CN113664857A - Three-rotation one-translation four-freedom-degree parallel robot - Google Patents
Three-rotation one-translation four-freedom-degree parallel robot Download PDFInfo
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- CN113664857A CN113664857A CN202111203146.2A CN202111203146A CN113664857A CN 113664857 A CN113664857 A CN 113664857A CN 202111203146 A CN202111203146 A CN 202111203146A CN 113664857 A CN113664857 A CN 113664857A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a three-rotation one-movement parallel mechanism, which comprises a static platform, a movable 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 with the static platform and the movable platform, the first branched chain, the second branched chain and the third branched chain are general modules, the first connecting rod of the general module is connected with the static platform through a first cylindrical pair, the second connecting rod is connected with the first connecting rod through a first revolute pair, the third connecting rod is connected with the second connecting rod through a cylindrical pair, the static platform is connected with the third connecting rod through a revolute pair, the first connecting rod of the fourth branched chain is connected with the static platform through a cylindrical pair, the first connecting rod of the fourth branched chain is connected with the static platform through a Hooke hinge, the translation of the first cylindrical pair of the first branched chain, the second branched chain and the third branched chain and the rotation of the first cylindrical pair of the fourth branched chain are main drives, and the first connecting rod of the general module and the first connecting rod of the fourth branched chain are prime moving parts and are parallel to each other. The three-rotation-one-translation parallel platform has good radial stability.
Description
Technical Field
The invention relates to the technical field of four-degree-of-freedom parallel robot platforms, in particular to a three-rotation one-translation parallel mechanism.
Background
The four-degree-of-freedom parallel mechanism parallel robot has the characteristics of high rigidity, high bearing capacity, high precision, small motion load, easiness in inverse solution and the like, can meet the urgent needs of the field of robots, and is widely applied to the fields of updated scientific research and industry.
At present, researches on symmetrical 4-degree-of-freedom 3R1T parallel mechanisms are gradually increased, ZLATANOV and the like propose symmetrical four-degree-of-freedom 3R1T parallel mechanisms, KONG and the like propose symmetrical four-degree-of-freedom parallel mechanisms containing PRRRR branched chains and 5R branched chains, and Cheynen and the like propose symmetrical four-degree-of-freedom parallel robot mechanisms containing parallelogram 4R branched chains.
At present, many parallel robot configuration schemes related to three rotations and one translation are available, but the four-degree-of-freedom parallel robot has different performance requirements in different application fields, so that it is of great significance to researchers in the field to provide as many four-degree-of-freedom robot configurations related to three rotations and one translation as possible.
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is insufficient, and provides a four-branch parallel mechanism which is novel in structure and has three rotational degrees of freedom and one translational degree of freedom.
The technical scheme adopted by the invention for solving the technical problems is as follows: a parallel robot comprising a cylindrical pair and a revolute pair comprises a movable platform, a static platform, three branched chains with the same structure and a different branched chain, wherein the three branched chains are connected with the movable platform and the static platform.
The parallel mechanism comprises a movable platform, a static platform, three branched chains with the same structure and one different branched chain, wherein the three branched chains are connected with the movable platform and the static platform in a connecting mode, the first branched chain, the second branched chain and the third branched chain are connected with the universal module, a first connecting rod of the universal module is connected with the static platform through a first cylindrical pair, a second connecting rod is connected with a first connecting rod through a first revolute pair, a third connecting rod is connected with a second connecting rod through a cylindrical pair, the static platform is connected with a third connecting rod through a revolute pair, a first connecting rod of a fourth branched chain is connected with the static platform through a cylindrical pair, and the first connecting rod of the fourth branched chain is connected with the static platform through a Hooke hinge, wherein the translation of the first cylindrical pair of the first branched chain, the second branched chain and the rotation of the first cylindrical pair of the third branched chain are mainly driven.
The first connecting rod of the general module of the parallel mechanism, the first branched chain, the second branched chain and the third branched chain is a prime mover and is parallel to the first connecting rod of the fourth branched chain.
The connection mode of the general module of the first branched chain is as follows: the first connecting rod of the first branched chain is connected with the static platform through a first cylindrical pair, the second connecting rod of the first branched chain is connected with the first connecting rod of the first branched chain through a first revolute pair, the third connecting rod of the first branched chain is connected with the second connecting rod of the first branched chain through a second cylindrical pair, and the movable platform is connected with the third connecting rod of the first branched chain through a second revolute pair.
The connection mode of the general module of the second branched chain is as follows: the first connecting rod of the second branched chain is connected with the static platform through a first cylindrical pair, the second connecting rod of the second branched chain is connected with the first connecting rod of the second branched chain through a first revolute pair, the third connecting rod of the second branched chain is connected with the second connecting rod of the second branched chain through a second cylindrical pair, and the movable platform is connected with the third connecting rod of the second branched chain through a second revolute pair.
The connection mode of the general module of the third branched chain is as follows: the first connecting rod of the third branched chain is connected with the static platform through a first cylindrical pair, the second connecting rod of the third branched chain is connected with the first connecting rod of the third branched chain through a first revolute pair, the third connecting rod of the third branched chain is connected with the second connecting rod of the third branched chain through a second cylindrical pair, and the movable platform is connected with the third connecting rod of the third branched chain through a second revolute pair.
The connection mode of the fourth branched chain is as follows: the first connecting rod of the fourth branched chain is connected with the static platform through a cylindrical pair, and the first connecting rod of the fourth branched chain is connected with the movable platform through a Hooke hinge.
The first connecting rod of the first branched chain, the first connecting rod of the second branched chain, the first connecting rod of the third branched chain and the first connecting rod of the fourth branched chain are parallel.
And the axis of the fourth rotating pair of the first branched chain, the fourth rotating pair of the second branched chain, the fourth rotating pair of the third branched chain and the fourth rotating pair is positioned at the center of a circle of the movable platform.
And the axes of the first branched chain third connecting rod, the second branched chain third connecting rod and the third branched chain third connecting rod are positioned in the same plane.
Drawings
Fig. 1 is a schematic diagram of a three-rotation one-translation four-degree-of-freedom parallel robot according to the present invention.
In the figure: 1. moving platform, 2 static platform.
I1, I2, I3 form a first branch, II 1, II 2, II 3 form a second branch, III 1, III 2, III 3 form a third branch, and IV 1 is a fourth branch.
The connecting rod assembly comprises a first connecting rod I1, a first branched chain, a second connecting rod I2, a first branched chain, a third connecting rod I3, a first branched chain, a first connecting rod II 1, a second branched chain, a second connecting rod II 2, a second branched chain, a third connecting rod II 3, a second branched chain, a first connecting rod III 1, a third branched chain, a second connecting rod III 2, a third branched chain, a third connecting rod III 3, a third branched chain, and a first connecting rod IV 1, a fourth branched chain.
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.
As shown in fig. 1, a three-rotation one-translation four-degree-of-freedom parallel robot platform comprises a movable platform 1 and a static platform 2, and is characterized in that: a first branched chain I, a second branched chain II and a third branched chain III are arranged between the movable platform 2 and the static platform 1 and are connected through a universal module, and a fourth branched chain IV is arranged between the movable platform 2 and the static platform 1.
The connection mode of the general module of the first branched chain of the parallel mechanism is as follows: the first connecting rod I1 of the first branch chain passes through the first cylindrical pair
Is connected with the static platform 2, the second connecting rod I2 of the first branch chain and the first connecting rod I1 of the first branch chain pass through a first revolute pair
A third connecting rod I2 of the first branch chain passes through a second cylindrical pair
Is connected with a second connecting rod I2 of the first branched chain, and the movable platform 1 passes through a second revolute pair
Is connected with a third connecting rod I3 of the first branched chain.
The connection mode of the general module of the second branched chain of the parallel online robot is as follows: the first connecting rod II 1 of the second branched chain passes through the first cylindrical pair
The second connecting rod II 2 of the second branched chain and the first connecting rod II 1 of the second branched chain are connected with the static platform 2 through a first revolute pair
A third connecting rod II 3 of the second branched chain passes through the second cylindrical pair
Is connected with a second connecting rod II 2 of a second branched chain, and the movable platform 1 passes through a second revolute pair
Is connected with a third connecting rod II 3 of the second branched chain.
The connection mode of the general module of the third branched chain of the parallel robot is as follows: the first connecting rod III 1 of the third branch chain passes through the first cylindrical pair
The second connecting rod III 2 of the third branched chain and the first connecting rod III 1 of the third branched chain are connected with the static platform 2 through a first revolute pair
A third connecting rod III 3 of a third branched chain passes through a second cylindrical pair
Is connected with a second connecting rod III 2 of a third branch chain, and the movable platform 1 passes through a second revolute pair
Is connected with a third connecting rod III 3 of the third branched chain.
The connection mode of the fourth branched chain of the parallel robot is as follows: the first connecting rod IV 1 of the fourth branched chain passes through a cylindrical pair
And the first connecting rod IV 1 of the fourth branched chain is connected with the movable platform 1 through a Hooke joint U.
The general module is I1, I2, I3, II 1, II 2, II 3 and III 1, III 2, III 3.
The cylinder pair between the second link, e.g. I2, and the third link, e.g. I3, of the universal module being described
Is perpendicular to the axis of the revolute pair between the first link i 1 and the second link i 2.
The first connecting rod I1 of the first branched chain, the first connecting rod II 1 of the second branched chain, the first connecting rod III 1 of the third branched chain and the first connecting rod IV 1 of the fourth branched chain are parallel.
The first branch chain is turned to the fourthMoving pair
Second branched chain fourth revolute pair
Third branched chain fourth revolute pair
The axis is positioned at the center of the circle of the movable platform 1.
And the axes of the first branched chain third connecting rod I3, the second branched chain third connecting rod II 3 and the third branched chain third connecting rod III 3 are positioned in the same plane.
The degree of freedom of the parallel robot is four, and when the first cylinder pair of the first branch chain, the first cylinder pair of the second branch chain and the first cylinder pair of the third branch chain are used for outputting three translations as a drive and the first cylinder pair of the fourth branch chain outputs one rotation as a drive, the parallel robot movable platform can realize rotation along an XYZ axis and translation along a Z axis.
The advantages of this type of parallel robot are: the mechanism does not contain a singular position type, and the parallel robot is partially decoupled.
The parallel robot can be used in occasions with high requirements on the radial stability of processing equipment during processing.
In light of the foregoing description of preferred embodiments of the invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (6)
1. A three-rotation one-translation four-freedom-degree parallel robot comprises a movable platform (1) and a static platform (2), wherein the parallel robots are connected with each other, and the three-rotation one-translation four-freedom-degree parallel robot comprises: a first branched chain (I), a second branched chain (II) and a third branched chain (III) are arranged between the movable platform (2) and the static platform (1) and are connected through general modules (such as I1, I2 and I3), and a fourth branched chain (IV);
the connection mode of the general module of the first branched chain is as follows: a first connecting rod (I1) of the first branch chain passes through a first cylinder pair (
) Is connected with the static platform (2), and a second connecting rod (I2) of the first branch chain and a first connecting rod (I1) of the first branch chain are connected through a first revolute pair
) A third connecting rod (I2) of the first branch chain passes through a second cylinder pair (b)
) Is connected with a second connecting rod (I2) of the first branched chain, and the movable platform (1) passes through a second revolute pair
) Is connected with a third connecting rod (I3) of the first branched chain;
the connection mode of the general module of the second branched chain is as follows: a first connecting rod (II 1) of the second branch chain passes through a first cylinder pair (
) Is connected with the static platform (2), and a second connecting rod (II 2) of the second branched chain and a first connecting rod (II 1) of the second branched chain are connected through a first revolute pair
) A third connecting rod (II 3) of the second branch chain passes through a second cylindrical pair (c)
) Is connected with a second connecting rod (II 2) of a second branched chain, and the movable platform (1) passes through a second revolute pair
) Is connected with a third connecting rod (II 3) of the second branched chain;
general formula of third branchThe connection mode of the module is as follows: a first connecting rod (III 1) of a third branch chain passes through a first cylinder pair (
) Is connected with the static platform (2), and a second connecting rod (III 2) of the third branched chain and a first connecting rod (III 1) of the third branched chain are connected through a first revolute pair
) A third connecting rod (III 3) of the third branch chain passes through a second cylinder pair (C)
) Is connected with a second connecting rod (III 2) of a third branch chain, and the movable platform (1) passes through a second revolute pair
) Is connected with a third connecting rod (III 3) of the third branched chain;
the connection mode of the fourth branch chain is as follows: the first connecting rod (IV 1) of the fourth branch chain passes through a cylindrical pair (IV 1)
) The first connecting rod (IV 1) of the fourth branched chain is connected with the movable platform (1) through a Hooke joint (U).
2. The universal module for three-rotation one-translation four-freedom parallel robot of claim 1 is (I1, I2, I3), (II 1, II 2, II 3) and (III 1, III 2, III 3).
3. The universal module for a three-rotation one-translation four-degree-of-freedom parallel robot as claimed in claim 1, wherein the cylindrical pair (e.g. between the second connecting rod (e.g. I2) and the third connecting rod (e.g. I3) is a cylindrical pair
) Is perpendicular to the axis of the revolute pair between the first connecting rod (i 1) and the second connecting rod (i 2).
4. The three-rotation one-translation four-degree-of-freedom parallel robot as claimed in claim 1, wherein the first connecting rod (I1) of the first branched chain, the first connecting rod (II 1) of the second branched chain, the first connecting rod (III 1) of the third branched chain and the first connecting rod (IV 1) of the fourth branched chain are parallel.
5. The three-rotation one-translation four-degree-of-freedom parallel robot of claim 1, wherein the first branch chain is a fourth revolute pair (
) (iv) the fourth revolute pair of the second branch chain
) Third branched-chain fourth revolute pair
) The axis is positioned at the center of a circle of the movable platform (1).
6. The three-rotation one-translation four-degree-of-freedom parallel robot as claimed in claim 1, wherein the axes of the first branched chain third connecting rod (I3), the second branched chain third connecting rod (II 3) and the third branched chain third connecting rod (III 3) are in the same plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111203146.2A CN113664857A (en) | 2021-10-15 | 2021-10-15 | Three-rotation one-translation four-freedom-degree parallel robot |
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| CN202111203146.2A CN113664857A (en) | 2021-10-15 | 2021-10-15 | Three-rotation one-translation four-freedom-degree parallel robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040091348A1 (en) * | 2002-11-12 | 2004-05-13 | Xianwen Kong | Parallel manipulators with four degrees of freedom |
| CN201380496Y (en) * | 2009-03-19 | 2010-01-13 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| EP2743638A1 (en) * | 2012-12-12 | 2014-06-18 | CVUT V Praze, Fakulta Strojní | An apparatus for optical measurement and/or optical calibration of a position of an object in space |
| CN208744817U (en) * | 2018-07-16 | 2019-04-16 | 西安工程大学 | There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool |
-
2021
- 2021-10-15 CN CN202111203146.2A patent/CN113664857A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040091348A1 (en) * | 2002-11-12 | 2004-05-13 | Xianwen Kong | Parallel manipulators with four degrees of freedom |
| CN201380496Y (en) * | 2009-03-19 | 2010-01-13 | 浙江大学 | Three-rotation one-movement four-freedom parallel mechanism |
| EP2743638A1 (en) * | 2012-12-12 | 2014-06-18 | CVUT V Praze, Fakulta Strojní | An apparatus for optical measurement and/or optical calibration of a position of an object in space |
| CN208744817U (en) * | 2018-07-16 | 2019-04-16 | 西安工程大学 | There are two types of the four-freedom parallel mechanisms of motor pattern for a kind of tool |
Non-Patent Citations (2)
| Title |
|---|
| 蒲志新等: "3-PUU并联机构工作空间分析与优化设计", 《机械传动》, vol. 39, no. 8 * |
| 蒲志新等: "３－ＲＰＳ并联机器人工作空间分析及参数研究", 《机械传动》, vol. 39, no. 1 * |
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