CN113319819A - One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator - Google Patents

One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator Download PDF

Info

Publication number
CN113319819A
CN113319819A CN202110173866.2A CN202110173866A CN113319819A CN 113319819 A CN113319819 A CN 113319819A CN 202110173866 A CN202110173866 A CN 202110173866A CN 113319819 A CN113319819 A CN 113319819A
Authority
CN
China
Prior art keywords
revolute pair
parallel
axis
revolute
branched chain
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110173866.2A
Other languages
Chinese (zh)
Other versions
CN113319819B (en
Inventor
沈惠平
李菊
汤耀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou University
Original Assignee
Changzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changzhou University filed Critical Changzhou University
Priority to CN202110173866.2A priority Critical patent/CN113319819B/en
Publication of CN113319819A publication Critical patent/CN113319819A/en
Application granted granted Critical
Publication of CN113319819B publication Critical patent/CN113319819B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to the technical field of three-degree-of-freedom parallel robot manipulators, in particular to a two-translation and one-rotation manipulator with a characteristic chain, namely a constraint chain, large rotation angle and zero coupling degree, which consists of a mixed characteristic branched chain and a constraint branched chain, wherein a space sub parallel mechanism contained in the mixed characteristic branched chain is formed by connecting a branched chain I and a branched chain II in parallel; the output rod of the space sub-parallel mechanism is connected to one end of the movable platform through a revolute pair six, and the axis of the revolute pair six is coincident with or parallel to the axis of the revolute pair three; the constraint branched chain is a branched chain III, and the revolute pair is connected with the other end of the movable platform; the moving direction of the third sliding block on the static platform is parallel to the moving direction of the first sliding block and the second sliding block on the same straight line. The two-translation one-rotation manipulator has zero coupling degree, symbolic position positive solution, input-output motion decoupling performance and easy processing and manufacture.

Description

One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator
Technical Field
The invention relates to the technical field of three-degree-of-freedom parallel robot manipulators, in particular to a two-translation and one-rotation manipulator with a characteristic chain, a constraint chain, a 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, such as H4, I4, Par4, Cross-IV and other three-translation one-rotation manipulators, have already played 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 batch of three-translation 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; the 2T1R type parallel mechanism is subjected to type synthesis by utilizing a spiral theory, such as Huang.Z, Kong, Yangning and the like; 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 there are not many two-translation one-rotation parallel manipulator mechanisms with symbolic position positive solution and motion decoupling. Therefore, a new zero-coupling, sign-type forward position and motion decoupled two-translation-one-rotation parallel manipulator 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 two-translation and one-rotation parallel manipulator with zero coupling degree and symbolic position forward solution and motion decoupling is provided, and the manipulator has the advantages of simple structure, zero coupling degree, analytic kinematics forward solution, partial motion decoupling and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: a characteristic chain-constraint chain large-corner zero-coupling-degree two-translation one-rotation manipulator comprises a movable platform and a static platform, wherein a mixed characteristic branched chain and a constraint branched chain are arranged between the movable platform and the static platform;
the mixed characteristic branched chain comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by connecting a slide block I, a revolute pair II and a revolute pair III which are sequentially connected in series, the moving direction of the slide block I, the axis of the revolute pair II and the axis of the revolute pair III are mutually parallel, the branched chain II is formed by connecting a slide block II, a revolute pair IV and a revolute pair V in series in sequence, the moving direction of the slide block II is vertical to the axis of the revolute pair IV, the axis of the revolute pair IV is parallel to the axis of the revolute pair V, the slide block I and the slide block II are both arranged on a static platform, the moving direction of the slide block I and the moving direction of the slide block II are on the same straight line, the axis of the revolute pair III is vertical to the axis of the revolute pair V, and the revolute pair V is connected with the revolute pair V through an output rod;
an output rod of the space sub-parallel mechanism is connected to one end of the movable platform through a sixth revolute pair, and the axis of the sixth revolute pair is parallel to or coincident with the axis of the third revolute pair;
the restraint branched chain is formed by sequentially connecting a third sliding block, a seventh rotating pair, an eighth rotating pair, a ninth rotating pair and a tenth rotating pair in series, the moving direction of the third sliding block is perpendicular to the axis direction of the seventh rotating pair, the axis of the seventh rotating pair is parallel to the axis of the eighth rotating pair, the axis of the eighth rotating pair is perpendicular to the axis of the ninth rotating pair, the axis of the ninth rotating pair is parallel to the axis of the tenth rotating pair, the tenth rotating pair is connected with the other end of the movable platform, the axis of the tenth rotating pair is parallel to the axis of the sixth rotating pair, the third sliding block is arranged on the static platform, and the moving direction of the third sliding block is parallel to the moving direction of the first sliding block.
The invention also provides a characteristic chain-constraint chain large-corner zero-coupling degree two-translation one-rotation manipulator which comprises a movable platform and a static platform, wherein a mixed characteristic branched chain and a constraint branched chain are arranged between the movable platform and the static platform;
the mixed characteristic branched chain comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by connecting a slide block I, a revolute pair II and a revolute pair III which are sequentially connected in series, the moving direction of the slide block I, the axis of the revolute pair II and the axis of the revolute pair III are mutually parallel, the branched chain II is formed by connecting a slide block II, a revolute pair IV and a revolute pair V in series in sequence, the moving direction of the slide block II is vertical to the axis of the revolute pair IV, the axis of the revolute pair IV is parallel to the axis of the revolute pair V, the slide block I and the slide block II are both arranged on a static platform, the moving direction of the slide block I and the moving direction of the slide block II are on the same straight line, the axis of the revolute pair III is vertical to the axis of the revolute pair V, and the revolute pair V is connected with the revolute pair V through an output rod;
an output rod of the space sub-parallel mechanism is connected to one end of the movable platform through a sixth revolute pair, and the axis of the sixth revolute pair is parallel to or coincident with the axis of the third revolute pair;
the constraint branched chain comprises a parallelogram mechanism, the parallelogram mechanism is composed of an eleventh revolute pair, a twelfth revolute pair, a thirteenth revolute pair and a fourteenth revolute pair, the axes of the eleventh revolute pair and the twelfth revolute pair are parallel to each other and are sequentially connected in series, a third sliding block parallel to the moving direction of the first sliding block is fixed on a connecting rod between the eleventh revolute pair and the twelfth revolute pair, a ninth revolute pair is fixed on the eighth revolute pair, the axis of the eighth revolute pair and the axis of the ninth revolute pair are parallel to each other, the ninth revolute pair is connected to the other end of the movable platform, and the axis of the ninth revolute pair is parallel to the axis of the sixth revolute pair.
Further, the motion plane of the parallelogram mechanism is perpendicular to the plane of the static platform.
The invention also provides a characteristic chain-constraint chain large-corner zero-coupling degree two-translation one-rotation manipulator which comprises a movable platform and a static platform, wherein a mixed characteristic branched chain and a constraint branched chain are arranged between the movable platform and the static platform;
the mixed characteristic branched chain comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by connecting a slide block I, a revolute pair II and a revolute pair III which are sequentially connected in series, the moving direction of the slide block I, the axis of the revolute pair II and the axis of the revolute pair III are mutually parallel, the branched chain II is formed by connecting a slide block II, a revolute pair IV and a revolute pair V in series in sequence, the moving direction of the slide block II is vertical to the axis of the revolute pair IV, the axis of the revolute pair IV is parallel to the axis of the revolute pair V, the slide block I and the slide block II are both arranged on a static platform, the moving direction of the slide block I and the moving direction of the slide block II are on the same straight line, the axis of the revolute pair III is vertical to the axis of the revolute pair V, and the revolute pair V is connected with the revolute pair V through an output rod;
an output rod of the space sub-parallel mechanism is connected to one end of the movable platform through a sixth revolute pair, and the axis of the sixth revolute pair is parallel to or coincident with the axis of the third revolute pair;
the restraint branched chain comprises a parallelogram mechanism, the parallelogram mechanism is composed of an eleventh revolute pair, a twelfth revolute pair, a thirteenth revolute pair and a fourteenth revolute pair, axes of the eleventh revolute pair, the twelfth revolute pair and the thirteenth revolute pair are mutually parallel and are sequentially connected in series, a third sliding block parallel to the third sliding block in the moving direction is fixed on a connecting rod between the eleventh revolute pair and the twelfth revolute pair, the third sliding block is arranged on the static platform, the moving direction of the third sliding block is parallel to the moving direction of the first sliding block, an eighth revolute pair parallel to the first sliding block in the axis is fixed on a connecting rod between the thirteenth revolute pair and the fourteen revolute pair, the eighth revolute pair is connected to the other end of the movable platform, and the axis of the eighth revolute pair is parallel to the axis of the sixth revolute pair.
The invention has the beneficial effects that: the invention has a characteristic chain, namely a constraint chain, large rotation angle, zero coupling degree, two translations and one rotation operation hand, the degree of freedom is 3, the coupling degree is 0, the output motion of two translations and one rotation can be generated, and the invention has symbol position positive solution and input-output part motion decoupling property.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of an embodiment 1 of a feature chain-constrained chain large-angle zero-coupling two-translation-one-rotation manipulator of the present invention;
FIG. 2 is a schematic view of an embodiment 2 of a feature chain-constrained chain large-angle zero-degree-of-coupling two-translation-one-rotation manipulator of the present invention;
FIG. 3 is a schematic view of an embodiment 3 of a two-translation-one-rotation manipulator with a characteristic chain-constrained chain large rotation angle and zero coupling degree according to the present invention.
In the figure: 0. a static platform 1, a movable platform 2 and an output rod;
A. mixing characteristic branched chains, B, constraint branched chains;
P11a first sliding block, P21A second sliding block P31A third sliding block;
R12a revolute pair I, R13And a revolute pair II, R14A revolute pair III, R22And a revolute pair of four, R23Five revolute pairs R24Six revolute pairs R32Seven revolute pairs, R33Eight revolute pairs R34And a revolute pair of nine, R35Ten revolute pairs RaEleven revolute pairs RbTwelve revolute pairs RcThirteen, R of revolute pairdFourteen revolute pairs.
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 characteristic chain-constrained chain large-corner zero-coupling degree two-translation-one-rotation manipulator comprises a movable platform 1 and a static platform 0, wherein a mixed characteristic branched chain a and a constrained branched chain B are arranged between the movable platform 1 and the static platform 0;
the mixed characteristic branched chain A comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by sequentially connecting sliding blocks P in series11A revolute pair R12And a revolute pair II R13And revolute pair three R14Are connected in series to form a slide block P11Moving direction, revolute pair R12Axis and revolute pair of13Axis and revolute pair three R14The two branched chains are composed of two sliding blocks P connected in series in sequence21And four R of revolute pair22And five R of revolute pair23Composition of slide block II P21Moving direction and revolute pair of22The axis of the rotating pair is vertical and four R are22Axis and revolute pair five R23The axes of the slide blocks are parallel to each other11And a slider II P21Are all arranged on a static platform 0, a slide block P11Moving direction of and the slider two P21The moving directions of the two rotating pairs are on the same straight line, and three R are arranged on the rotating pairs14Axis and revolute pair five R23The axis of the rotating pair is vertical to three R14Is connected with a five-R revolute pair through an output rod 223；
The output rod 2 of the space sub-parallel mechanism passes through a revolute pair six R24Is connected to one end of the movable platform 1 and has a revolute pair of six R24Axis and revolute pair III R14Are parallel or coincide;
the constraint branched chain B is composed of a sliding block III P31Seven R of revolute pair32And eight R revolute pairs33And a revolute pair nine R34And a revolute pair of ten R35Formed by sequentially connecting in series, the slide block is three P31The moving direction and the revolute pair seven R32The axial direction of the rotating pair is vertical to32Axis and revolute pair eight R33The axes of the two pairs of rotating pairs are parallel to each other, eight R33Axis and revolute pair nine R34The axis of the rotating pair is vertical34Axis and revolute pair of35Are parallel to each other, and a revolute pair of ten R35Is connected with the other end of the movable platform 1 and has a revolute pair of ten R35Axis and revolute pair six R24The axes are parallel, the slide block is three P31Is arranged on the static platform 0 and has three P sliding blocks31Direction of movement and slide-block-P11Are parallel to each other.
The degree of freedom of the manipulator is three, and when a first slide block P11, a second slide block P21 and a third slide block P31 on the static platform 0 are driving pairs, the manual platform 1 of the manipulator can realize two-dimensional translation in a YOZ plane and one-dimensional rotation output around a Y axis.
The advantages of this two-translation-one-rotation parallel arrangement are: 1) the zero coupling degree enables the manipulator to have a positive symbolic position solution; 2) the manipulator comprises two minimum sub-kinematic chains and drive pairs respectively, so that the manipulator has partial motion decoupling characteristic; 3) all the components are composed of low pairs, and the manufacture is easy. The manipulator 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 characteristic chain-constrained chain large-angle zero-coupling degree two-translation-one-rotation manipulator comprises a movable platform 1 and a static platform 0, wherein a mixed characteristic branched chain a and a constrained branched chain B are arranged between the movable platform 1 and the static platform 0;
the mixed characteristic branched chain A comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by sequentially connecting sliding blocks P in series11A revolute pair R12And a revolute pair II R13And revolute pair three R14Are connected in series to form a slide block P11Moving direction, revolute pair R12Axis and revolute pair of13Axis and revolute pair three R14The two branched chains are composed of two sliding blocks P connected in series in sequence21And four R of revolute pair22And five R of revolute pair23Composition of slide block II P21Moving direction and revolute pair of22The axis of the rotating pair is vertical and four R are22Axis and revolute pair five R23The axes of the slide blocks are parallel to each other11And a slider II P21Are all arranged on a static platform 0, a slide block P11Moving direction of and the slider two P21The moving directions of the two rotating pairs are on the same straight line, and three R are arranged on the rotating pairs14Axis and revolute pair five R23The axis of the rotating pair is vertical to three R14Is connected with a five-R revolute pair through an output rod 223；
The output rod 2 of the space sub-parallel mechanism passes through a revolute pair six R24Is connected to one end of the movable platform 1 and has a revolute pair of six R24Axis and revolute pair III R14Are parallel or coincide;
the restraint branched chain B comprises parallelogram mechanisms, and the parallelogram mechanisms are formed by revolute pairs eleven R with axes parallel to each other and connected in series in sequenceaTwelve R of revolute pairbThirteen R of revolute paircAnd fourteen revolute pairs RdIs composed of a revolute pair eleven RaAnd a revolute pair twelve RbA sliding block three P with the moving direction parallel to the connecting rod is fixed on the connecting rod between31Sliding block three P31Arranged on the static platform 0 and provided with three P sliding blocks31Is movedDirection of motion and slide-block-P11Are parallel to each other, and a revolute pair is thirteen RcAnd fourteen revolute pairs RdA revolute pair eight R with the axis parallel to the connecting rod is fixed on the connecting rod between33Eight R pairs of rotation33On which a revolute pair nine R is fixed34Eight R pairs of rotation33Axis and revolute pair nine R34The axes of the two pairs of rotating pairs are parallel to each other34Is connected to the other end of the movable platform 1 and has a revolute pair nine R34Axis and revolute pair six R24Are parallel.
The motion plane of the parallelogram mechanism is perpendicular to the plane of the static platform 0.
The degree of freedom of the manipulator is three, and when a first slide block P11, a second slide block P21 and a third slide block P31 on the static platform 0 are driving pairs, the manual platform 1 of the manipulator can realize two-dimensional translation in a YOZ plane and one-dimensional rotation output around a Y axis.
The advantages of this two-translation-one-rotation parallel arrangement are: 1) the zero coupling degree enables the manipulator to have a positive symbolic position solution; 2) the manipulator comprises two minimum sub-kinematic chains and drive pairs respectively, so that the manipulator has partial motion decoupling characteristic; 3) all the components are composed of low pairs, and the manufacture is easy. The manipulator 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 3
As shown in fig. 3, a characteristic chain-constrained chain large-angle zero-coupling degree two-translation-one-rotation manipulator comprises a movable platform 1 and a static platform 0, wherein a mixed characteristic branched chain a and a constrained branched chain B are arranged between the movable platform 1 and the static platform 0;
the mixed characteristic branched chain A comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, wherein the branched chain I is formed by sequentially connecting sliding blocks P in series11A revolute pair R12And a revolute pair II R13And revolute pair three R14Are connected in series to form a slide block P11Moving direction, revolute pair R12Axis and revolute pair of13Axis and revolute pair three R14Are mutually parallelThe second branch chain is composed of second sliding blocks P connected in series in sequence21And four R of revolute pair22And five R of revolute pair23Composition of slide block II P21Moving direction and revolute pair of22The axis of the rotating pair is vertical and four R are22Axis and revolute pair five R23The axes of the slide blocks are parallel to each other11And a slider II P21Are all arranged on a static platform 0, a slide block P11Moving direction of and the slider two P21The moving directions of the two rotating pairs are on the same straight line, and three R are arranged on the rotating pairs14Axis and revolute pair five R23The axis of the rotating pair is vertical to three R14Is connected with a five-R revolute pair through an output rod 223；
The output rod 2 of the space sub-parallel mechanism passes through a revolute pair six R24Is connected to one end of the movable platform 1 and has a revolute pair of six R24Axis and revolute pair III R14Are parallel or coincide;
the restraint branched chain B comprises parallelogram mechanisms, and the parallelogram mechanisms are formed by revolute pairs eleven R with axes parallel to each other and connected in series in sequenceaTwelve R of revolute pairbThirteen R of revolute paircAnd fourteen revolute pairs RdIs composed of a revolute pair eleven RaAnd a revolute pair twelve RbA sliding block three P with the moving direction parallel to the connecting rod is fixed on the connecting rod between31Sliding block three P31Arranged on the static platform 0 and provided with three P sliding blocks31Direction of movement and slide-block-P11Are parallel to each other, and a revolute pair is thirteen RcAnd fourteen revolute pairs RdA revolute pair eight R with the axis parallel to the connecting rod is fixed on the connecting rod between34Eight R pairs of rotation34Is connected to the other end of the movable platform 1 and has eight R revolute pairs34Axis and revolute pair six R24Are parallel.
The degree of freedom of the manipulator is three, and when a first slide block P11, a second slide block P21 and a third slide block P31 on the static platform 0 are driving pairs, the manual platform 1 of the manipulator can realize two-dimensional translation in a YOZ plane and one-dimensional rotation output around a Y axis.
The advantages of this two-translation-one-rotation parallel arrangement are: 1) the zero coupling degree enables the manipulator to have a positive symbolic position solution; 2) the manipulator comprises two minimum sub-kinematic chains and drive pairs respectively, so that the manipulator has partial motion decoupling characteristic; 3) all the components are composed of low pairs, and the manufacture is easy. The manipulator 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 (4)

1. The utility model provides a two translations of a big corner zero degree of coupling of a characteristic chain restraint chain rotate manipulator, includes and moves platform (1) and quiet platform (0), its characterized in that: a mixed characteristic branched chain (A) and a constraint branched chain (B) are arranged between the movable platform (1) and the static platform (0);
the mixed characteristic branched chain (A) comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, and the branched chain I is formed by sequentially connecting sliding blocks I (P) in series11) And a revolute pair I (R)12) And a revolute pair II (R)13) And revolute pair III (R)14) Are connected in series to form a sliding block I (P)11) Moving direction of (2), revolute pair one (R)12) Axis of (2), revolute pair two (R)13) Axis of (2) and revolute pair III (R)14) The two branched chains are composed of two sliding blocks (P) which are sequentially connected in series21) And a revolute pair IV (R)22) And a fifth revolute pair (R)23) Composition, slide block two (P)21) Moving direction and revolute pair four (R)22) Has a vertical axis and a revolute pair of four (R)22) Axis of (2) and revolute pair five (R)23) Are parallel to each other, a first slide block (P)11) And a second sliding block (P)21) Are all arranged on a static platform (0), a first sliding block (P)11) Moving direction of (2) and a second slider (P)21) The moving direction of the rotating pair III (R) is on the same straight line14) Axis of (2) and revolute pair five (R)23) Has a vertical axis and a revolute pair III (R)14) Is connected with a fifth revolute pair (R) through an output rod (2)23)；
The output rod (2) of the space sub-parallel mechanism passes through a revolute pair six (R)24) Is connected with one end of the movable platform (1) and has a revolute pair six (R)24) Axis of (2) and revolute pair III (R)14) Are parallel or coincide;
the restraint branched chain (B) is composed of a sliding block III (P)31) Seven revolute pairs (R)32) Eight revolute pairs (R)33) And a revolute pair nine (R)34) And ten revolute pairs (R)35) Formed by sequentially connecting in series, a third slide block (P)31) The moving direction of (C) and the revolute pair seven (R)32) Is vertical to the axial direction of the rotating pair seven (R)32) Axis of (2) and revolute pair eight (R)33) Are parallel to each other, and a revolute pair eight (R)33) Axis of (2) and revolute pair nine (R)34) Has a vertical axis and a revolute pair of nine (R)34) Axis of (c) and revolute pair (R)35) Are parallel to each other, and a revolute pair (R)35) Is connected with the other end of the movable platform (1) and has a revolute pair R35) Axis of (2) and revolute pair six (R)24) The axes are parallel, the sliding block is III (P)31) Is arranged on the static platform (0) and a third sliding block (P)31) And a slider one (P)11) Are parallel to each other.
2. The utility model provides a two translations of a big corner zero degree of coupling of a characteristic chain restraint chain rotate manipulator, includes and moves platform (1) and quiet platform (0), its characterized in that: a mixed characteristic branched chain (A) and a constraint branched chain (B) are arranged between the movable platform (1) and the static platform (0);
the mixed characteristic branched chain (A) comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, and the branched chain I is formed by sequentially connecting sliding blocks I (P) in series11) And a revolute pair I (R)12) And a revolute pair II (R)13) And revolute pair III (R)14) Are connected in series to form a sliding block I (P)11) Moving direction of (2), revolute pair one (R)12) Axis of (2), revolute pair two (R)13) Axis of (2) and revolute pair III (R)14) The branched chains II are composed of slide blocks II (II) (A) which are connected in series in sequenceP21) And a revolute pair IV (R)22) And a fifth revolute pair (R)23) Composition, slide block two (P)21) Moving direction and revolute pair four (R)22) Has a vertical axis and a revolute pair of four (R)22) Axis of (2) and revolute pair five (R)23) Are parallel to each other, a first slide block (P)11) And a second sliding block (P)21) Are all arranged on a static platform (0), a first sliding block (P)11) Moving direction of (2) and a second slider (P)21) The moving direction of the rotating pair III (R) is on the same straight line14) Axis of (2) and revolute pair five (R)23) Has a vertical axis and a revolute pair III (R)14) Is connected with a fifth revolute pair (R) through an output rod (2)23)；
The output rod (2) of the space sub-parallel mechanism passes through a revolute pair six (R)24) Is connected with one end of the movable platform (1) and has a revolute pair six (R)24) Axis of (2) and revolute pair III (R)14) Are parallel or coincide;
the restraint branched chain (B) comprises parallelogram mechanisms, and the parallelogram mechanisms are formed by revolute pairs (R) with axes parallel to each other and connected in series in sequencea) Twelve revolute pairs (R)b) Thirteen (R) revolute pairsc) And fourteen (R) revolute pairsd) Is composed of a revolute pair (R)a) And twelve revolute pairs (R)b) A third slide block (P) with the moving direction parallel to the third slide block is fixed on the connecting rod between the two slide blocks31) Sliding block III (P)31) Arranged on the static platform (0) and a third sliding block (P)31) And a slider one (P)11) Parallel to the moving direction of the rotating pair thirteen (R)c) And fourteen (R) revolute pairsd) A revolute pair eight (R) with the axis parallel to the connecting rod is fixed on the connecting rod between33) Eight revolute pairs (R)33) On which a revolute pair nine (R) is fixed34) Eight revolute pairs (R)33) Axis of (2) and revolute pair nine (R)34) Are parallel to each other, and a revolute pair nine (R)34) Connected to the other end of the movable platform (1) and provided with a revolute pair34) Axis of (2) and revolute pair six (R)24) Are parallel.
3. A characteristic chain-constrained chain large-angle zero-degree-of-coupling two-translation-one-rotation manipulator as claimed in claim 2, wherein: the motion plane of the parallelogram mechanism is vertical to the plane of the static platform (0).
4. The utility model provides a two translations of a big corner zero degree of coupling of a characteristic chain restraint chain rotate manipulator, includes and moves platform (1) and quiet platform (0), its characterized in that: a mixed characteristic branched chain (A) and a constraint branched chain (B) are arranged between the movable platform (1) and the static platform (0);
the mixed characteristic branched chain (A) comprises a space sub-parallel mechanism formed by connecting a branched chain I and a branched chain II in parallel, and the branched chain I is formed by sequentially connecting sliding blocks I (P) in series11) And a revolute pair I (R)12) And a revolute pair II (R)13) And revolute pair III (R)14) Are connected in series to form a sliding block I (P)11) Moving direction of (2), revolute pair one (R)12) Axis of (2), revolute pair two (R)13) Axis of (2) and revolute pair III (R)14) The two branched chains are composed of two sliding blocks (P) which are sequentially connected in series21) And a revolute pair IV (R)22) And a fifth revolute pair (R)23) Composition, slide block two (P)21) Moving direction and revolute pair four (R)22) Has a vertical axis and a revolute pair of four (R)22) Axis of (2) and revolute pair five (R)23) Are parallel to each other, a first slide block (P)11) And a second sliding block (P)21) Are all arranged on a static platform (0), a first sliding block (P)11) Moving direction of (2) and a second slider (P)21) The moving direction of the rotating pair III (R) is on the same straight line14) Axis of (2) and revolute pair five (R)23) Has a vertical axis and a revolute pair III (R)14) Is connected with a fifth revolute pair (R) through an output rod (2)23)；
The output rod (2) of the space sub-parallel mechanism passes through a revolute pair six (R)24) Is connected with one end of the movable platform (1) and has a revolute pair six (R)24) Axis of (2) and revolute pair III (R)14) Are parallel or coincide;
the restraint branched chain (B) comprises parallelogram mechanisms, and the parallelogram mechanisms are formed by revolute pairs (R) with axes parallel to each other and connected in series in sequencea) Twelve revolute pairs (R)b) Thirteen (R) revolute pairsc) Andfourteen (R) revolute pairsd) Is composed of a revolute pair (R)a) And twelve revolute pairs (R)b) A third slide block (P) with the moving direction parallel to the third slide block is fixed on the connecting rod between the two slide blocks31) Sliding block III (P)31) Arranged on the static platform (0) and a third sliding block (P)31) And a slider one (P)11) Parallel to the moving direction of the rotating pair thirteen (R)c) And fourteen (R) revolute pairsd) A revolute pair eight (R) with the axis parallel to the connecting rod is fixed on the connecting rod between34) Eight revolute pairs (R)34) Is connected with the other end of the movable platform (1) and has a revolute pair eight (R)34) Axis of (2) and revolute pair six (R)24) Are parallel.
CN202110173866.2A 2021-02-06 2021-02-06 One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator Active CN113319819B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110173866.2A CN113319819B (en) 2021-02-06 2021-02-06 One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110173866.2A CN113319819B (en) 2021-02-06 2021-02-06 One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator

Publications (2)

Publication Number Publication Date
CN113319819A true CN113319819A (en) 2021-08-31
CN113319819B CN113319819B (en) 2022-07-05

Family

ID=77413976

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110173866.2A Active CN113319819B (en) 2021-02-06 2021-02-06 One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator

Country Status (1)

Country Link
CN (1) CN113319819B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1651188A (en) * 2005-03-03 2005-08-10 江苏工业学院 Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism
CN1651186A (en) * 2005-03-03 2005-08-10 江苏工业学院 Three dimensional translation parallel connection mechanism used for robot operation
CN110142745A (en) * 2019-06-11 2019-08-20 常州大学 A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1651188A (en) * 2005-03-03 2005-08-10 江苏工业学院 Bitranslation one rotation virtual axis digital controlled machine tool and parallel connected robot mechanism
CN1651186A (en) * 2005-03-03 2005-08-10 江苏工业学院 Three dimensional translation parallel connection mechanism used for robot operation
CN110142745A (en) * 2019-06-11 2019-08-20 常州大学 A kind of zero degree of coupling has two translations, the one rotation shunting means of analytic expression position forecast

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
杨廷力: "《机器人机构拓扑结构设计》", 31 May 2012 *

Also Published As

Publication number Publication date
CN113319819B (en) 2022-07-05

Similar Documents

Publication Publication Date Title
CN101407059B (en) Four-freedom degree industrial robot
Guo et al. Type synthesis of 4-DOF nonoverconstrained parallel mechanisms based on screw theory
CN110153999B (en) Two-translation-one-rotation parallel mechanism with zero coupling degree and analytic position positive solution
Li et al. A Family of Symmetrical Lower‐Mobility Parallel Mechanisms with Spherical and Parallel Subchains
CN110142745B (en) Zero-coupling-degree two-translation one-rotation parallel device with analytic position positive solution
CN110142743B (en) Zero-coupling-degree two-translation one-rotation parallel manipulator with analytic position positive solution
CN113319817B (en) Large-rotation-angle zero-coupling-degree two-translation one-rotation parallel platform with two fully-hinged constraint branched chains
CN113319816B (en) Large-rotation-angle one-coupling-degree one-translation two-rotation parallel platform with fully-hinged two constraint branched chains
CN100374244C (en) Three dimensional translation parallel connection mechanism used for robot operation
CN113319819B (en) One-feature chain-constraint chain large-rotation-angle zero-coupling-degree two-translation-one-rotation manipulator
CN105500350A (en) Three-translation high-speed sorting parallel manipulator
CN113319815B (en) Two-branch-chain large-corner zero-coupling-degree translation and rotation platform containing characteristic chains
CN113319814B (en) Large-rotation-angle one-coupling-degree two-translation-one-rotation parallel mechanism of fully-hinged two-constraint branched chain
CN113319820B (en) Large-corner zero-coupling-degree two-translation one-rotation robot with characteristic chain
CN113319818B (en) Two-branch-chain large-normal-angle zero-coupling-degree translation and rotation device comprising characteristic chains
CN110154000B (en) Three-translation one-rotation parallel robot with zero coupling degree and analytic position positive solution
CN110153998B (en) Zero-coupling-degree two-translation three-rotation parallel mechanism with analytic position positive solution
CN112571404B (en) Six-degree-of-freedom decoupling series-parallel mechanism
CN106363608B (en) There are two types of the parallel robot devices of operation mode for tool
CN111216107B (en) Zero-coupling-degree parallel mechanism with forward position analysis and motion decoupling functions
CN113319813A (en) Three-degree-of-freedom two-constraint branched chain large-rotation-angle one-coupling-degree parallel manipulator
CN105922247B (en) One kind three translates rotating parallel device people's platform mechanical arm
CN110103202B (en) Multi-mode series-parallel mechanical arm based on movement bifurcation mechanism
CN110733026B (en) Zero-coupling-degree three-translation one-rotation parallel mechanism with analytic position positive solution
CN113319812B (en) Large-rotation-angle one-coupling-degree two-translation and two-rotation parallel mechanism with two constraint branched chains

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant