CN112428257B - Six-degree-of-freedom parallel mechanism with compound driving branched chain - Google Patents
Six-degree-of-freedom parallel mechanism with compound driving branched chain Download PDFInfo
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- CN112428257B CN112428257B CN202011401004.2A CN202011401004A CN112428257B CN 112428257 B CN112428257 B CN 112428257B CN 202011401004 A CN202011401004 A CN 202011401004A CN 112428257 B CN112428257 B CN 112428257B
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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
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
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Abstract
A six-freedom parallel mechanism with compound drive branched chain. The device comprises a static platform, a movable platform, and a first branched chain, a second branched chain, a third branched chain and a fourth branched chain which are connected between the movable platform and the static platform; the invention comprises the following steps: 1. the invention adopts the combination of two-way guide rails in different directions, and can make the movable platform realize six-degree-of-freedom motion of three movements and three rotations through the mutual matching of four branched chains. 2. The connection between the first sliding block and the movable platform adopts a mode of increasing local freedom degree, namely, both ends of the connecting rod adopt ball pairs, so that the invention is simple and convenient to assemble. 3. The third branched chain and the fourth branched chain are driven in a compound mode, so that six-degree-of-freedom motion can be realized while the branched chains are reasonably reduced, mutual interference among the branched chains can be avoided, and the mechanism is simple in calculation and easy to control.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a six-degree-of-freedom parallel mechanism with a composite driving branched chain.
Background
The parallel mechanism is a closed loop mechanism formed by connecting a movable platform and a static platform through at least two independent moving branched chains. Compared with a series mechanism, the parallel mechanism has the advantages of high rigidity, small accumulated error, stable work and the like. In addition, the parallel mechanism has stronger bearing capacity and higher precision, so that the research and development of the novel parallel mechanism has very important practical application value.
The six-degree-of-freedom parallel mechanism has the strongest function, has the characteristics of high rigidity, strong bearing capacity, no accumulated position error and the like, and is more flexible and higher in precision compared with other-degree-of-freedom parallel mechanisms, so that the six-degree-of-freedom parallel mechanism is mainly used for forming important heavy equipment such as a parallel robot/a machine tool and the like. On the premise of ensuring the advantages of the six-degree-of-freedom parallel mechanism, how to further improve the configuration and the structure has become a research hotspot, and although various parallel mechanisms have been derived at present, most mechanisms still have the following technical problems:
1. more branched chains are adopted for realizing six degrees of freedom, so that the mechanism is complicated, and the simplification of the whole structure, high motion precision and good stability are difficult to ensure.
2. Because of more branched chains, the branched chains are easy to interfere with each other, and further the movement range of some degrees of freedom of the mechanism is influenced.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a six-degree-of-freedom parallel mechanism having a composite drive branch chain.
In order to achieve the purpose, the six-degree-of-freedom parallel mechanism with the compound driving branched chain comprises a static platform, a dynamic platform, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the first branched chain, the second branched chain, the third branched chain and the fourth branched chain are connected between the dynamic platform and the static platform;
the movable platform comprises a bedplate and a first spherical pair outer spherical shell; the middle part of each side surface of the bedplate is respectively provided with a first spherical pair outer spherical shell;
the static platform comprises a first rod, a second rod, a third rod, a fourth rod, a fifth rod and a sixth rod; wherein the first rod, the third rod, the second rod and the fourth rod are sequentially connected end to form a frame-shaped frame; the lower ends of the fifth rod and the sixth rod are symmetrically fixed in the middle of the top surfaces of the first rod and the second rod respectively; a second guide rail is respectively arranged on the top surfaces of the third rod and the fourth rod along the length direction of the third rod and the fourth rod; a first guide rail is respectively arranged on the opposite side surfaces of the fifth rod and the sixth rod along the vertical direction;
the first branched chain and the second branched chain have the same structure and respectively comprise a first sliding block, a second spherical pair outer spherical shell and a connecting rod; the first sliding block is connected to the first guide rail of the fifth rod or the sixth rod to form a moving pair; the outer spherical shell of the second spherical pair is arranged on the inner side surface of the first sliding block; two ends of the connecting rod are respectively provided with a first spherical pair inner ball body, one first spherical pair inner ball body is connected with a second spherical pair outer ball shell to form a second spherical pair, the other first spherical pair inner ball body is connected with a first spherical pair outer ball shell on the movable platform, and two first spherical pair outer ball shells which are respectively connected with the first branched chain and the second branched chain on the movable platform are positioned on two opposite side surfaces of the bedplate;
the third branched chain and the fourth branched chain have the same structure and comprise a second sliding block, a joint rotating shaft and an electric push rod; the second sliding block is connected to the second guide rail of the third rod or the fourth rod to form a sliding pair; one end of the electric push rod is connected to the top surface of the second slide block through a joint rotating shaft to form a revolute pair, and the other end of the electric push rod is provided with a third spherical pair inner ball body; the third spherical pair inner sphere is connected with one first spherical pair outer sphere shell on the movable platform, and the two first spherical pair outer sphere shells connected with the third branched chain and the fourth branched chain on the movable platform are positioned on the other two opposite side surfaces of the bedplate.
The first rod and the second rod are identical in structure, the third rod and the fourth rod are identical in structure, and the fifth rod and the sixth rod are identical in structure.
The connecting rod is a cylindrical rod.
The six-degree-of-freedom parallel mechanism with the composite driving branched chain has the following advantages:
1. the invention adopts the combination of two-way guide rails in different directions, and can make the movable platform realize six-degree-of-freedom motion of three movements and three rotations through the mutual matching of four branched chains.
2. The connection between the first sliding block and the movable platform adopts a mode of increasing local freedom degree, namely, both ends of the connecting rod adopt ball pairs, so that the invention is simple and convenient to assemble.
3. The third branched chain and the fourth branched chain are driven in a compound mode, so that six-degree-of-freedom motion can be realized while the branched chains are reasonably reduced, mutual interference among the branched chains can be avoided, and the mechanism is simple in calculation and easy to control.
Drawings
FIG. 1 is a schematic view of the overall structure of a six-degree-of-freedom parallel mechanism with a compound driving branched chain according to the present invention.
FIG. 2 is a schematic view of a stationary platform in a six-degree-of-freedom parallel mechanism with a compound driving branched chain provided by the invention.
Fig. 3 is a schematic structural diagram of a first branched chain and a second branched chain in a six-degree-of-freedom parallel mechanism with a compound driving branched chain provided by the invention.
Fig. 4 is a schematic structural diagram of a third branched chain and a fourth branched chain in the six-degree-of-freedom parallel mechanism with a composite driving branched chain provided by the invention.
FIG. 5 is a schematic diagram of a moving platform of a six-degree-of-freedom parallel mechanism with a compound driving branched chain according to the present invention.
Detailed Description
The six-degree-of-freedom parallel mechanism with the compound driving branched chain provided by the invention is described in detail below with reference to the attached drawings.
As shown in fig. 1 to 5, the six-degree-of-freedom parallel mechanism with a compound driving branched chain provided by the invention comprises a static platform 1, a movable platform 2, and a first branched chain i, a second branched chain ii, a third branched chain iii and a fourth branched chain iv which are connected between the movable platform 2 and the static platform 1;
the movable platform 2 comprises a bedplate 201 and a first spherical pair outer spherical shell 3; the middle part of each side surface of the bedplate 201 is respectively provided with a first spherical pair outer spherical shell 3;
the static platform 1 comprises a first rod 101, a second rod 102, a third rod 103, a fourth rod 104, a fifth rod 105 and a sixth rod 106; wherein the first rod 101, the third rod 103, the second rod 102 and the fourth rod 104 are sequentially connected end to form a frame-shaped frame; the lower ends of the fifth rod 105 and the sixth rod 106 are symmetrically fixed in the middle of the top surfaces of the first rod 101 and the second rod 102 respectively; the top surfaces of the third rod 103 and the fourth rod 104 are respectively provided with a second guide rail 8 along the length direction of the third rod 103 and the fourth rod 104; the opposite side surfaces of the fifth rod 105 and the sixth rod 106 are respectively provided with a first guide rail 6 along the vertical direction;
the first branched chain I and the second branched chain II have the same structure and respectively comprise a first sliding block 10, a second spherical pair outer spherical shell 17 and a connecting rod 13; the first slider 10 is connected to the first guide 6 of the fifth rod 105 or the sixth rod 106 to form a sliding pair; the outer spherical shell 17 of the second spherical pair is arranged on the inner side surface of the first sliding block 10; two ends of the connecting rod 13 are respectively provided with a first spherical pair inner sphere 4, one of the first spherical pair inner spheres 4 is connected with a second spherical pair outer sphere shell 17 to form a second spherical pair 12, the other first spherical pair inner sphere 4 is connected with a first spherical pair outer sphere shell 3 on the movable platform 2, and the two first spherical pair outer sphere shells 3 connected with the first branched chain I and the second branched chain II on the movable platform 2 are positioned on two opposite side surfaces of the bedplate 201. The first branch chain I and the second branch chain II both have local freedom degrees, so that the mechanism is convenient to process and assemble, and meanwhile, the mechanism can be more suitable for batch production by using standard parts.
The third branched chain III and the fourth branched chain IV have the same structure and respectively comprise a second sliding block 14, a joint rotating shaft 15 and an electric push rod 16; the second slider 14 is connected to the second guide rail 8 of the third rod 103 or the fourth rod 104 to form a moving pair; one end of the electric push rod 16 is connected to the top surface of the second slide block 14 through a joint rotating shaft 15 to form a revolute pair, and the other end is provided with a third spherical pair inner sphere 5; the third spherical pair inner sphere 5 is connected with a first spherical pair outer sphere shell 3 on the movable platform 2, and the two first spherical pair outer sphere shells 3 connected with the third branched chain III and the fourth branched chain IV on the movable platform 2 are located on the other two opposite side surfaces of the bedplate 201. The electric push rod 16 can rotate by taking the joint rotating shaft 15 as a shaft, and the third spherical pair inner sphere 5 can move on the extension line of the electric push rod 16 through the telescopic motion of the electric push rod 16.
The first rod 101 and the second rod 102 have the same structure, the third rod 103 and the fourth rod 104 have the same structure, and the fifth rod 105 and the sixth rod 106 have the same structure.
The connecting rod 13 is a cylindrical rod.
Now, with the extending direction of the first rod 101 and the second rod 102 as the x-axis direction, the extending direction of the third rod 103 and the fourth rod 104 as the y-axis direction, and the extending direction of the fifth rod 105 and the sixth rod 106 as the z-axis direction, the working process of the six-degree-of-freedom parallel mechanism with the compound driving branched chain provided by the present invention is explained as follows:
the moving pairs on the first branched chain I, the second branched chain II, the third branched chain III and the fourth branched chain IV are respectively driven by a motor; the telescopic motion of the electric push rod 16 on the third branched chain III and the fourth branched chain IV is driven by a motor of the third branched chain III and the fourth branched chain IV, and the third branched chain III and the fourth branched chain IV are respectively provided with two driving motors to form a composite driving branched chain; six motors in the first branched chain I, the second branched chain II, the third branched chain III and the fourth branched chain IV are driven to enable the movable platform 2 to move in three directions and rotate in three directions, and six degrees of freedom of movement are achieved.
The invention can realize the movement of the movable platform 2 by driving the first slide block 10 on the first branch chain I and the second branch chain II and the second slide block 14 on the third branch chain III and the fourth branch chain IV to translate on respective tracks through the motor and by the extension and contraction of the electric push rod 16. When the first slider 10 and the second slider 14 are controlled to move simultaneously and the electric push rod 16 is not moved, the movable platform 2 can be translated on the y axis or can be translated on the y axis and rotated around the x axis by an angle; when the first sliding block 10 and the second sliding block 14 are not moved and the electric push rod 16 is extended and contracted, the rotation angle of the movable platform 2 around the y axis or the translation on the x axis can be realized; when the electric push rod 16 moves with the first slide block 10 and the second slide block 14 is static, the translation of the movable platform 2 on the z axis can be realized; when a height difference is formed between the two first sliders 10 and a length difference is formed between the two electric push rods 16, the movable platform 2 can rotate around the z-axis. Because the branched chains of the invention have no interference, the six-degree-of-freedom motion of the movable platform 2 can be realized when the branched chains move in coordination with each other.
Claims (3)
1. A six-degree-of-freedom parallel mechanism with a compound driving branched chain is characterized in that: the six-degree-of-freedom parallel mechanism with the composite driving branched chain comprises a static platform (1), a movable platform (2), a first branched chain (I), a second branched chain (II), a third branched chain (III) and a fourth branched chain (IV) which are connected between the movable platform (2) and the static platform (1);
the movable platform (2) comprises a bedplate (201) and a first spherical pair outer spherical shell (3); the middle part of each side surface of the bedplate (201) is respectively provided with a first spherical pair outer spherical shell (3);
the static platform (1) comprises a first rod (101), a second rod (102), a third rod (103), a fourth rod (104), a fifth rod (105) and a sixth rod (106); wherein the first rod (101), the third rod (103), the second rod (102) and the fourth rod (104) are sequentially connected end to form a frame-shaped frame; the lower ends of the fifth rod (105) and the sixth rod (106) are symmetrically fixed in the middle of the top surfaces of the first rod (101) and the second rod (102) respectively; a second guide rail (8) is respectively arranged on the top surfaces of the third rod (103) and the fourth rod (104) along the length direction of the third rod (103) and the fourth rod (104); a first guide rail (6) is respectively arranged on the opposite side surfaces of the fifth rod (105) and the sixth rod (106) along the vertical direction;
the first branched chain (I) and the second branched chain (II) have the same structure and respectively comprise a first sliding block (10), a second spherical pair outer spherical shell (17) and a connecting rod (13); the first sliding block (10) is connected to the first guide rail (6) of the fifth rod (105) or the sixth rod (106) to form a moving pair; the outer spherical shell (17) of the second spherical pair is arranged on the inner side surface of the first sliding block (10); two ends of the connecting rod (13) are respectively provided with a first spherical pair inner sphere (4), one of the first spherical pair inner spheres (4) is connected with a second spherical pair outer sphere shell (17) to form a second spherical pair (12), the other first spherical pair inner sphere (4) is connected with one first spherical pair outer sphere shell (3) on the movable platform (2), and the two first spherical pair outer sphere shells (3) connected with the first branched chain (I) and the second branched chain (II) on the movable platform (2) are positioned on two opposite side surfaces of the bedplate (201);
the third branched chain (III) and the fourth branched chain (IV) have the same structure and respectively comprise a second sliding block (14), a joint rotating shaft (15) and an electric push rod (16); the second sliding block (14) is connected to the second guide rail (8) of the third rod (103) or the fourth rod (104) to form a moving pair; one end of the electric push rod (16) is connected to the top surface of the second sliding block (14) through a joint rotating shaft (15) to form a rotating pair, and the other end is provided with a third spherical pair inner ball body (5); the third spherical pair inner sphere (5) is connected with one first spherical pair outer sphere shell (3) on the movable platform (2), and the two first spherical pair outer sphere shells (3) which are respectively connected with the third branched chain (III) and the fourth branched chain (IV) on the movable platform (2) are positioned on the other two opposite side surfaces of the bedplate (201).
2. The six degree-of-freedom parallel mechanism with compound drive branches of claim 1, wherein: the structure of the first rod (101) is completely the same as that of the second rod (102), the structure of the third rod (103) is completely the same as that of the fourth rod (104), and the structure of the fifth rod (105) is completely the same as that of the sixth rod (106).
3. The six degree-of-freedom parallel mechanism with compound drive branches of claim 1, wherein: the connecting rod (13) is a cylindrical rod.
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| CN202011401004.2A CN112428257B (en) | 2020-12-02 | 2020-12-02 | Six-degree-of-freedom parallel mechanism with compound driving branched chain |
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| CN112428257B true CN112428257B (en) | 2022-07-08 |
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| CN105437217A (en) * | 2015-12-29 | 2016-03-30 | 燕山大学 | 4PSS+1PRPU type five-degree-of-freedom parallel robot |
| CN109107880A (en) * | 2018-08-31 | 2019-01-01 | 昆明理工大学 | A kind of four-freedom parallel mechanism for vibrating screen |
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2020
- 2020-12-02 CN CN202011401004.2A patent/CN112428257B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1267581A (en) * | 2000-04-21 | 2000-09-27 | 清华大学 | Spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation |
| CN101259617A (en) * | 2008-03-31 | 2008-09-10 | 浙江理工大学 | Fork four-freedom parallel connection robot mechanism |
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