CN112123323A - 4UPU-UP redundant drive parallel robot - Google Patents
4UPU-UP redundant drive parallel robot Download PDFInfo
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- CN112123323A CN112123323A CN202011121850.9A CN202011121850A CN112123323A CN 112123323 A CN112123323 A CN 112123323A CN 202011121850 A CN202011121850 A CN 202011121850A CN 112123323 A CN112123323 A CN 112123323A
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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
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
- B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
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Abstract
The invention provides a 4UPU-UP redundant drive parallel robot, which comprises a static platform, a movable platform, four UPU drive branched chains and an UP passive constraint chain, wherein the four UPU drive branched chains are connected with the static platform and the movable platform; each driving branched chain has the same structure and comprises a first moving pair, wherein the first moving pair is used as a driving joint, and two ends of the first moving pair are respectively connected with the static platform and the moving platform through hooke joints; the four UPU driving branched chains are uniformly distributed around the passive constraint chain, the passive constraint chain comprises a second moving pair, the second moving pair is used as a passive joint, one end of the second moving pair is connected with the static platform through a Hooke hinge, and the other end of the second moving pair is fixedly connected with the movable platform. The number of the driving branched chains is more than that of the freedom degrees of the mechanism, so that the rigidity and the bearing capacity can be improved, no singular area exists in a working space, the driving force can be optimized by redundantly driving the parallel mechanism, the internal force among the branched chains of the parallel mechanism is improved, and the efficiency of the mechanism output force is improved.
Description
Technical Field
The invention relates to the technical field of parallel robots, in particular to a 4UPU-UP redundant drive parallel robot.
Background
The parallel robot has the characteristics of high rigidity, high motion precision, good dynamic response performance, easy inverse solution of mechanism kinematics and the like, and domestic and foreign scholars are constantly dedicated to research and development of related novel parallel robots. However, some disadvantages exist, such as that the common Tricept parallel robot (3UPU-UP parallel mechanism) for the parallel machine tool has the same number of driving numbers and degrees of freedom, the operability of the parallel robot is poor due to singularity in a working space, and meanwhile, the rigidity, flexibility and bearing capacity of the whole mechanism are weak, so that the application requirements in the fields of large loads and high precision such as numerical control machine tools, heavy-load carrying and the like cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of a parallel mechanism for the existing parallel machine tool, provides a redundant parallel robot mechanism with three degrees of freedom, realizes two degrees of freedom of motion of rotating and translating, and improves the rigidity and the bearing capacity of the mechanism.
The technical scheme adopted by the invention is as follows:
a4 UPU-UP redundant drive parallel robot comprises a static platform, a movable platform, four UPU drive branched chains and an UP passive constraint chain, wherein the four UPU drive branched chains are connected with the static platform and the movable platform;
each driving branched chain has the same structure and comprises a first moving pair, wherein the first moving pair is used as a driving joint, and two ends of the first moving pair are respectively connected with the static platform and the moving platform through hooke joints;
the four UPU driving branched chains are uniformly distributed around the passive constraint chain, the passive constraint chain comprises a moving pair II, the moving pair II is used as a passive joint, one end of the moving pair II is connected with the static platform through a Hooke hinge, and the other end of the moving pair II is fixedly connected with the moving platform.
The first moving pair comprises a fixed end and a telescopic end which relatively moves along the fixed end, the fixed end of the first moving pair is connected with the static platform through a Hooke hinge I, and the telescopic end of the first moving pair is connected with the moving platform through a Hooke hinge II;
the movable platform is provided with two rotational degrees of freedom rotating around two rotating shafts of the hook joint III and one translational degree of freedom translating along the axis of the movable pair II.
The static platform is uniformly provided with four through holes along the circumferential direction, fixed ends used for accommodating four moving pairs I are arranged in the fixed ends in a penetrating mode, the Hooke joints I are arranged outside the through hole openings, and the four Hooke joints are distributed at the outer ends of two mutually perpendicular straight lines passing through the circle center, wherein the three Hooke joints are used as the circle center.
And the four Hooke joints II of the four UPU driving branched chains are distributed at the outer ends of two mutually perpendicular straight lines passing through the circle center, wherein the circle center is the connecting point of the telescopic end of the sliding pair II and the movable platform.
And the first moving pair adopts a linear driving device.
The first moving pair adopts an electric cylinder, an air cylinder or a hydraulic cylinder, or adopts a telescopic rod mechanism driven by a motor.
The fixed end of the sliding pair II is a positioning sleeve, and the telescopic end of the sliding pair II is a telescopic rod which slides along the axial direction of the positioning sleeve.
And the movable platform is provided with a connecting main shaft for mounting an end effector or a processing part, and the telescopic ends of the connecting main shaft and the sliding pair II correspond to the fixed connection point of the movable platform.
The invention has the following beneficial effects:
the 4UPU-UP redundant drive parallel robot has the advantages that compared with a common Tricept parallel robot (3UPU-UP parallel mechanism) of a parallel machine tool, the 4UPU-UP redundant drive parallel robot has the redundant drive characteristic, the number of drive branched chains is more than that of mechanism degrees of freedom, the rigidity and the bearing capacity can be improved, no singular area exists in a working space, the redundant drive parallel mechanism can optimize the drive force, simultaneously improve the internal force between the branched chains of the parallel mechanism, and improve the efficiency of mechanism output force.
The three degrees of freedom of the invention are two rotations and one translation, which meets the motion requirements of fine operation of numerical control machine tools and the like, and the motion flexibility and precision are high. In addition, the invention has simple driving structure, low control difficulty and high reliability of practical use, and is also suitable for heavy-load transportation. The invention has the advantages of easy assembly, low processing cost and easy realization of modular production.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is another view of fig. 1.
In the figure: 1. a Hooke joint I; 2. moving the first pair; 3. a hook joint II; 4. a static platform; 5. a third Hooke joint; 6. a second sliding pair; 7. a movable platform; 8. connecting the main shaft; 9. a motor; s1, driving a branched chain; s2, passive constraint chains; 21. a connecting sleeve; 22. a connecting rod; 51. a first hinge shaft; 52. a second hinge shaft; 61. a positioning sleeve; 62. a telescopic rod.
Detailed Description
The following description of the embodiments of the present invention refers to the accompanying drawings:
as shown in fig. 1 and fig. 2, the 4UPU-UP redundant drive parallel robot of the present embodiment includes a static platform 4 and a dynamic platform 7, and further includes four UPU drive branched chains S1 and a UP passive constraint chain S2, which connect the static platform 4 and the dynamic platform 7;
each driving branched chain S1 has the same structure and comprises a moving pair I2, the moving pair I2 is used as a driving joint, and two ends of the moving pair I2 are respectively connected with the static platform 4 and the moving platform 7 through hooke joints;
the four UPU driving branched chains S1 are uniformly distributed around the passive constraint chain S2, the passive constraint chain S2 comprises a second moving pair 6, the second moving pair 6 is used as a passive joint, one end of the second moving pair 6 is connected with the static platform 4 through a hooke hinge, and the other end of the second moving pair is fixedly connected with the movable platform 7.
Furthermore, the first moving pair 2 comprises a fixed end and a telescopic end which relatively moves along the fixed end, the fixed end of the first moving pair 2 is connected with the static platform 4 through a Hooke hinge I1, and the telescopic end of the first moving pair 2 is connected with the movable platform 7 through a Hooke hinge II 3;
the second moving pair 6 comprises a fixed end and a telescopic end which relatively moves along the fixed end, the fixed end of the second moving pair 6 is connected with the static platform 4 through the third Hooke hinge 5, and the telescopic end of the second moving pair 6 is fixedly connected with the moving platform 7, so that the moving platform 7 has two rotational degrees of freedom which rotate around the two rotating shafts of the third Hooke hinge 5 and one translational degree of freedom which translates along the axis of the second moving pair 6.
Specifically, the "hooke joint" structure adopted in this embodiment is a connection structure commonly used in the field, and the hooke joint two 3 and the hooke joint three 5 may adopt the same connection structure, as shown in fig. 1 and fig. 2, each structure includes two hinge supports respectively connected to the telescopic end and the platform, a hinge shaft (a rotating shaft) is disposed in a hinge hole in each hinge support, the two hinge shafts intersect at one point, as shown in fig. 2, the two rotating shafts of the hooke joint three 5 are respectively a hinge shaft one 51 and a hinge shaft two 52, and axes of the hinge shaft one 51 and the hinge shaft two 52 intersect at one point.
Similarly, the Hooke's hinge 1 adopts a similar structure and comprises a hinged support connected with the static platform 4 and a frame body connected with a fixed end of the moving pair, a rotating shaft in a hinged hole of the hinged support is rotatably connected with the frame body, a rotating shaft connected with the fixed end is arranged in the frame body, and the rotating shaft in the frame body is intersected with the axis of the rotating shaft on the hinged support at a point.
Four through holes are uniformly formed in the static platform 4 along the circumferential direction, fixed ends used for accommodating the four sliding pairs I2 are arranged in the through holes in a penetrating mode, the Hooke joints I1 are arranged outside the through hole openings, and the four Hooke joints I1 are distributed at the outer ends of two mutually perpendicular straight lines passing through the circle center, wherein the circle center is three 5 of the Hooke joints.
The four hooke joints II 3 of the four UPU driving branched chains S1 are distributed at the outer ends of two mutually perpendicular straight lines passing through the circle center, wherein the circle center is the connecting point of the telescopic end of the moving pair II 6 and the moving platform 7.
Specifically, according to actual requirements and space arrangement requirements, a connecting line of the first hook joint 1 on the opposite side is 180 degrees, and two hinge shafts on the two first hook joints 1 on the opposite side are respectively parallel.
Specifically, according to actual requirements and space arrangement requirements, a connecting line of the two hook joints 3 on the opposite sides is 180 degrees, and two hinge shafts on the two hook joints 3 on the opposite sides are respectively parallel.
The first sliding pair 2 adopts a linear driving device, such as an electric cylinder, a hydraulic cylinder or an air cylinder, or adopts a telescopic rod mechanism driven by a motor 9.
As shown in fig. 2, the telescopic rod mechanism is specifically: comprising a connecting sleeve 21 and a connecting rod 22, the connecting rod 22 being movable along the connecting sleeve 21 by means of a motor 9.
Specifically, the second sliding pair 6 may adopt a non-driven linear motion mechanism, the fixed end of the second sliding pair 6 is a positioning sleeve 61 (and is connected with the sleeve 21), and the telescopic end of the second sliding pair 6 is a telescopic rod 62 (and is connected with the connecting rod 22) which slides along the axial direction of the positioning sleeve 61.
As shown in fig. 2, the movable platform 7 is provided with a connecting main shaft 8, and the telescopic end of the connecting main shaft 8 and the second sliding pair 6 corresponds to the fixed connection point of the movable platform 7.
Specifically, the fixed connection point of the telescopic end of the second sliding pair 6 and the movable platform 7 is located on the upper surface of the movable platform 7, and the connecting main shaft 8 is located on the lower surface of the movable platform 7.
The connecting spindle 8 may be used for mounting an end effector or for connecting a machining component.
Specifically, the specific structural forms of the support and connection functions of the specific platforms of the static platform 4 and the dynamic platform 7 can be designed according to the actual application requirements.
The static platform 4 and the movable platform 7 adopted in the embodiment are circular platforms, the passive constraint chain S2 is located on a connecting line of the center positions of the two circular platforms, and the four driving branched chains S1 are uniformly distributed along the circumference of the circular platform.
When the device works, the static platform 4 and the fixed frame are fixedly arranged, and an end effector or a processing part is arranged by utilizing a connecting main shaft 8 on the movable platform 7. The first moving pair 2 of the four driving branched chains S1 is used for driving the moving platform 7 to make translation along the axis of the second moving pair 6 of the passive constraint chain S2 and to make two rotating shafts (a first hinge shaft 51 and a second hinge shaft 52) around the center position (a third hinge shaft 5) of two groups of hooke hinges 1 at the center of the static platform 4, so as to redundantly drive the parallel robot with three degrees of freedom, wherein the directions of the two rotating shafts and the translation are shown as arrows in fig. 2.
The number of the driving branched chains of the 4UPU-UP redundant driving parallel robot is more than that of the mechanism degrees of freedom, so that the rigidity and the bearing capacity can be improved, the redundant driving parallel mechanism can optimize the driving force, and simultaneously, the internal force between the branched chains of the parallel mechanism is improved, and the efficiency of the mechanism output force is improved.
Claims (8)
1. A4 UPU-UP redundant drive parallel robot comprises a static platform (4) and a movable platform (7), and is characterized by also comprising four UPU drive branched chains (S1) and an UP passive constraint chain (S2) which are connected with the static platform (4) and the movable platform (7);
each driving branched chain (S1) is identical in structure and comprises a first moving pair (2), the first moving pair (2) is used as a driving joint, and two ends of the first moving pair (2) are respectively connected with the static platform (4) and the movable platform (7) through hooke joints;
four UPU drive branched chains (S1) are uniformly distributed around the passive constraint chain (S2), the passive constraint chain (S2) comprises a sliding pair II (6), the sliding pair II (6) is used as a passive joint, one end of the sliding pair II is connected with the static platform (4) through a Hooke hinge, and the other end of the sliding pair II is fixedly connected with the movable platform (7).
2. The 4UPU-UP redundant drive parallel robot as claimed in claim 1, wherein the first moving pair (2) comprises a fixed end and a telescopic end which moves relatively along the fixed end, the fixed end of the first moving pair (2) is connected with the static platform (4) through a Hooke hinge I (1), and the telescopic end of the first moving pair (2) is connected with the moving platform (7) through a Hooke hinge II (3);
the moving pair II (6) comprises a fixed end and a telescopic end which moves along the fixed end relatively, the fixed end of the moving pair II (6) is connected with the static platform (4) through a Hooke hinge III (5), and the telescopic end of the moving pair II (6) is fixedly connected with the moving platform (7), so that the moving platform (7) has two rotational degrees of freedom which rotate around two rotating shafts of the Hooke hinge III (5) and one translational degree of freedom which translates along the axis of the moving pair II (6).
3. The 4UPU-UP redundant drive parallel robot as claimed in claim 2, wherein the static platform (4) is provided with four through holes uniformly along the circumferential direction, the fixed ends for accommodating the four first kinematic pairs (2) are respectively arranged in the through holes, the first Hooke's joint (1) is arranged outside the through hole, and the four first Hooke's joints (1) are distributed at the outer ends of two mutually perpendicular straight lines passing through the center of a circle, which take the third Hooke's joint (5) as the center of a circle.
4. The 4UPU-UP redundant drive parallel robot as claimed in claim 2, wherein four Hooke' S two (3) of four UPU drive branched chains (S1) are distributed at the outer ends of two mutually perpendicular straight lines passing through the center of a circle, which takes the connection point of the telescopic end of the sliding pair two (6) and the movable platform (7) as the center of a circle.
5. The 4UPU-UP redundant drive parallel robot according to one of claims 2-4, characterized in that the primary moving pair (2) employs a linear drive.
6. The 4UPU-UP redundant drive parallel robot according to claim 5, characterized in that the moving pair one (2) adopts an electric cylinder, an air cylinder or a hydraulic cylinder, or adopts a telescopic rod mechanism driven by a motor (9).
7. The 4UPU-UP redundant drive parallel robot according to one of claims 2 to 4, characterized in that the fixed end of the secondary moving pair (6) is a positioning sleeve (61), and the telescopic end of the secondary moving pair (6) is a telescopic rod (62) sliding along the axial direction of the positioning sleeve (61).
8. The 4UPU-UP redundant drive parallel robot as claimed in claim 2, wherein the movable platform (7) is provided with a connecting main shaft (8) for mounting an end effector or a processing component, and the telescopic ends of the connecting main shaft (8) and the sliding pair II (6) correspond to the position of the fixed connection point of the movable platform (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011121850.9A CN112123323B (en) | 2020-10-19 | 2020-10-19 | 4UPU-UP redundant drive parallel robot |
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| CN202011121850.9A CN112123323B (en) | 2020-10-19 | 2020-10-19 | 4UPU-UP redundant drive parallel robot |
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| CN112123323B CN112123323B (en) | 2022-03-11 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959297A (en) * | 2021-01-26 | 2021-06-15 | 清华大学 | Driving force optimization method for driving redundant parallel robot |
| CN114029934A (en) * | 2021-12-11 | 2022-02-11 | 浙江工业大学 | Universal active radial compliant constant-force end effector and working method thereof |
| CN115744361A (en) * | 2022-12-21 | 2023-03-07 | 三维汉界机器(武汉)有限公司 | Carloader based on 4UPU-UP mechanism |
| CN115890622A (en) * | 2022-11-16 | 2023-04-04 | 天津大学 | Multi-branch-chain five-degree-of-freedom parallel machining robot with large corner capability |
| CN116100531A (en) * | 2023-02-16 | 2023-05-12 | 上海新纪元机器人有限公司 | Parallel self-balancing mechanism |
| CN117140487A (en) * | 2023-10-19 | 2023-12-01 | 东南大学 | Friction stir material-increasing rigid-flexible coupling redundancy driving parallel robot |
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| CN115890622A (en) * | 2022-11-16 | 2023-04-04 | 天津大学 | Multi-branch-chain five-degree-of-freedom parallel machining robot with large corner capability |
| CN115744361A (en) * | 2022-12-21 | 2023-03-07 | 三维汉界机器(武汉)有限公司 | Carloader based on 4UPU-UP mechanism |
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| CN117140487A (en) * | 2023-10-19 | 2023-12-01 | 东南大学 | Friction stir material-increasing rigid-flexible coupling redundancy driving parallel robot |
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