, a Hooke hinge (20) is arranged below the rotating shaft (15), and the rotating shaft (15) is connected with an end effector (25) through the Hooke hinge (20); the first auxiliary driving branched chain drives the rotating shaft (15) which is vertically arranged to rotate, and the end effector (25) is driven to rotate by the Hooke joint (20);
the first main driving branched chain, the second main driving branched chain and the third main driving branched chain have the same structure and comprise a first driving motor (3), a first speed reducer (2), a first driving arm (4) and a driven arm assembly; one end of the first driving arm (4) is connected with the static platform (1) through a revolute pair, and the other end of the first driving arm is connected with the driven arm component; the driven arm assembly is connected with the movable platform (16); the first driving motor (3) and the first speed reducer (2) are fixed on the static platform (1), the first driving motor (3) drives the first driving arm (4) to rotate through the first speed reducer (2) and drives the movable platform (16) connected with the first driving arm to move in a translation mode through the driven arm component;
the driven arm assembly comprises an upper connecting rod (5), a lower connecting rod (7) and two connecting rods connected in parallel between the upper connecting rod (5) and the lower connecting rod (7); two ends of the two connecting rods are respectively hinged with the upper connecting rod (5) and the lower connecting rod (7) to form a quadrilateral mechanism; the lengths of the upper connecting rod (5) and the lower connecting rod (7) are equal; the two connecting rods have equal length; the first driving arm (4) is connected with the middle of the upper connecting rod (5), and the movable platform (16) is connected with the middle of the lower connecting rod (7) in the driven arm component; the axis of the upper connecting rod (5) is parallel to the axis of the rotating pair of the first driving arm (4);
the second auxiliary driving branched chain and the third auxiliary driving branched chain have the same structure and comprise a second driving motor (63), a second speed reducer (62), a second driving arm (8), a pull rod (9), a first connecting piece (10), a driven rod (12), a second connecting piece (14), a connecting rod (18) and a sleeve ring (19); a second driving motor (63) and a second speed reducer (62) in the second auxiliary driving branched chain and the third auxiliary driving branched chain are fixed on the static platform (1); one end of the second driving arm (8) is connected with the static platform (1) through a revolute pair, and the second driving motor (63) drives the second driving arm (8) through a second speed reducer (62);
the other end of a second driving arm (8) in the second auxiliary driving branched chain and the third auxiliary driving branched chain is connected with one end of a pull rod (9) through a revolute pair, the other end of the pull rod (9) is connected with a first connecting piece (10) through a first revolute pair, one end of the first connecting piece (10) is connected with the first driving arm (4) through a second revolute pair, and the axes of the revolute pairs on the second driving arm (8), the pull rod (9) and the first connecting piece (10) are parallel to the axis of the revolute pair connected with the static platform (1) of the first driving arm (4);
the other end of the first connecting piece (10) in the second auxiliary driving branched chain and the third auxiliary driving branched chain is hinged with one end of a driven rod (12), and the other end of the driven rod (12) is hinged with a second connecting piece (14); the second connecting piece (14) is connected with the movable platform (16) through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod (7) of the driven arm assembly;
the second connecting piece (14) is connected with one end of a connecting rod (18) through a spherical hinge, and the other end of the connecting rod (18) is connected with a lantern ring (19) through a revolute pair; the lantern ring (19) is sleeved with the end effector (25) and can rotate relative to the end effector (25); the axis of a rotation pair sleeved by the lantern ring (19) and the end effector (25) is vertical to and intersected with the axis of a rotation pair connected by the connecting rod (18) and the lantern ring (19); two connecting rods (18) in the second auxiliary driving branched chain and the third auxiliary driving branched chain are respectively connected with a lantern ring (19), the two lantern rings (19) are overlapped with the axis of a rotating pair sleeved by the end effector (25), and the two lantern rings (19) are both arranged below the Hooke's hinge (20);
the first auxiliary driving branched chain comprises a third driving motor (73), a third speed reducer (72), a second driving arm (8), a pull rod (9), a first connecting piece (10), a driven rod (12), a third connecting piece (24), and a transmission mechanism connected between a rotating shaft (15) on the movable platform (16) and the third connecting piece (24); the first auxiliary driving branched chain is arranged on the first main driving branched chain to form a dual-driving composite branched chain; a third driving motor (73) and a third speed reducer (72) of the first auxiliary driving branched chain are fixed on the static platform (1); one end of the second driving arm (8) is connected with the static platform (1) through a revolute pair, and the third driving motor (73) drives the second driving arm (8) through a third speed reducer (72);
the other end of a second driving arm (8) in the first auxiliary driving branched chain is connected with a pull rod (9) through a revolute pair, the other end of the pull rod (9) is connected with a first connecting piece (10) through a revolute pair, the first connecting piece (10) is connected with a first driving arm (4) in the first main driving branched chain through a revolute pair, and the axes of the revolute pairs on the second driving arm (8), the pull rod (9) and the first connecting piece (10) are parallel to the axis of the revolute pair, connected with the static platform (1), of the first driving arm (4) in the first main driving branched chain;
the other end of a first connecting piece (10) in the first auxiliary driving branched chain is hinged with a driven rod (12), and the other end of the driven rod (12) is hinged with a third connecting piece (24); the third connecting piece (24) is connected with the movable platform (16) through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod (7) of the driven arm assembly; the transmission mechanism converts the rotation of the third connecting piece (24) relative to the movable platform (16) into the rotation motion of the rotating shaft (15) of the movable platform (16), thereby driving the end effector (25) to rotate.
2. The six-degree-of-freedom high-speed parallel mechanism containing the composite branched chain as claimed in claim 1, wherein the first secondary driving branched chain can also adopt the following mode:
the first auxiliary driving branched chain comprises a first rotating motor (32), a fourth speed reducer (33), a first hook joint (26), a sliding rod (27), a sliding sleeve (28) and a second hook joint (29); the first rotating motor (32) and the fourth speed reducer (33) are fixed on the static platform (1); the first rotating motor (32) is connected with the driving end of the first hook joint (26) through a fourth speed reducer (33), and the driven end of the first hook joint (26) is fixedly connected with one end of the sliding rod (27); the other end of the sliding rod (27) is connected with the sliding sleeve (28), and the sliding rod and the sliding sleeve can slide relatively without relative rotation; the other end of the sliding sleeve (28) is fixedly connected with the driving end of a second hook hinge (29); the driven end of the second hook joint (29) is fixedly connected with the rotating shaft (15) of the movable platform (16) through a rotating pair.
3. The six-degree-of-freedom high-speed parallel mechanism containing the composite branched chain as claimed in claim 1, wherein the first secondary driving branched chain can also adopt the following mode:
the first auxiliary driving branched chain comprises a second rotating motor (30), the second rotating motor (30) is fixed on the movable platform (16), the rotating axis of the output shaft of the second rotating motor (30) is overlapped with the axis of a rotating shaft (15) vertically arranged on the movable platform (16), and the output shaft of the second rotating motor (30) is fixedly connected with the rotating shaft (15).
4. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as claimed in claim 1, 2 or 3, is characterized in that the driven arm assembly adopts a space 4S quadrilateral mechanism, namely, the two connecting rods are connected with the upper connecting rod (5) and the lower connecting rod (7) through a spherical hinge; the first driving arm (4) is fixedly connected with the upper connecting rod (5), and the lower connecting rod (7) is fixedly connected with the movable platform (16).
5. The six-degree-of-freedom high-speed parallel mechanism containing the composite branched chain according to claim 1, 2 or 3, is characterized in that the driven arm assembly adopts a plane 4R quadrilateral mechanism, namely the two connecting rods are connected with the upper connecting rod (5) and the lower connecting rod (7) through revolute pairs; the first driving arm (4) is connected with the upper connecting rod (5) through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the static platform (1) and the first driving arm (4); the lower connecting rod (7) is connected with the movable platform (16) through a rotating pair, and the axis of the rotating pair is superposed with the axis of the lower connecting rod (7).
6. The six-degree-of-freedom high-speed parallel mechanism containing the composite branched chain according to claim 1, wherein the transmission mechanism comprises a swinging rod (23), a gear (21), a rack (22) and a guide block (31); the guide block (31) is fixed on the movable platform (16), and the rack (22) is arranged on the guide block (31) and can horizontally slide relative to the movable platform (16); one end of the swinging rod (23) is connected with a third connecting piece (24) in the first auxiliary driving branched chain through a revolute pair, and the other end of the swinging rod is connected with the rack (22) through a revolute pair; the rack (22) is meshed with the gear (21); the rotating axis of the gear (21) is superposed with the axis of the rotating shaft (15) vertically arranged on the movable platform (16), and the gear (21) is fixedly connected with the rotating shaft (15).
7. The six-degree-of-freedom high-speed parallel mechanism containing the compound branch according to claim 1, wherein the transmission mechanism comprises a sector gear (333) and a bevel gear (34); the sector gear (333) is fixedly connected with a third connecting piece (24) in the first auxiliary driving branched chain, and the rotating axis of the sector gear (333) is superposed with the rotating axis of the third connecting piece (24) connected to the movable platform (16); the sector gear (333) is meshed with a conical gear (34); the rotating axis of the conical gear (34) is superposed with the axis of the rotating shaft (15) vertically arranged on the movable platform (16), and the conical gear (34) is fixedly connected with the rotating shaft (15).
8. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as claimed in claim 1, 2 or 3, wherein the revolute pairs of the first main driving arm (4) and the static platform (1) in the first main driving branched chain, the second main driving branched chain and the third main driving branched chain are horizontally arranged and uniformly arranged with a distance of 120 ° in pairs.
9. The six-degree-of-freedom high-speed parallel mechanism with the composite branched chain as claimed in claim 1, 2 or 3, wherein the secondary axis of rotation of two of the first driving arms (4) connected with the static platform in the first main driving branched chain, the second main driving branched chain and the third main driving branched chain is perpendicular to the secondary axis of rotation of the other first driving arm (4).
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| CN112405501B (en) * | 2020-11-13 | 2022-12-27 | 重庆邮电大学 | Series-parallel six-freedom-degree force feedback device with differential gear train |
| WO2022134513A1 (en) * | 2020-12-22 | 2022-06-30 | 辰星（天津）自动化设备有限公司 | Expandable robot unit and six-arm robot |
| CN113878564B (en) * | 2021-10-28 | 2023-01-31 | 天津大学 | Six-freedom-degree parallel robot with integrated rotating support |
| CN114147692B (en) * | 2021-12-20 | 2023-05-05 | 江苏理工学院 | Parallel robot with adjustable working space |
| CN115741639A (en) * | 2022-11-16 | 2023-03-07 | 天津大学 | Six-branched-chain five-degree-of-freedom parallel processing robot for complex curved surface |
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| KR101798087B1 (en) * | 2016-05-03 | 2017-11-16 | (주)로픽 | Arm coupling structure of industrial transfer robots for waterproofing and preventing a contamination of goods |
| CN106363609B (en) * | 2016-11-21 | 2018-10-12 | 南京理工大学 | A kind of Planar Mechanisms four-degree-of-freedom high speed parallel robot mechanism |
| CN106625606B (en) * | 2017-01-16 | 2019-01-22 | 安徽工业大学 | A kind of seven freedom transfer robot that slave arm is arranged symmetrically |
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| CN109048867A (en) * | 2018-09-18 | 2018-12-21 | 南京理工大学 | A kind of Three Degree Of Freedom high speed parallel robot mechanism |
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