CN112706152B - Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics - Google Patents
Parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics Download PDFInfo
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- CN112706152B CN112706152B CN202011579045.0A CN202011579045A CN112706152B CN 112706152 B CN112706152 B CN 112706152B CN 202011579045 A CN202011579045 A CN 202011579045A CN 112706152 B CN112706152 B CN 112706152B
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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 parallel mechanism with the characteristics of 2R1T and 2T1R kinematic forks, which relates to the technical field of mechanics and robots, and comprises a fixed platform, a movable platform, two first branched chains, a second branched chain and a third branched chain; two sides of the fixed platform are respectively connected with the bottom end of the first branched chain, and two sides of the movable platform are respectively connected with the top end of the first branched chain; one end of the fixed platform is connected with the bottom end of the second branched chain, and one end of the movable platform is connected with the top end of the second branched chain; the other end of the fixed platform is connected with the bottom end of the third branched chain, and the other end of the movable platform is connected with the top end of the third branched chain. The invention comprises two different motion modes, and has the advantages of large rotation angle, large bearing capacity, high rigidity, large working space, good dynamic performance, simple structure, easy control and the like; the robot is suitable for different operation task requirements, and overcomes the fixed degree of freedom and the single motion mode of the traditional parallel robot.
Description
Technical Field
The invention relates to the technical field of mechanics and robots, in particular to a parallel mechanism with motion bifurcation characteristics of 2R1T and 2T 1R.
Background
The field of mechanical research has traditionally been mainly investigating parallel mechanisms with fixed degree of freedom characteristics. The micro-motion device has the characteristics of high rigidity, high bearing capacity, high micro-motion precision, small motion load and the like. At present, the parallel robot is widely applied to the aspects of industrial robots, motion simulators, attitude controllers, medical robots, virtual axis machine tools, 3D printing and the like.
However, with the development of science and technology, the characteristics of the multi-mode reconfigurable mechanism are gradually shown, the movement mode conversion time is short, the time loss in aspects such as reassembly is avoided, and in addition, the number of auxiliary drivers is small in the movement mode conversion process, and the dependence on special joints and kinematic pairs is avoided. Under the background, researchers gradually deepen research on reconfigurable parallel mechanisms, the reconfigurable parallel mechanisms mainly comprise two types, namely a moving bifurcation parallel mechanism and a metamorphic parallel mechanism, and the students design a series of reconfigurable parallel mechanisms by designing metamorphic kinematic pairs, multi-mode units, lockable joints, singular internal constraint among branch chains, single-ring closed chains with moving bifurcation characteristics and the like, but the existing multi-moving mode parallel mechanisms are still few.
Disclosure of Invention
The invention provides a parallel mechanism with the motion bifurcation characteristics of 2R1T and 2T1R, and provides a novel motion bifurcation parallel robot mechanism which comprises two different motion modes and has the advantages of large turning angle, large bearing capacity, high rigidity, large working space, good dynamic performance, simple structure, easiness in control and the like, aiming at the defect that the existing reconfigurable parallel mechanism is few. The robot is suitable for different operation task requirements, and overcomes the fixed degree of freedom and the single motion mode of the traditional parallel robot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a parallel mechanism with the motion bifurcation characteristics of 2R1T and 2T1R comprises a fixed platform, a movable platform, two first branched chains, a second branched chain and a third branched chain, wherein the two first branched chains, the two second branched chains and the three third branched chains are arranged between the fixed platform and the movable platform, swing in the left-right direction and the front-back direction in a plane where the fixed platform and the movable platform are located; the left side and the right side of the fixed platform are respectively connected with the bottom end of the first branched chain through hinge points capable of moving back and forth, and the left side and the right side of the movable platform are respectively connected with the top end of the first branched chain through hinge points capable of moving left and right; the front end of the fixed platform is hinged with the bottom end of the second branched chain, and the front end of the movable platform is hinged with the top end of the second branched chain; the rear end of the fixed platform is connected with the bottom end of the third branched chain, and the rear end of the movable platform is connected with the top end of the third branched chain through a hinge point capable of moving left and right.
The technical scheme of the invention is further improved as follows: the fixed platform is a square plate-shaped platform, and the movable platform is a square plate-shaped platform.
The technical scheme of the invention is further improved as follows: the first branch chain comprises a first connecting rod and a second connecting rod; the bottom end of the first connecting rod is connected with the fixed platform through a first cylindrical pair, the top end of the first connecting rod is connected with the bottom end of the second connecting rod through a first revolute pair, and the top end of the second connecting rod is connected with the movable platform through a second cylindrical pair.
The technical scheme of the invention is further improved as follows: the axis of the first cylinder pair is parallel to the axis of the first rotating pair, and the axis of the first cylinder pair is perpendicular to the axis of the second cylinder pair.
The technical scheme of the invention is further improved as follows: and the first cylindrical pair in one of the two first branched chains is a driving pair.
The technical scheme of the invention is further improved as follows: the second branched chain comprises a third connecting rod, a fourth connecting rod and a fifth connecting rod; the bottom end of the third connecting rod is connected with the fixed platform through a second revolute pair, and the top end of the third connecting rod is connected with the bottom end of the fourth connecting rod through a first revolute pair; the top end of the fourth connecting rod is connected with the bottom end of the fifth connecting rod through a third revolute pair, and the top end of the fifth connecting rod is connected with the movable platform through a fourth revolute pair.
The technical scheme of the invention is further improved as follows: the third rotating pair axis is parallel to the fourth rotating pair axis, and the second rotating pair axis is perpendicular to the third rotating pair axis and the fourth rotating pair axis.
The technical scheme of the invention is further improved as follows: the third branched chain comprises a sixth connecting rod and a seventh connecting rod; the middle part of the rear end of the fixed platform is provided with a fifth revolute pair, the fifth revolute pair is connected with a sixth revolute pair, the fifth revolute pair and the sixth revolute pair form a Hooke hinge, the bottom end of the sixth connecting rod is connected with the sixth revolute pair, the top end of the sixth connecting rod is connected with the bottom end of the seventh connecting rod through a seventh revolute pair, and the top end of the seventh connecting rod is connected with the movable platform through a third cylindrical pair.
The technical scheme of the invention is further improved as follows: and the fifth rotating pair and the sixth rotating pair are driving pairs.
The technical scheme of the invention is further improved as follows: and the axis of the seventh rotating pair and the axis of the third cylindrical pair are parallel to the axis of the fifth rotating pair.
Due to the adoption of the technical scheme, the invention has the technical progress that:
the invention provides a novel motion bifurcation parallel robot mechanism aiming at the defect that the existing reconfigurable parallel mechanism is few, the novel motion bifurcation parallel robot mechanism has two different motion modes, the parallel mechanism with the motion bifurcation characteristic has two rotational degrees of freedom and two moving degrees of freedom when an initial position moving platform is parallel to a fixed platform and a sixth revolute pair is parallel to the fixed platform, when only the sixth revolute pair is driven in a third branched chain, the third branched chain is limited by a constraint force, and at the moment, the mechanism only has a 2R1T motion mode; after the initial configuration is recovered, when only the fifth revolute pair is driven in the third branched chain, the third branched chain is limited by a constraint couple, and the mechanism only has a 2T1R motion mode. In order to realize complete controllability of the movable platform, the mechanism adopts four drivers for redundant driving, so that the rigidity, fault tolerance and driving stability of the system are improved, the bearing capacity is increased, the load condition of the drivers is improved, the overload condition of a single driver is avoided, and the force transmission performance is improved; the motion bifurcation parallel robot mechanism aims at changing the number of degrees of freedom and the property of the degrees of freedom of the parallel mechanism, thereby adapting to different operation task requirements and overcoming the fixed degrees of freedom and the single motion mode of the traditional parallel robot.
The selected driving pair is close to the fixed platform, the dynamic performance is better, the redundant driving is adopted for control, the system rigidity, the fault tolerance and the driving stability are improved, the bearing capacity is large, the mechanism rotation has a large rotation angle, the working space is larger, and the working space has better continuity.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a schematic diagram of an initial configuration of a moving fork parallel mechanism of the present invention;
fig. 2 is a schematic structural diagram of a moving fork parallel mechanism 2T1R mode of the invention;
fig. 3 is a schematic structural diagram of a moving fork parallel mechanism 2R1T mode of the invention;
the device comprises a fixed platform 1, a fixed platform 2, a first cylindrical pair 3, a fifth cylindrical pair 4, a sixth cylindrical pair 5, a first rotary pair 6, a seventh rotary pair 7, a third cylindrical pair 8, a second cylindrical pair 9, a movable platform 10, a fourth rotary pair 11, a third rotary pair 12, a first movable pair 13, a second rotary pair 14, a first connecting rod 15, a second connecting rod 16, a third connecting rod 17, a fourth connecting rod 18, a fifth connecting rod 19, a sixth connecting rod 20 and a seventh connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the present invention provides a parallel mechanism with motion bifurcation characteristics of 2R1T and 2T1R, comprising a fixed platform 1, a movable platform 9, and two first branched chains, one second branched chain and one third branched chain arranged between the fixed platform 1 and the movable platform 9; two sides of the fixed platform 1 are respectively connected with the bottom end of a first branched chain, and two sides of the movable platform 9 are respectively connected with the top end of a first branched chain; one end of the fixed platform 1 is connected with the bottom end of the second branched chain, and one end of the movable platform 9 is connected with the top end of the second branched chain; the other end of the fixed platform 1 is connected with the bottom end of the third branched chain, and the other end of the movable platform 9 is connected with the top end of the third branched chain.
In this embodiment, the fixed platform 1 is a square plate-shaped platform, and the movable platform 9 is a square plate-shaped platform.
The first branch chain comprises a first connecting rod 14 and a second connecting rod 15; the bottom end of the first connecting rod 14 is connected with the fixed platform 1 through a first cylindrical pair 2, the top end of the first connecting rod 14 is connected with the bottom end of the second connecting rod 15 through a first rotating pair 5, and the top end of the second connecting rod 15 is connected with the movable platform 9 through a second cylindrical pair 8.
The axis of the first cylindrical pair 2 is parallel to the axis of the first rotating pair 5, and the axis of the cylindrical pair 2 is perpendicular to the axis of the second cylindrical pair 8.
The first cylindrical pair 2 in one of the two first branched chains is a driving pair.
The second branched chain comprises a third connecting rod 16, a fourth connecting rod 17 and a fifth connecting rod 18; the bottom end of the third connecting rod 16 is connected with the fixed platform 1 through a second revolute pair 13, and the top end of the third connecting rod 16 is connected with the bottom end of the fourth connecting rod 17 through a first revolute pair 12; the top end of the fourth connecting rod 17 is connected with the bottom end of the fifth connecting rod 18 through a third revolute pair 11, and the top end of the fifth connecting rod 18 is connected with the movable platform 9 through a fourth revolute pair 10.
The axis of the third revolute pair 11 is parallel to the axis of the fourth revolute pair 10, and the axis of the second revolute pair 13 is perpendicular to the axis of the third revolute pair 11 and the axis of the fourth revolute pair 10.
The third branch chain comprises a sixth connecting rod 19 and a seventh connecting rod 20; a fifth revolute pair 3 is arranged in the middle of the other end of the fixed platform 1, the fifth revolute pair 3 is connected with a sixth revolute pair 4, the fifth revolute pair 3 and the sixth revolute pair 4 form a hook hinge, the bottom end of the sixth connecting rod 19 is connected with the sixth revolute pair 4, the top end of the sixth connecting rod 19 is connected with the bottom end of the seventh connecting rod 20 through a seventh revolute pair 6, and the top end of the seventh connecting rod 20 is connected with the movable platform 9 through a third cylindrical pair 7.
The fifth revolute pair 3 and the sixth revolute pair 4 are driving pairs.
The axis of the fifth revolute pair 3 and the axis of the third cylindrical pair 7 are both parallel to the axis of the fifth revolute pair 3.
The axis of the third cylinder pair 7 is perpendicular to the axis of the first cylinder pair 2.
As shown in fig. 2, when the sixth revolute pair 4 is locked and the fifth revolute pair 3 rotates, the third branched chain is limited by a constraint couple, and at this time, the movable platform 9 is limited by a constraint force and two linearly independent constraint couples, and the mechanism has a 2T1R working mode.
As shown in fig. 3, when the fifth revolute pair 3 is locked and the sixth revolute pair 4 rotates, the third branched chain is limited by a constraint force, and the movable platform 9 is limited by two linearly independent constraint forces and a constraint force couple, and the mechanism has a 2R1T working mode.
When the initial position form moving platform 9 is parallel to the fixed platform 1 and the sixth revolute pair 4 is parallel to the fixed platform 1, the two rotational degrees of freedom and the two translational degrees of freedom are provided, and when only the sixth revolute pair 4 is driven, the third branched chain is limited by a constraint force and is in a 2R1T mode; after returning to the original configuration, when only the fifth revolute pair 3 is driven, the third branch is subjected to a constraint couple, which is in the 2T1R mode.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A parallel mechanism with 2R1T and 2T1R motion bifurcation characteristics is characterized in that: the device comprises a fixed platform (1), a movable platform (9), two first branched chains, a second branched chain and a third branched chain, wherein the two first branched chains, the second branched chains and the third branched chains are arranged between the fixed platform (1) and the movable platform (9) and swing in the left-right direction and the front-back direction in the plane where the fixed platform and the movable platform are located; the left side and the right side of the fixed platform (1) are respectively connected with the bottom end of the first branched chain through hinge points capable of moving back and forth, and the left side and the right side of the movable platform (9) are respectively connected with the top end of the first branched chain through hinge points capable of moving left and right; the front end of the fixed platform (1) is hinged with the bottom end of the second branched chain, and the front end of the movable platform (9) is hinged with the top end of the second branched chain; the rear end of the fixed platform (1) is connected with the bottom end of the third branched chain, and the rear end of the movable platform (9) is connected with the top end of the third branched chain through a hinge point capable of moving left and right; the first chain comprises a first connecting rod (14) and a second connecting rod (15); the bottom end of the first connecting rod (14) is connected with the fixed platform (1) through a first cylindrical pair (2), the top end of the first connecting rod (14) is connected with the bottom end of the second connecting rod (15) through a first rotating pair (5), and the top end of the second connecting rod (15) is connected with the movable platform (9) through a second cylindrical pair (8); the axis of the first cylindrical pair (2) is parallel to the axis of the first rotating pair (5), and the axis of the first cylindrical pair (2) is vertical to the axis of the second cylindrical pair (8); the second branched chain comprises a third connecting rod (16), a fourth connecting rod (17) and a fifth connecting rod (18); the bottom end of the third connecting rod (16) is connected with the fixed platform (1) through a second revolute pair (13), and the top end of the third connecting rod (16) is connected with the bottom end of the fourth connecting rod (17) through a first revolute pair (12); the top end of the fourth connecting rod (17) is connected with the bottom end of the fifth connecting rod (18) through a third revolute pair (11), and the top end of the fifth connecting rod (18) is connected with the movable platform (9) through a fourth revolute pair (10); the third branch chain comprises a sixth connecting rod (19) and a seventh connecting rod (20); a fifth revolute pair (3) is arranged in the middle of the rear end of the fixed platform (1), the fifth revolute pair (3) is connected with a sixth revolute pair (4), the fifth revolute pair (3) and the sixth revolute pair (4) form a Hooke hinge, the bottom end of a sixth connecting rod (19) is connected with the sixth revolute pair (4), the top end of the sixth connecting rod (19) is connected with the bottom end of a seventh connecting rod (20) through a seventh revolute pair (6), and the top end of the seventh connecting rod (20) is connected with the movable platform (9) through a third cylindrical pair (7); the axis of the seventh revolute pair (6) and the axis of the third cylindrical pair (7) are both parallel to the axis of the fifth revolute pair (3).
2. The parallel mechanism with the motion bifurcation characteristics of 2R1T and 2T1R, as claimed in claim 1, wherein: the fixed platform (1) is a square plate-shaped platform, and the movable platform (9) is a square plate-shaped platform.
3. The parallel mechanism with the motion bifurcation characteristics of 2R1T and 2T1R, as claimed in claim 1, wherein: the first cylindrical pair (2) in one of the two first branched chains is a driving pair.
4. The parallel mechanism with the motion bifurcation characteristics of 2R1T and 2T1R, as claimed in claim 1, wherein: the axis of the third revolute pair (11) is parallel to the axis of the fourth revolute pair (10), and the axis of the second revolute pair (13) is perpendicular to the axis of the third revolute pair (11) and the axis of the fourth revolute pair (10).
5. The parallel mechanism of claim 4, wherein the parallel mechanism has a 2R1T and 2T1R motion bifurcation characteristics, and is characterized in that: the fifth revolute pair (3) and the sixth revolute pair (4) are driving pairs.
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| CN113370190B (en) * | 2021-07-16 | 2022-05-03 | 燕山大学 | Moving branch parallel mechanism with two modes of 2T1R and 2R1T |
| CN113370189A (en) * | 2021-07-16 | 2021-09-10 | 燕山大学 | High-rigidity three-translation redundant driving parallel mechanism |
| CN113319831B (en) * | 2021-07-16 | 2022-08-02 | 燕山大学 | Motion bifurcation three-degree-of-freedom parallel mechanism |
| CN113352304B (en) * | 2021-07-16 | 2022-06-14 | 燕山大学 | Branch parallel mechanism with two motion modes of 2T1R and 3T1R |
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| CN100553899C (en) * | 2008-03-31 | 2009-10-28 | 浙江理工大学 | A kind of fork four-freedom parallel connection robot mechanism |
| CN106426096B (en) * | 2016-10-25 | 2018-11-20 | 浙江理工大学 | A kind of one mobile parallel connection mechanism of rotation of big corner two |
| CN108621130B (en) * | 2018-04-19 | 2020-08-25 | 西安工程大学 | Parallel mechanism with two motion modes of 2R1T and 2T1R |
| CN109108949B (en) * | 2018-10-23 | 2021-07-23 | 西安工程大学 | Parallel mechanism with three motion modes of 3T, 2T1R and 1T2R |
| CN111515925B (en) * | 2020-04-07 | 2021-08-06 | 上海工程技术大学 | Multi-motion-mode parallel robot mechanism with motion bifurcation closed chain |
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