CN113319815B - Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains - Google Patents
Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains Download PDFInfo
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- CN113319815B CN113319815B CN202110165397.XA CN202110165397A CN113319815B CN 113319815 B CN113319815 B CN 113319815B CN 202110165397 A CN202110165397 A CN 202110165397A CN 113319815 B CN113319815 B CN 113319815B
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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 relates to the technical field of parallel robot mechanisms with less degrees of freedom, in particular to a two-branch-chain large-corner zero-coupling-degree translation and one-rotation platform containing a characteristic chain, which consists of a mixed characteristic branched chain and a simple branched chain, wherein the mixed characteristic branched chain comprises a first three-revolute-pair series group and a second three-revolute-pair series group which are connected in parallel to form a space sub-parallel mechanism; an output rod of the space sub-parallel mechanism is connected with one end of the movable platform through a seventh rotating pair, and the direction of the axis of the seventh rotating pair is superposed with the axis of the third rotating pair; the simple branched chain is connected with the other end of the movable platform through the first ball pair, and is connected with the static platform through the eighth revolute pair, and the eighth revolute pair can be randomly arranged on the static platform. The parallel platform mechanism has zero coupling degree, positive sign position solution, motion decoupling of input and output parts, and easy manufacture.
Description
Technical Field
The invention relates to the technical field of a parallel robot mechanism with less degrees of freedom, in particular to a translation and rotation platform with two chains containing characteristic chains, large rotation angle and zero coupling degree.
Background
Parallel manipulators with few degrees of freedom have gained industrial application, for example: three-translation Delta manipulator, H4, I4, Par4, Cross-IV and the like, play a good role in the processes of high-speed grabbing and placing, positioning and assembling, carrying, sorting, loading and unloading and the like; and patents 201210435375.1, 201510564382.5, 201510567133.1, 201510564195.7, 201510566039.4, 201510566840.9 and the like also disclose a new model of a series of three-translation and one-rotation parallel robots.
For two-translation and one-rotation parallel mechanism, many studies have been made by domestic and foreign scholars, for example: li et al studied the 2T1R space mechanism containing spherical or parallel sub-branches; huang, Z, Kong, Yangning, etc. utilize the spiral theory to carry out type synthesis on the 2T1R type parallel mechanism; liu et al propose a group of novel 2T1R type parallel mechanisms, and compared with the original 2T1R type parallel mechanisms, the kinematics solution of the type of mechanism is simpler, the structure is simpler, and the energy consumption is less; g et al propose a set of 2T1R parallel mechanisms with bifurcated spatial motion.
But not many translation-rotation parallel mechanisms with signed positive position solutions and motion decoupling. Therefore, a new translation-rotation parallel mechanism platform with zero coupling degree and sign type forward position and motion decoupling is proposed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to solve the defects in the prior art, a novel translation-rotation platform with zero coupling degree and symbolic forward position and motion decoupling is provided, and the platform has the advantages of simple structure, zero coupling degree, analytic kinematic forward solution, partial motion decoupling and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains comprises a movable platform and a static platform, wherein a mixed characteristic branched chain and a simple branched chain are arranged between the movable platform and the static platform;
the mixed characteristic branched chain comprises a spatial sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, the first three-revolute pair series group consists of a first revolute pair, a second revolute pair and a sixth revolute pair, axes of the first revolute pair, the second revolute pair and the third revolute pair are parallel to each other and are sequentially connected in series, the second three-revolute pair series group consists of a fourth revolute pair, a fifth revolute pair and a sixth revolute pair, axes of the first revolute pair and the fourth revolute pair are arranged on the static platform, axes of the first revolute pair are perpendicular to axes of the fourth revolute pair, and the third revolute pair and the sixth revolute pair are connected through an output rod;
an output rod of the space sub-parallel mechanism is connected with one end of the movable platform through a seventh rotating pair, and the direction of the axis of the seventh rotating pair is superposed with the axis of the third rotating pair;
the simple branched chain is formed by sequentially connecting a ball pair I, a ball pair II and a revolute pair eight in series, the ball pair I is connected with the other end of the movable platform, and the revolute pair eight is arranged on the static platform.
The invention also provides a two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing the characteristic chains, which comprises a movable platform and a static platform, wherein a mixed characteristic branched chain and a simple branched chain are arranged between the movable platform and the static platform;
the mixed characteristic branched chain comprises a spatial sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, the first three-revolute pair series group consists of a first revolute pair, a second revolute pair and a third revolute pair which are parallel to each other in axis and are sequentially connected in series, the second three-revolute pair series group consists of a fourth revolute pair, a fifth revolute pair and a sixth revolute pair which are parallel to each other in axis and are sequentially connected in series, the first revolute pair and the fourth revolute pair are both arranged on the static platform, the axis of the first revolute pair is vertical to the axis of the fourth revolute pair, and the third revolute pair is connected with the sixth revolute pair through an output rod;
the simple branched chain is formed by sequentially connecting a ninth revolute pair, a tenth revolute pair and an eighth revolute pair in series, the ninth revolute pair is connected with the other end of the movable platform, the eighth revolute pair is arranged on the static platform, and the axis of the ninth revolute pair, the axis of the tenth revolute pair and the axis of the eighth revolute pair are all parallel to the axis of the seventh revolute pair; the axis of the first revolute pair is parallel to the axis of the eighth revolute pair.
The invention has the beneficial effects that: the two-branch-chain large-rotation-angle zero-coupling-degree translation-rotation platform containing the characteristic chain has the advantages that the degree of freedom is 2, the coupling degree is zero, the translation-rotation output motion can be generated, the symbolic position positive solution and the input-output part motion decoupling performance are realized, and the processing and the manufacturing are easy.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of a large-angle zero-coupling degree translation-rotation platform of two chains including a characteristic chain in embodiment 1 of the present invention;
FIG. 2 is a schematic view of a large-angle zero-coupling degree translation-rotation platform of two chains including a characteristic chain in embodiment 2 of the present invention;
in the figure: 0. a static platform 1, a movable platform 2 and an output rod;
I. mixing characteristic branched chains;
II, simple branched chains;
R11a revolute pair I, R12And a revolute pair II, R13A revolute pair III, R21Four revolute pairs R22Five revolute pairs R23Six revolute pairs R34Seven revolute pairs, R31Eight revolute pairs R33And a revolute pair of nine, R32Tenth of revolute pair;
S33ball pair one, S32And a ball pair II.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention, and directions and references (e.g., upper, lower, left, right, etc.) may be used only to help the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.
Example 1
As shown in fig. 1, a two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains comprises a movable platform 1 and a static platform 0, wherein a mixed characteristic branch chain I and a simple branch chain II are arranged between the movable platform 1 and the static platform 0;
the mixed characteristic branched chain I comprises a spatial sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, wherein the first three-revolute pair series group is a first revolute pair R which is parallel to each other by axes and is sequentially connected in series11And a revolute pair II R12And revolute pair three R13The three revolute pair series connection group two is composed of revolute pair four R with mutually parallel axes and sequentially connected in series21Five R of revolute pair22Six R of revolute pair23Is composed of a revolute pair R11And a revolute pair IV R21Are all arranged on the static platform 0 and are provided with a revolute pair R11Axis and revolute pair of21The axes of the rotating pair are vertical to each other and three R13And revolute pair six R23Connected with each other through an output rod 2;
the output rod 2 of the space sub-parallel mechanism passes through a revolute pair seven R34Connected with one end of the movable platform 1 and provided with a revolute pair seven R34Direction of axis and three R of revolute pair13The axes of (a) and (b) coincide;
the simple branched chain II is composed of a ball pair S33Ball pair II S32And eight R revolute pairs31Are sequentially connected in series to form a ball pair S33The other end of the movable platform 1 is connected with a revolute pair eight R31Is arranged on the static platform 0; value ofIt is noted that: revolute pair eight R in the embodiment31The direction on the static platform 0 can be arranged at will, which is convenient for layout.
The two-branch-chain large-corner zero-coupling-degree translation-rotation platform has zero coupling degree, can generate translation-rotation output motion, and has the characteristics of symbolic position positive solution and partial motion decoupling.
When taking revolute pair R on the static platform 011(or revolute pair tetra R21) And eight R revolute pairs31When the pair is driven, the movable platform 1 can realize one-dimensional translation along the Z axis and one-dimensional rotation output around the X axis.
The advantages of this translation-rotation platform are: 1) zero coupling gives the mechanism a signed positive position solution; 2) the two minimum sub-kinematic chains are respectively provided with a driving pair, and the driving pairs have partial motion decoupling characteristics; 3) basically consists of a revolute pair and only comprises two ball pairs, so that the mechanism is easy to manufacture. The mechanism can be designed into parallel equipment for bending and processing high-rigidity pipes with curved shapes in small batches in the fields of manufacturing automobiles, hardware, electronic products and the like.
Example 2
As shown in fig. 2, a two-branch chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains comprises a movable platform 1 and a static platform 0, wherein a mixed characteristic branch chain I and a simple branch chain ii are arranged between the movable platform 1 and the static platform 0;
the mixed characteristic branched chain I comprises a space sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, wherein the first three-revolute pair series group is a first revolute pair R which is parallel to each other by axes and is sequentially connected in series11And a revolute pair II R12And revolute pair three R13The three revolute pair series connection group two is composed of revolute pair four Rs which are parallel to each other in axis and are connected in series in sequence21Five R of revolute pair22Six R of revolute pair23Is composed of a revolute pair R11And a revolute pair IV R21Are all arranged on the static platform 0 and are provided with a revolute pair R11Axis and revolute pair of21The axes of the rotating pair are vertical to each other and three R13And revolute pair six R23BetweenConnected through an output rod 2;
the simple branched chain II is composed of a revolute pair nine R33And a revolute pair decaR32And eight R revolute pairs31Formed by sequentially connecting in series, a revolute pair nine R33The other end of the movable platform 1 is connected with a revolute pair eight R31Arranged on the static platform 0 and provided with a revolute pair nine R33Axis and revolute pair of32Axis and revolute pair eight R31The axes of the two rotary pairs are all equal to seven R34Are parallel to each other; revolute pair R11The axis of the rotating shaft is parallel to the eight R pairs31Of the axis of (a).
In this embodiment, compared to embodiment 1, the ball pair is S33And ball pair two S32Respectively adopting revolute pair nine R33And a revolute pair of ten R32Instead, however, revolute pair nine R33And a revolute pair of ten R32Must be connected with a revolute pair seven R34Are parallel.
The two-branch-chain large-corner zero-coupling-degree translation-rotation platform has zero coupling degree, can generate translation-rotation output motion, and has the characteristics of symbolic position positive solution and partial motion decoupling.
When taking revolute pair R on the static platform 011(or revolute pair tetra R21) And eight R revolute pairs31When the pair is driven, the movable platform 1 can realize one-dimensional translation along the Z axis and one-dimensional rotation output around the X axis.
The advantages of this translation-rotation platform are: 1) zero coupling gives the mechanism a positive solution in symbolic position; 2) the two minimum sub-kinematic chains respectively comprise a driving pair and have partial motion decoupling characteristics; 3) basically consists of a revolute pair and only comprises two ball pairs, so that the mechanism is easy to manufacture. The mechanism can be designed into parallel equipment for bending and processing high-rigidity pipes with curved shapes in small batches in the fields of manufacturing automobiles, hardware, electronic products and the like.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that numerous changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (2)
1. The utility model provides a two big corner zero coupling degree translation of two branches of chain that contain characteristic chain rotates platform, includes and moves platform (1) and quiet platform (0), its characterized in that: a mixed characteristic branched chain (I) and a simple branched chain (II) are arranged between the movable platform (1) and the static platform (0);
the mixed characteristic branched chain (I) comprises a space sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, wherein the first three-revolute pair series group is a first revolute pair (R) with axes parallel to each other and sequentially connected in series11) And a revolute pair II (R)12) And revolute pair III (R)13) The second three-revolute pair series group is composed of a revolute pair IV (R) with axes parallel to each other and connected in series in sequence21) And a fifth revolute pair (R)22) Six revolute pairs (R)23) Composition, revolute pair one (R)11) And a revolute pair IV (R)21) Are all arranged on a static platform (0) and a revolute pair I (R)11) Axis of (2) and revolute pair four (R)21) The axes of the three revolute pairs are vertical to each other and the third revolute pair (R)13) And a revolute pair six (R)23) Are connected through an output rod (2);
the output rod (2) of the space sub-parallel mechanism passes through a revolute pair seven (R)34) Connected with one end of the movable platform (1) and provided with a revolute pair seven (R)34) Direction of axis and revolute pair III (R)13) The axes of (a) and (b) coincide;
the simple branched chain (II) is composed of a ball pair I (S)33) Ball pair two (S)32) And eight revolute pairs (R)31) Are sequentially connected in series to form a ball pair I (S)33) The other end of the movable platform (1) is connected with a revolute pair eight (R)31) Is arranged on the static platform (0).
2. The utility model provides a two branch chains big corner zero coupling degree translation one that contain characteristic chain rotates platform, includes and moves platform (1) and quiet platform (0), its characterized in that: a mixed characteristic branched chain (I) and a simple branched chain (II) are arranged between the movable platform (1) and the static platform (0);
the mixed characteristic branched chain (I) comprises a space sub-parallel mechanism formed by connecting a first three-revolute pair series group and a second three-revolute pair series group in parallel, wherein the first three-revolute pair series group is a first revolute pair (R) with axes parallel to each other and sequentially connected in series11) And a revolute pair II (R)12) And revolute pair III (R)13) The second three-revolute pair series group is composed of a revolute pair IV (R) with axes parallel to each other and connected in series in sequence21) And a fifth revolute pair (R)22) Six revolute pairs (R)23) Composition, revolute pair one (R)11) And a revolute pair IV (R)21) Are all arranged on a static platform (0) and a revolute pair I (R)11) Axis of (2) and revolute pair four (R)21) The axes of the three revolute pairs are vertical to each other and the third revolute pair (R)13) And revolute pair six (R)23) Are connected through an output rod (2);
the simple branched chain (II) consists of a revolute pair nine (R)33) Ten revolute pairs (R)32) And eight revolute pairs (R)31) Formed by sequentially connecting in series, a revolute pair nine (R)33) The other end of the movable platform (1) is connected with a revolute pair eight (R)31) Arranged on a static platform (0) and a revolute pair nine (R)33) Axis of (2), revolute pair ten (R)32) Axis and revolute pair eight (R)31) All the axes of the two-way sliding mechanism are connected with a revolute pair seven (R)34) Are parallel to each other; revolute pair I (R)11) Is parallel to the eight revolute pair (R)31) Of the axis of (a).
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| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| 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 |
| CN110142743A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two one rotating parallel tool hands of translation of analytic expression position forecast |
| CN209425433U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | A kind of easily controllable two-freedom-degree parallel mechanism |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103386682A (en) * | 2013-08-06 | 2013-11-13 | 常州大学 | Two-input one-translation three-rotation output parallel-connection movement mechanism |
| CN209425433U (en) * | 2019-01-23 | 2019-09-24 | 河南科技大学 | A kind of easily controllable two-freedom-degree parallel mechanism |
| CN110142743A (en) * | 2019-06-11 | 2019-08-20 | 常州大学 | A kind of zero degree of coupling has two one rotating parallel tool hands of translation of analytic expression position forecast |
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