CN112008697A - Two-rotation one-movement three-freedom-degree decoupling parallel mechanism - Google Patents
Two-rotation one-movement three-freedom-degree decoupling parallel mechanism Download PDFInfo
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- CN112008697A CN112008697A CN202010987437.4A CN202010987437A CN112008697A CN 112008697 A CN112008697 A CN 112008697A CN 202010987437 A CN202010987437 A CN 202010987437A CN 112008697 A CN112008697 A CN 112008697A
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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 provides a two-rotation one-movement three-degree-of-freedom decoupling parallel mechanism which comprises a static platform, a movable platform and three branched kinematic chains, wherein when a first driving motor drives a third branched kinematic chain to provide power for the movable platform along the motion direction of a second moving pair; the second driving motor drives the second branch kinematic chain to enable the movable platform to rotate around the direction of the axis of a third revolute pair in the third branch kinematic chain; and the third driving motor drives the first branch kinematic chain to enable the movable platform to rotate around the direction of the axis of a fourth revolute pair in the third branch kinematic chain. Therefore, the parallel mechanism can rotate and move three degrees of freedom in space, and the moving degree of freedom and the two rotating degrees of freedom of the parallel mechanism are not coupled. The control is simple, the practicability is high, the problems of high coupling, complex kinematic calculation, difficult path planning and the like of a common parallel mechanism are solved, and the method has a wide application prospect.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a two-rotation one-movement three-freedom-degree decoupling parallel mechanism.
Background
The parallel mechanism has the advantages of high rigidity, small error accumulation, high precision, larger bearing capacity and the like. In recent years, parallel mechanisms have become one of the hot spots of the academic circles and industrial researches of robot mechanisms at home and abroad, and have been widely applied to various fields such as industry, medicine, military affairs and the like.
The parallel mechanism with less degrees of freedom has the advantages of simple structure, low manufacturing cost, easy control and the like. Among various parallel mechanisms with less degrees of freedom, the design of the configuration of the parallel mechanism with three degrees of freedom attracts the attention of numerous scholars, and particularly, the parallel mechanism with three degrees of freedom in the form of two-rotation and one-movement degrees of freedom becomes a hot point of attention in the field due to the wide application prospect. The method has wide application value in the fields of motion simulators, force sensors, medical instruments and the like. At present, some scholars in China have certain research progress on a two-rotation one-movement three-freedom-degree parallel mechanism, but most of the existing parallel robot mechanisms still have the problems of strong motion coupling, small working space, difficult control and the like.
Disclosure of Invention
The invention aims to provide a two-rotation one-movement three-freedom-degree decoupling parallel mechanism to solve the problems of strong coupling, small working space, difficult control and the like of a parallel mechanism in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: a two-rotation one-movement three-freedom-degree decoupling parallel mechanism comprises a fixed platform, a movable platform and three branch kinematic chains, wherein one side of the top end of the fixed platform is provided with a connecting column, the three branch kinematic chains are respectively a first branch kinematic chain, a second branch kinematic chain and a third branch kinematic chain,
the first branch motion chain comprises a first rotating pair, a first universal hinge, a second rotating pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to the connecting column and the moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge, the inner axis of the second universal hinge and the axis of the second rotating pair are arranged in parallel;
the second branch kinematic chain comprises a first cylindrical pair, a first moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the first cylindrical pair and the ball pair are respectively connected to the fixed platform and the moving platform, and the axis of the first cylindrical pair is vertical to the moving direction of the first moving pair;
the third branch kinematic chain comprises a second moving pair, a third rotating pair and a fourth rotating pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the fourth rotating pair are respectively connected to the fixed platform and the movable platform, and the axis of the third rotating pair is simultaneously perpendicular to the axis of the fourth rotating pair and the moving direction of the second moving pair; the first rotating pair, the first cylindrical pair and the second moving pair are power input ends and are respectively connected with a driving motor.
Furthermore, the axis of the first rotating pair is parallel to the moving direction of the second moving pair and is perpendicular to the axis of the third rotating pair.
Further, the outer axis of the second universal hinge is parallel to the axis of the fourth revolute pair.
Furthermore, the second universal hinge, the spherical pair and the fourth revolute pair are sequentially arranged along the length direction of the movable platform and distributed on the same straight line.
Furthermore, two ends of the first universal hinge are respectively connected with the first rotating pair and the second rotating pair through the first connecting rod and the second connecting rod, and the free end of the second rotating pair is connected to the second universal hinge through the third connecting rod.
Furthermore, two ends of the first moving pair are respectively connected with the first cylindrical pair and the ball pair through a fourth connecting rod and a fifth connecting rod.
Furthermore, two ends of the third revolute pair are respectively connected with the second revolute pair and the fourth revolute pair through a sixth connecting rod and a seventh connecting rod.
Compared with the prior art, the invention has the beneficial effects that: the parallel mechanism in the invention has three degrees of freedom, namely rotation in two directions and movement in one direction, and no coupling relation exists between the degree of freedom of movement and the two degrees of freedom of rotation. The mechanism has the advantages of high flexibility of the movable platform, simple control, strong practicability and good development prospect in the fields of industrial robots, parallel machine tools, aerospace and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to the present invention;
fig. 2 is a schematic distribution diagram of the second universal hinge, the spherical pair and the fourth revolute pair on the movable platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the two-rotation one-movement three-degree-of-freedom decoupling parallel mechanism of the present invention includes a fixed platform 10 and a movable platform 20, where L1, L2, and L3 represent a first, a second, and a third branch kinematic chains, respectively.
The first branch kinematic chain L1 comprises a first revolute pair R11, a first universal hinge U12, a second revolute pair R13, a second universal hinge U14, and a first connecting rod 1-1, a second connecting rod 1-2 and a third connecting rod 1-3 connected between the first revolute pair R13 and the second universal hinge U14, wherein the first connecting rod 1-1 is respectively connected with a connecting column on the fixed platform 10 and the second connecting rod 1-2 through the first revolute pair R11 and the first universal hinge U12, the second connecting rod 1-2 is connected with the third connecting rod 1-3 through the second revolute pair R13, and the third connecting rod 1-3 is connected with the movable platform 20 through the second universal hinge U14. The axis of the first revolute pair R11 is parallel to the axis connected with the first connecting rod 1-1 in the first universal hinge U12, namely the inner axis. The axis connected with the second connecting rod 1-2 in the first universal hinge U12, namely the outer axis, the axis connected with the third connecting rod 1-3 in the second universal hinge U14, namely the inner axis, and the axis of the second revolute pair R13 are parallel to each other in pairs.
The second branch kinematic chain L2 comprises a first cylinder pair C21, a first moving pair P22, a ball pair S23, a fourth connecting rod 2-1 and a fifth connecting rod 2-2 which are connected between the first cylinder pair C21 and the first moving pair P3938, the fourth connecting rod 2-1 is respectively connected with the fixed platform 10 and the fifth connecting rod 2-2 through the first cylinder pair C21 and the first moving pair P22, and the fifth connecting rod 2-2 is connected with the moving platform 20 through the ball pair S23. The axis of the first cylindrical pair C21 is perpendicular to the moving direction of the first moving pair P22.
The third branched kinematic chain L2 comprises a second sliding pair P31, a third revolute pair R32, a fourth revolute pair R33, a sixth connecting rod 3-1 and a seventh connecting rod 3-2 which are connected between the second sliding pair P31, the third revolute pair R32 and the fourth revolute pair R33, the sixth connecting rod 3-1 is respectively connected with the fixed platform 10 and the seventh connecting rod 3-2 through the second sliding pair P31 and the third revolute pair R32, and the seventh connecting rod 3-2 is connected with the movable platform 20 through the fourth revolute pair R33. Wherein the axis of the third revolute pair R32 is perpendicular to the axis of the fourth revolute pair R33 and the moving direction of the second revolute pair P31;
in the present embodiment, the axis of the first revolute pair R11 in the first branched kinematic chain L1 and the direction of movement of the second revolute pair P31 in the third branched kinematic chain L3 are parallel and at the same time perpendicular to the axis of the third revolute pair R32 of L3 in the third branched kinematic chain.
Further optimizing the scheme, the axis of the second universal hinge U14 connected with the movable platform 20 in the first branched moving chain L1, namely the outer axis, is parallel to the axis of the fourth revolute pair R33 in the third branched moving chain L3.
Further optimizing the scheme, as shown in fig. 2, the second universal hinge U14 in the first branch kinematic chain L1 and the fourth revolute pair R33 in the third branch kinematic chain L3 are distributed on both sides of the movable platform 20. Meanwhile, kinematic pairs connected with the fixed platform 10 in the three branched kinematic chains are respectively selected as active pairs, and when the active pairs are first cylindrical pairs, linear input of the kinematic pairs is taken as active input.
The control principle of the invention is as follows: the invention drives the driving pair through the servo motor and provides power for the moving platform 20 through the branch kinematic chain. The method comprises the following specific steps: the first driving motor drives the third branch kinematic chain L3 to provide power for the moving platform 20 along the moving direction of the second sliding pair P31; the second driving motor drives the second branch kinematic chain L2 to make the movable platform 20 rotate around the direction of the axis of the third revolute pair R32 in the third branch kinematic chain L3; the third driving motor drives the first branched kinematic chain L1 to rotate the movable platform 20 around the direction of the axis of the fourth revolute pair R33 in the third branched kinematic chain L3. Therefore, the parallel mechanism can rotate and move three degrees of freedom in space, and the moving degree of freedom and the two rotating degrees of freedom of the parallel mechanism are not coupled.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a two change one move three degree of freedom decoupling zero parallel mechanism, includes stationary platform, moves platform and three branch movement chains, and stationary platform's top one side is provided with spliced pole, its characterized in that: the three branched kinematic chains are respectively a first branched kinematic chain, a second branched kinematic chain and a third branched kinematic chain, wherein,
the first branch motion chain comprises a first rotating pair, a first universal hinge, a second rotating pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to the connecting column and the moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge, the inner axis of the second universal hinge and the axis of the second rotating pair are arranged in parallel;
the second branch kinematic chain comprises a first cylindrical pair, a first moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the first cylindrical pair and the ball pair are respectively connected to the fixed platform and the moving platform, and the axis of the first cylindrical pair is vertical to the moving direction of the first moving pair;
the third branch kinematic chain comprises a second moving pair, a third rotating pair and a fourth rotating pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the fourth rotating pair are respectively connected to the fixed platform and the movable platform, and the axis of the third rotating pair is simultaneously perpendicular to the axis of the fourth rotating pair and the moving direction of the second moving pair;
the first rotating pair, the first cylindrical pair and the second moving pair are power input ends and are respectively connected with a driving motor.
2. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 1, characterized in that: the axis of the first rotating pair is parallel to the moving direction of the second moving pair and is perpendicular to the axis of the third rotating pair.
3. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 2, characterized in that: and the outer axis of the second universal hinge is parallel to the axis of the fourth revolute pair.
4. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 3, characterized in that: the second universal hinge, the spherical pair and the fourth revolute pair are sequentially arranged along the length direction of the movable platform and distributed on the same straight line.
5. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 1, characterized in that: two ends of the first universal hinge are respectively connected with the first rotating pair and the second rotating pair through the first connecting rod and the second connecting rod, and the free end of the second rotating pair is connected to the second universal hinge through the third connecting rod.
6. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 1, characterized in that: and two ends of the first moving pair are respectively connected with the first cylindrical pair and the ball pair through a fourth connecting rod and a fifth connecting rod.
7. The two-rotation one-movement three-freedom-degree decoupling parallel mechanism according to claim 1, characterized in that: and two ends of the third revolute pair are respectively connected with the second revolute pair and the fourth revolute pair through a sixth connecting rod and a seventh connecting rod.
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| CN202010987437.4A CN112008697A (en) | 2020-09-18 | 2020-09-18 | Two-rotation one-movement three-freedom-degree decoupling parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112973065A (en) * | 2021-02-05 | 2021-06-18 | 北京星光凯明智能科技有限公司 | Electromechanical two-axis motion platform and two-axis motion method |
| CN113319831A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112973065A (en) * | 2021-02-05 | 2021-06-18 | 北京星光凯明智能科技有限公司 | Electromechanical two-axis motion platform and two-axis motion method |
| CN113319831A (en) * | 2021-07-16 | 2021-08-31 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
| CN113319831B (en) * | 2021-07-16 | 2022-08-02 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
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