CN110977938A - Zero-coupling three-degree-of-freedom parallel robot - Google Patents
Zero-coupling three-degree-of-freedom parallel robot Download PDFInfo
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- CN110977938A CN110977938A CN201911128078.0A CN201911128078A CN110977938A CN 110977938 A CN110977938 A CN 110977938A CN 201911128078 A CN201911128078 A CN 201911128078A CN 110977938 A CN110977938 A CN 110977938A
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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 provides a zero-coupling three-degree-of-freedom parallel robot, which comprises a movable platform and a static platform, wherein a first moving assembly, a second moving assembly and a third moving assembly are respectively arranged between the movable platform and the static platform; the first motion assembly is used for enabling the motion platform to translate along the Y-axis direction; the second motion assembly is used for enabling the translation of the moving platform along the X-axis direction; and the third motion assembly is used for enabling the movable platform to rotate around the Z-axis direction. The input and the output of the parallel robot are completely decoupled, the motion components do not interfere with each other, the coupling degree of the parallel robot is zero, the kinematics and the dynamics analysis can be solved independently, and the trajectory planning and the motion control of the parallel robot are facilitated.
Description
Technical Field
The invention relates to the field of parallel robots, in particular to a zero-coupling three-degree-of-freedom parallel robot.
Technical Field
In recent years, the three-degree-of-freedom parallel robot has the advantages of simple structure, easiness in control, low processing cost and the like, and is widely applied to industrial production and related fields. With the increase of the motion assemblies of the parallel robot, the mechanism coupling is enhanced, the interference influence among the motion assemblies is intensified, and the kinematic analysis and the subsequent decoupling control of the robot are not facilitated. The existing three-degree-of-freedom parallel robot has strong coupling, and the research of the zero-coupling three-degree-of-freedom parallel robot is imperative in order to simplify the kinematic and dynamic analysis complexity of the parallel robot.
Disclosure of Invention
Aiming at various defects in the prior art, the invention aims to provide a zero-coupling three-degree-of-freedom parallel robot so as to solve the problems of strong coupling and the like of the conventional three-degree-of-freedom parallel robot. Meanwhile, the input and the output of the parallel robot are completely decoupled, the motion components do not interfere with each other, the coupling degree of the parallel robot is zero, the kinematics and the dynamics analysis can be solved independently, and the trajectory planning and the motion control of the parallel robot are facilitated.
The present invention achieves the above-described object by the following technical means.
A zero-coupling three-degree-of-freedom parallel robot comprises a movable platform and a static platform, wherein a first moving assembly, a second moving assembly and a third moving assembly are respectively arranged between the movable platform and the static platform; the first motion assembly is used for enabling the motion platform to translate along the Y-axis direction; the second motion assembly is used for enabling the translation of the moving platform along the X-axis direction; and the third motion assembly is used for enabling the movable platform to rotate around the Z-axis direction.
Further, the first motion assembly comprises a first guide rail and a sliding pair P1Connecting rod L1And a revolute pair R1Connecting rod L2Ball-and-ball pair S1(ii) a The first guide rail is arranged on the static platform along the Y-axis direction, and the sliding pair P1The axis of the first guide rail is axially overlapped with the first guide rail; the connecting rod L1One end of (A) passes through a sliding pair P1Connected with the first guide rail, the connecting rod L1The other end of the connecting rod passes through a revolute pair R1And a connecting rod L2One end of the two ends are connected; the connecting rod L2The other end of the ball passes through the ball pair S1Is connected with the movable platform; the sliding pair P1And a revolute pair R1Are parallel to each other.
Further, the sliding pair P1 is a driving pair of the first motion assembly, and the motion of the sliding pair P1 translates the moving platform along the Y-axis direction.
Further, the second motion assembly comprises a second guide rail and a sliding pair P2Connecting rod L3And a revolute pair R2Connecting rod L4And a revolute pair R3Connecting rod L5And a revolute pair R4Connecting rod L6Ball-and-ball pair S2(ii) a The second guide rail is arranged on the static platform along the X-axis direction; the sliding pair P2The axis of the second guide rail is axially overlapped with the second guide rail; the connecting rod L3One end of (A) passes through a sliding pair P2Connected with a second guide rail, the connecting rod L3The other end of the connecting rod passes through a revolute pair R2And a connecting rod L4Connecting; the connecting rod L4The other end of the connecting rod passes through a revolute pair R3And a connecting rod L5Connecting; the connecting rod L5The other end of the connecting rod passes through a revolute pair R4And a connecting rod L6Connecting; the connecting rod L6The other end of the ball passes through the ball pair S2Is connected with the movable platform. The sliding pair P2And a revolute pair R2And a revolute pair R3And a revolute pair R4Are parallel to each other.
Further, the sliding pair P2Is an active pair of the second kinematic component, by means of a kinematic pair P2The movement of (a) causes the moving platform to translate in the X-axis direction.
Further, the third motion assembly comprises a vertical connecting rod and a revolute pair R5Connecting rod L7And a revolute pair R6Connecting rod L8And a revolute pair R7(ii) a The vertical connecting rods are arranged along the Z-axis direction and are vertically connected with the static platform; the vertical connecting rod is provided with a revolute pair R axially coincident with the vertical connecting rod5(ii) a The connecting rod L7One end of the rotary shaft passes through a revolute pair R5Connected with a vertical connecting rod L7The other end of the connecting rod passes through a revolute pair R6And a connecting rod L8Connecting; the connecting rod L8The other end of the connecting rod passes through a revolute pair R7Is connected with the movable platform; the revolute pair R5And a revolute pair R6And a revolute pair R7Are parallel to each other.
Further, the revolute pair R7Is a driving pair of the third motion component, and is a revolute pair R7The motion of (2) causes the movable platform to rotate about the Z-axis.
Further, the first motion assembly, the second motion assembly, and the third motion assembly may each act independently.
Further, the first motion assembly, the second motion assembly, and the third motion assembly may act simultaneously.
Further, any 2 of the first, second, and third motion assemblies may act simultaneously.
The invention has the beneficial effects that:
1. the zero-coupling three-degree-of-freedom parallel robot can realize translation of the movable platform along the X-axis direction and the Y-axis direction and rotation of the movable platform along the Z-axis direction, and the output of the movable platform has the characteristics of movement and rotation.
2. The zero-coupling three-degree-of-freedom parallel robot has zero coupling degree, and kinematics and dynamics analysis can be solved independently, so that the trajectory planning and the motion control of a mechanism are facilitated.
3. The zero-coupling three-degree-of-freedom parallel robot is completely decoupled in motion, and the motion components do not interfere with each other when moving, so that the output motion of the movable platform can be combined according to the actual motion requirement.
Drawings
Fig. 1 is a schematic diagram of a zero-coupling three-degree-of-freedom parallel robot structure according to the present invention.
Fig. 2 is a schematic diagram of a first motion assembly according to the present invention.
Fig. 3 is a schematic diagram of a second motion assembly according to the present invention.
Fig. 4 is a schematic diagram of a third motion assembly according to the present invention.
In the figure:
1-a first motion assembly; 2-a static platform; 3-a first guide rail; 4-a second guide rail; 5-a second motion assembly; 6-vertical connecting rod; 7-a third motion assembly; 8-moving the platform.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, the zero-coupling three-degree-of-freedom parallel robot of the present invention includes a first moving component 1, a second moving component 5, and a third moving component 7; the first motion assembly is used for enabling the motion platform 8 to translate along the Y-axis direction; the second motion assembly is used for enabling the translation of the movable platform 8 along the X-axis direction; the third motion assembly is used for rotating the movable platform 8 around the Z-axis direction.
As shown in FIG. 2, the first kinematic assembly 1 comprises a first guide 3, a kinematic pair P1Connecting rod L1And a revolute pair R1Connecting rod L2Ball-and-ball pair S1(ii) a The first guide rail 3 is arranged on the static platform 2 along the Y-axis direction; the sliding pair P1Axially coincides with the first guide 3; the connecting rod L1One end of (A) passes through a sliding pair P1Connected to the first guide rail 3, the connecting rod L1The other end of the connecting rod passes through a revolute pair R1And a connecting rod L2One end of the two ends are connected; the connecting rod L2The other end of the ball passes through the ball pair S1Is connected with the movable platform 8; the sliding pair P1And a revolute pair R1Are parallel to each other. The sliding pair P1Is a primary pair of the first kinematic component 1, by means of a kinematic pair P1The motion of (2) causes the movable platform 8 to translate in the Y-axis direction.
As shown in fig. 3, the second kinematic assembly 5 comprises a second guide 4, a sliding pair P2Connecting rod L3And a revolute pair R2Connecting rod L4And a revolute pair R3Connecting rod L5And a revolute pair R4Connecting rod L6Ball-and-ball pair S2(ii) a The second guide rail 4 is arranged on the static platform 2 along the X-axis direction, and the second guide rail 4 is vertical to the first guide rail 3; the sliding pair P2Axially coincides with the second guide 4; the connecting rod L3One end of (A) passes through a sliding pair P2Connected to the second guide rail 4, the connecting rod L3The other end of the connecting rod passes through a revolute pair R2And a connecting rod L4Connecting; the connecting rod L4The other end of the connecting rod passes through a revolute pair R3And a connecting rod L5Connecting; the connecting rod L5The other end of the connecting rod passes through a revolute pair R4And a connecting rod L6Connecting; what is needed isThe connecting rod L6The other end of the ball passes through the ball pair S2Is connected with the movable platform 8. The sliding pair P2And a revolute pair R2And a revolute pair R3And a revolute pair R4Are parallel to each other. The sliding pair P2Is a driving pair of the second kinematic component 5, by means of a kinematic pair P2The moving platform 8 is translated in the X-axis direction.
As shown in fig. 4, the third motion assembly 7 comprises a vertical connecting rod 6 and a revolute pair R5Connecting rod L7And a revolute pair R6Connecting rod L8And a revolute pair R7(ii) a The vertical connecting rod 6 is arranged along the Z-axis direction and is vertically connected with the static platform 2; a revolute pair R is arranged on the vertical connecting rod 65(ii) a The revolute pair R5The axis of the connecting rod is axially overlapped with the vertical connecting rod 6; the connecting rod L7One end of the rotary shaft passes through a revolute pair R5Connected to a vertical connecting rod 6, said connecting rod L7The other end of the connecting rod passes through a revolute pair R6And a connecting rod L8Connecting; the connecting rod L8The other end of the connecting rod passes through a revolute pair R7Is connected with the movable platform 8; the revolute pair R5And a revolute pair R6And a revolute pair R7Are parallel to each other. The revolute pair R7Is a driving pair of the third motion assembly 7 and passes through a rotating pair R7The movement of (2) causes the movable platform 8 to rotate about the Z-axis direction.
The first motion assembly 1, the second motion assembly 5 and the third motion assembly 7 act on the movable platform 8 to enable the movable platform 8 to realize translation along the X-axis direction and the Y-axis direction and rotation around the Z-axis direction.
The working process is as follows:
the first kinematic assembly 1 operates, moving the pair P1Can do linear vibration motion on the static platform 2 along the Y-axis direction and is connected with a connecting rod L1And a revolute pair R1Connecting rod L2Ball-and-ball pair S1The movable platform 8 can be driven to do linear vibration screening motion along the Y-axis direction; the second kinematic assembly 5 operates, moving the pair P2Can do linear vibration motion on the static platform 2 along the X-axis direction and is connected with a connecting rod L3And a revolute pair R2Connecting rod L4And a revolute pair R3Connecting rod L5And a revolute pair R4Connecting rod L6Ball-and-ball pair S2The movable platform 8 can be driven to do linear vibration screening motion along the Y-axis direction; the third kinematic assembly 7 operates, revolute pair R7Rotating and vibrating about its axis to a certain extent, via a connecting rod L8And a revolute pair R6Connecting rod L7And a revolute pair R5The movable platform 8 can be driven to rotate around the Z direction for vibrating screening movement. Because the input and the output of the parallel robot are completely decoupled, the operation schemes of the actual motion components can be combined according to requirements, so that the motion platform 8 can obtain corresponding screening motion output.
The first motion assembly 1, the second motion assembly 5 and the third motion assembly 7 may each act independently or move simultaneously. Or any 2 of the first motion assembly 1, the second motion assembly 5 and the third motion assembly 7 may act simultaneously, i.e., the first motion assembly 1 acts simultaneously with the second motion assembly 5, the second motion assembly 5 acts simultaneously with the third motion assembly 7, and the first motion assembly 1 acts simultaneously with the third motion assembly 7.
The degree of freedom of motion and the degree of coupling of the parallel robot according to the present invention are theoretically calculated, and the mechanical characteristics thereof will be further described.
The first motion assembly and the second motion assembly are unconstrained chains, and the POC set equation is as follows:
the POC set equation for the third motion component is:
the general formula for the full-cycle DOF of a parallel robot is:
ν＝m-n+1
wherein F is the degree of freedom of the mechanism, FiIs the ithThe freedom degree of each kinematic pair, m is the number of kinematic pairs, n is the number of components, v is the number of independent loops,
is the independent displacement equation number of the jth independent loop. m is 11, the said parallel chain mechanism includes 12 connecting rods and moves the platform, quiet platform, that is n is 10, so:
ν＝m-n+1＝11-10+1＝2
the first motion assembly and the third motion assembly form a first loop, and the second motion assembly and the sub-parallel robot formed by the first loop form a second loop.
The number of independent displacement equations of the first loop is:
the POC set equation for the sub-parallel robot consisting of the first loop is:
the independent displacement equation number of the second loop is as follows:
therefore, the degree of freedom of the parallel robot is as follows:
the POC set equation of the parallel robot moving platform is as follows:
namely, the output motion of the movable platform is translation along the X-axis direction and the Y-axis direction and rotation around the Z-axis.
According to the principle of mechanism composition based on a Single Open Chain (SOC) unit, any mechanism can be decomposed into a series of single open chains, and the constraint degree of the single open chain is as follows:
in the formula, mjNumber of motion pairs of jth single open chain, IjThe number of drive pairs of the jth single open chain. Moving pair P in first loop1And a revolute pair R7To drive a secondary, i.e. I12; in the second loop the sliding pair P2To drive a secondary, i.e. I21, so the first loop constraint degree Δ1Second loop constraint degree delta2Respectively as follows:
Δ1＝(5+3)-2-6＝0
Δ2＝7-1-6＝0
the Basic Kinetic Chain (BKC) discrimination formula is:
the parallel robot has two basic kinematic chains BKC1、BKC2Therefore, the coupling degree of the parallel robot is as follows:
namely, the parallel robot is a zero-coupling mechanism, and the topological complexity of the mechanism is low, so that the kinematics and the dynamics analysis can be solved independently.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A zero-coupling three-degree-of-freedom parallel robot comprises a movable platform (8) and a static platform (2), and is characterized in that a first moving assembly (1), a second moving assembly (5) and a third moving assembly (7) are respectively arranged between the movable platform (8) and the static platform (2); the first motion assembly (1) is used for enabling the translation of the motion platform (8) along the Y-axis direction; the second motion assembly (5) is used for enabling the translation of the moving platform (8) along the X-axis direction; the third motion assembly (7) is used for enabling the movable platform (8) to rotate around the Z-axis direction.
2. The zero-coupling three-degree-of-freedom parallel robot according to claim 1, wherein the first motion assembly (1) comprises a first guide rail (3) and a sliding pair P1Connecting rod L1And a revolute pair R1Connecting rod L2Ball-and-ball pair S1(ii) a The first guide rail (3) is arranged on the static platform (2) along the Y-axis direction, and the sliding pair P1The axis of the first guide rail (3) is axially superposed with the first guide rail; the connecting rod L1One end of (A) passes through a sliding pair P1Connected with a first guide rail (3), the connecting rod L1The other end of the connecting rod passes through a revolute pair R1And a connecting rod L2One end of the two ends are connected; the connecting rod L2The other end of the ball passes through the ball pair S1Is connected with the movable platform (8); the sliding pair P1And a revolute pair R1Are parallel to each other.
3. The zero-coupling three-degree-of-freedom parallel robot according to claim 2, wherein the moving pair P1 is an active pair of the first moving component (1), and the moving platform (8) is translated along the Y-axis direction by the motion of the moving pair P1.
4. The zero-coupling three-degree-of-freedom parallel robot according to claim 1, wherein the second motion assembly (5) comprises a second guide rail (4) and a sliding pair P2Connecting rod L3And a revolute pair R2Connecting rod L4And a revolute pair R3Connecting rod L5And a revolute pair R4Connecting rod L6Ball-and-ball pair S2(ii) a The second guide rail (4) is arranged on the static platform (2) along the X-axis direction; the sliding pair P2The axis of the second guide rail (4) is axially superposed with the axis of the first guide rail; the connecting rod L3One end of (A) passes through a sliding pair P2Is connected with a second guide rail (4), and the connecting rod L3The other end of the connecting rod passes through a revolute pair R2And a connecting rod L4Connecting; the connecting rod L4The other end of the connecting rod passes through a revolute pair R3And a connecting rod L5Connecting; the connecting rod L5The other end of the connecting rod passes through a revolute pair R4And a connecting rod L6Connecting; the connecting rod L6The other end of the ball passes through the ball pair S2Is connected with the movable platform (8). The sliding pair P2And a revolute pair R2And a revolute pair R3And a revolute pair R4Are parallel to each other.
5. The zero-coupling three-degree-of-freedom parallel robot as claimed in claim 4, wherein the kinematic pair P2Is a driving pair of the second kinematic component (5), by means of a kinematic pair P2The motion of (8) causes the moving platform to translate in the direction of the X axis.
6. The zero-coupling three-degree-of-freedom parallel robot according to claim 1, wherein the third motion assembly (7) comprises a vertical connecting rod (6) and a revolute pair R5Connecting rod L7And a revolute pair R6Connecting rod L8And a revolute pair R7(ii) a The vertical connecting rod (6) is arranged along the Z-axis direction and is vertically connected with the static platform (2); a revolute pair R axially coincident with the vertical connecting rod (6) is arranged on the vertical connecting rod (6)5(ii) a The connecting rod L7One end of the rotary shaft passes through a revolute pair R5Is connected with a vertical connecting rod (6), the connecting rod L7The other end of the connecting rod passes through a revolute pair R6And a connecting rod L8Connecting; the connecting rod L8The other end of the connecting rod passes through a revolute pair R7Is connected with the movable platform (8); the revolute pair R5And a revolute pair R6And a revolute pair R7Are parallel to each other.
7. The zero-coupling three-degree-of-freedom parallel robot as claimed in claim 6, wherein the revolute pair R7Is a driving pair of the third kinematic component (7), byRevolute pair R7The motion of (2) causes the movable platform (8) to rotate around the Z-axis direction.
8. A zero-coupling three-degree-of-freedom parallel robot according to any one of claims 1-7, characterized in that the first moving component (1), the second moving component (5) and the third moving component (7) can act independently.
9. A zero-coupling three-degree-of-freedom parallel robot according to any of claims 1-7, characterized in that the first moving assembly (1), the second moving assembly (5) and the third moving assembly (7) can act simultaneously.
10. A zero-coupling three-degree-of-freedom parallel robot according to any one of claims 1-7, characterized in that any 2 of the first moving assembly (1), the second moving assembly (5) and the third moving assembly (7) can act simultaneously.
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| JP2015000448A (en) * | 2013-06-14 | 2015-01-05 | 国立大学法人東京工業大学 | Rotation parallel mechanism capable of independent control of rotation center |
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