CN114227641A - Three-degree-of-freedom parallel mechanism based on polyvinyl chloride gel driving - Google Patents
Three-degree-of-freedom parallel mechanism based on polyvinyl chloride gel driving Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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Abstract
The invention relates to a three-degree-of-freedom parallel mechanism based on polyvinyl chloride gel (PVC gel) drive, belonging to the technical field of intelligent material application; the three-degree-of-freedom parallel mechanism consists of a fixed platform, a PVC gel driver, a transmission rod, a connecting rod and a movable platform; the PVC gel driver is arranged on the fixed platform, the output force and the output displacement of the PVC gel are transmitted through the transmission rod, the transmission rod is connected with the connecting rod through the spherical pair, and the connecting rod is connected with the movable platform through the revolute pair; under the power-on state, the PVC gel driver can drive the transmission rod to generate linear motion, so that the spatial three-degree-of-freedom motion of the movable platform can be realized; the three-freedom parallel mechanism is light in weight, free of noise, low in power consumption, green and environment-friendly, and has a high application value in the precision positioning fields of airplane assembly, intelligent robots, integrated circuits, bioscience and the like.
Description
Technical Field
The invention relates to a three-degree-of-freedom parallel mechanism based on PVC gel driving, and belongs to the technical field of intelligent material application.
Background
The parallel mechanism is widely applied to the precision positioning technology because of stable structure, large bearing capacity, small motion load and high motion precision. The precision positioning technology has important research value in the fields of airplane assembly, integrated circuits, bioscience and the like, wherein the multi-degree-of-freedom positioning platform is a core technology for realizing high-precision positioning. At present, parallel mechanisms are all based on motor driving, the motor driving needs a complex gear speed change mechanism, the transmission links are more, and the problems of vibration, impact, noise, error accumulation and the like can be caused. Therefore, the mechanism is limited to be applied to the precise positioning fields of airplane assembly, intelligent robots, integrated circuits, bioscience and the like. Therefore, a new driving technique is needed to improve the problems of the conventional parallel mechanism in the compact positioning technique.
Polyvinyl chloride gel (PVC gel) is a novel electronic EAP material, is a non-ionic polymer gel, can be electrically stimulated in dry air, does not require pre-stretching, and has the advantages of light weight, high transparency, large strain stress, wide operating frequency band, appropriate operating voltage, and high response speed under the action of an electric field. However, the existing PVC gel film adopts a pouring forming method, the preparation period is long (about 4 days), and the thickness of the obtained PVC gel film is not controllable. This technical bottleneck also limits the use of PVC gels.
Disclosure of Invention
The invention provides a three-degree-of-freedom parallel mechanism based on PVC gel driving, wherein three groups of PVC gel drivers are arrayed to enable a movable platform to generate three-degree-of-freedom motion in space, and the three-degree-of-freedom parallel mechanism is simple in structure, low in manufacturing cost and high in application value in the field of precision positioning.
The invention adopts the following technical scheme:
a three-degree-of-freedom parallel mechanism based on PVC gel driving comprises a fixed platform, a PVC gel driver, a transmission rod, a connecting rod and a movable platform; the three PVC gel drivers are fixedly arranged on the fixed platform, each PVC gel driver transmits the output force and the output displacement of the PVC gel through a transmission rod, the transmission rod is connected with a connecting rod through a spherical pair, and the connecting rod is connected with the movable platform through a revolute pair (namely a positioning lug hole and a bearing);
the PVC gel driver comprises a driver outer shell provided with a driver outer shell cover, a first PVC gel laminated structure, a baffle plate and a second PVC gel laminated structure are sequentially arranged in the driver outer shell from bottom to top, and a linear bearing is arranged at the top end of the driver outer shell cover; driver housing cover matching driver housing shape；The baffle is arranged between the first PVC gel laminated structure and the second PVC gel laminated structure; first and second PVC gel laminationThe mechanism is in a pre-compressed state.
The first PVC gel laminated structure comprises at least two first PVC gel monolayers, each comprising two first PVC gel films, a first metal mesh and two first metal foils; the first metal net is arranged between the two first PVC gel films, and the outer surfaces of the two first PVC gel films are provided with first metal foils; the shapes of the first PVC gel film, the first metal net and the first metal foil are matched with the inner diameter of the drive outer shell; in the first PVC gel single layer, a first metal mesh is used as an electrode anode, and a first metal foil is used as a cathode; the first metal foil is preferably made of a metal conductive material such as copper, aluminum and the like.
The second PVC gel laminate structure comprises at least 2 second PVC gel monolayers, each second PVC gel monolayer comprising two second PVC gel films, one second metal mesh and two second metal foils; the second metal net is arranged between the two second PVC gel films, and second metal foils are arranged on the outer surfaces of the two second PVC gel films; the shapes of the second PVC gel film, the second metal net and the second metal foil are matched with the outer shell of the driver; the axes of the second PVC gel film, the second metal net and the second metal foil are provided with through holes, and the diameter of each through hole is matched with the outer diameter of the transmission rod 3; in the second PVC gel monolayer, a second metal mesh is used as an electrode anode, and a second metal foil is used as a cathode. The axis of the baffle is provided with a positioning hole, one end of the transmission rod penetrates through the linear bearing and the through hole of the axis of the driver shell cover and then is fixedly connected with the baffle positioning hole, and the other end of the transmission rod is connected with the connecting rod through the spherical pair; the second metal foil is preferably made of a metal conductive material such as copper, aluminum, and the like.
The first PVC gel film and the second PVC gel film are made of the same material, are PVC gel films, have the thickness of not less than 0.3mm and are prepared by the following method: sequentially adding 100 parts by mass of PVC powder, 900 parts by mass of plasticizer, 2.2-3.5 parts by mass of heat stabilizer and 5-8 parts by mass of epoxidized soybean oil into a beaker, uniformly mixing, putting the beaker into an oil bath pot, stirring for 6min, setting the temperature of the oil bath pot to be 180 ℃, pouring the mixed solution into a culture dish, and curing to form PVC gel; adding a through hole in the center of the film to obtain a second PVC gel film; compared with the existing additive manufacturing or pouring forming technology, the PVC gel film prepared by the heating melting technology has the advantages of high film forming speed, controllable thickness and the like.
Preferably, the plasticizer is one of dibutyl adipate (DBA), dioctyl phthalate (DOP), tributyl citrate (TBC) and acetyl tributyl citrate (ATBC).
Preferably, the heat stabilizer includes at least one of a calcium zinc stabilizer and a barium cadmium zinc stabilizer.
Preferably, the mesh number of the first metal mesh and the second metal mesh is 8 meshes to 40 meshes, and the thickness is 200 μm to 700 μm; the first metal foil and the second metal foil have a thickness of 50 μm to 500 μm. When the anode and the cathode are electrified (voltage 100-800V), the PVC gel film can creep into the metal net, so that the PVC gel laminated structure shrinks in the thickness direction, and when the voltage is removed, the PVC gel laminated structure immediately restores to the original shape due to the elasticity of the PVC gel film. The size of the shrinkage displacement of the PVC gel laminated structure can be adjusted by controlling the size of the electric signal. Specifically, namely: when an electric signal is applied to the first PVC gel laminated structure, the first PVC gel laminated structure shrinks in the thickness direction, and the second PVC gel laminated structure is restored from a pre-compression state, so that the baffle is driven to displace downwards; when an electric signal is applied to the second PVC gel laminated structure, the second PVC gel laminated structure contracts in the thickness direction, and the first PVC gel laminated structure is restored from a pre-compression state, so that the baffle is driven to displace upwards. Therefore, the PVC gel driver can realize the accurate displacement of the baffle plate moving up and down by controlling the magnitude of the two groups of electric signals. And respectively controlling voltage signals of the three groups of PVC gel drivers, so that the movable platform generates three-degree-of-freedom motion in space.
Preferably, the three-degree-of-freedom parallel mechanism based on the PVC gel drive is characterized in that the fixed platform is provided with three groups of positioning through holes which are arrayed at intervals of 120 degrees, and the three groups of PVC gel drives penetrate through the three groups of positioning through holes through screws and nuts to be connected with the fixed platform, namely the three groups of PVC gel drives are distributed on the fixed platform in a regular triangle shape.
Preferably, the three-degree-of-freedom parallel mechanism based on the PVC gel driving provided by the application has the advantages that the three groups of positioning lug holes which are arrayed at intervals of 120 degrees are arranged on the lower surface of the movable platform, and a bearing is installed on each positioning lug hole. The transmission rod is embedded into the positioning hole of the baffle through the linear bearing and is used for transmitting the output force and the output displacement of the PVC gel driver. The transmission rod is connected with a connecting rod through a spherical pair, and the connecting rod is connected with the movable platform through a rotating pair.
This application is based on three degree of freedom parallel mechanism of PVC gel driven, decides platform, driver shell body, baffle, driver shell cover, transfer line, connecting rod and move the platform accessible and process out through current machine-building technique, and linear bearing and screw nut all are the standard component, can directly select according to the demand.
Compared with the prior art, the three-degree-of-freedom parallel mechanism based on the PVC gel driving has the advantages of light weight, no noise, simple mechanism, low manufacturing cost, large working space, high precision, high response speed and the like; in addition, the thickness of the PVC gel film prepared by the heating and melting technology is controllable, the preparation period is short (less than 1 hour), the production cost is reduced, and the PVC gel film is more suitable for popularization and application values in the precision positioning fields of airplane assembly, intelligent robots, integrated circuits, bioscience and the like.
Drawings
FIG. 1 is an overall structure diagram of a PVC gel-driven three-degree-of-freedom parallel mechanism according to the present invention.
FIG. 2 is a diagram of the fixed platform structure of the present invention.
FIG. 3 is a diagram of the PVC gel drive of the present invention.
FIG. 4 is a schematic representation of a first PVC gel monolayer according to the present invention.
FIG. 5 is a schematic representation of a second PVC gel monolayer according to the present invention.
FIG. 6 is a block diagram of the PVC gel actuator of the present invention.
Fig. 7 is a view showing the construction of the driving rod and the link rod of the present invention.
Fig. 8 is a structural view of the movable platform of the present invention.
FIG. 9 shows the shrinkage strain vs. voltage for a monolithic PVC gel.
FIG. 10 is a graph of monolithic PVC gel restoring force versus voltage.
The components in the figures are numbered as follows: the device comprises a fixed platform 1, a positioning through hole 1-1, a PVC gel driver 2, a driver outer shell 2-1, a first PVC gel laminated structure 2-2, a first metal net 2-2-1, a first PVC gel film 2-2-2, a first metal foil 2-2-3, a baffle 2-3, a positioning hole 2-3-1, a second PVC gel laminated structure 2-4, a through hole 2-4-1, a driver outer shell cover 2-5, a linear bearing 2-6, a transmission rod 3, a connecting rod 4, a movable platform 5, a positioning lug hole 5-1, a bearing 5-2 and a spherical pair 6.
Detailed description of the preferred embodiments
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The invention will be further explained with reference to the drawings.
As shown in fig. 1, a three-degree-of-freedom parallel mechanism based on PVC gel driving comprises a fixed platform 1, a PVC gel driver 2, a transmission rod 3, a connecting rod 4 and a movable platform 5; the PVC gel driver 2 is arranged on the fixed platform 1, the output force and the output displacement of the PVC gel are transmitted through the transmission rod 3, the transmission rod is connected with the connecting rod 4 through the spherical pair 6, and the connecting rod 4 is connected with the movable platform 5 through the revolute pair (the positioning lug hole 5-1 and the bearing 5-2).
As shown in fig. 2, the fixed platform 1 is provided with three groups of positioning through holes 1-1 arranged at intervals of 120 ° in an array, and the three groups of PVC gel drivers 2 are connected with the fixed platform 1 by passing through the three groups of positioning through holes 1-1 through screws and nuts, that is, the cross sections of the three groups of PVC gel drivers 2 are regular triangles and fixed on the surface of the fixed platform 1. Each PVC gel driver 2 is respectively connected with a movable platform 5 through a transmission rod 3 and a connecting rod 4. When the power is on, the PVC gel drivers drive the transmission rod 3 to generate linear motion, and signals of the three PVC gel drivers 2 are respectively controlled, so that the movable platform 5 generates three-degree-of-freedom motion in space.
In the embodiment, the fixed platform 1 is a cylinder with the diameter of 140mm and the thickness of 5mm, and the fixed platform 1 passes through the positioning through hole 1-1 through an M2 screw to be fixedly connected with the PVC gel driver 2. In a specific implementation, the fixed platform 1 can be obtained by using a 3D printing technology or machining.
As shown in fig. 3, the PVC gel driver 2 includes a driver housing 2-1 having a driver housing cover 2-5, a first PVC gel laminated structure 2-2, a baffle 2-3, and a second PVC gel laminated structure 2-4 are sequentially disposed from bottom to top in the driver housing 2-1, and a linear bearing 2-6 is disposed at a top end of the driver housing cover 2-5; the driver shell cover 2-5 is matched with the shape of the driver shell 2-1; the baffle 2-3 is arranged between the first PVC gel lamination 2-2 and the second PVC gel lamination 2-4; both the first PVC gel laminate 2-2 and the second PVC gel laminate 2-2 are initially in a pre-compressed state.
As shown in FIG. 4, the first PVC gel laminate 2-2 comprises at least two first PVC gel monolayers, each of which comprises two first PVC gel films 2-2-2, one first metal mesh 2-2-1 and two first metal foil sheets 2-2-3; the first metal net 2-2-1 is arranged between the two first PVC gel films 2-2-2, and the outer surfaces of the two first PVC gel films 2-2-2 are respectively provided with a first metal foil 2-2-3; the shapes of the first PVC gel film 2-2-2, the first metal mesh 2-2-1 and the first metal foil 2-2-3 are matched with the inner diameter of the drive outer shell 2-1; in the first PVC gel single layer, a first metal mesh 2-2-1 is used as an electrode anode, and a first metal foil 2-2-3 is used as a cathode; in this embodiment, the first metal foil 2-2-3 is made of copper.
As shown in FIG. 5, the second PVC gel laminate 2-4 comprises at least 2 second PVC gel monolayers, each second PVC gel monolayer comprising two second PVC gel films, one second metal mesh and two second metal foils; the second metal net is arranged between the two second PVC gel films, and second metal foils are arranged on the outer surfaces of the two second PVC gel films; the shapes of the second PVC gel film, the second metal net and the second metal foil are matched with the outer shell of the driver; the axes of the second PVC gel film, the second metal net and the second metal foil are provided with through holes 2-4-1, and the diameter of the through holes 2-4-1 is matched with the outer diameter of the transmission rod 3; in the second PVC gel monolayer, a second metal mesh is used as an electrode anode, and a second metal foil is used as a cathode. The axis of the baffle 2-3 is provided with a positioning hole 2-3-1; one end of the transmission rod 3 penetrates through a linear bearing 2-6 of the axle center of the driver shell cover 2-5, a through hole 2-4-1 of the axle center of the second metal net and the second metal foil and then is fixedly connected with a baffle positioning hole 2-3-1, and the other end of the transmission rod 3 is connected with a connecting rod 4 through a spherical pair 6; in this embodiment, the first metal foil is made of copper.
In this embodiment, the PVC gel driver 2 has an overall height of 50mm and a diameter of 48 mm; the linear bearings 2-6 are LM3 type linear bearings. The drive housing 2-1, the baffle 2-3 and the drive housing cover 2-5 are machined using 3D printing techniques or machining techniques.
The first metal net 2-2-1 and the second metal net are made of stainless steel, the diameter of the first metal net is 40mm, and the mesh number of the first metal net is 20 meshes; the first PVC gel film 2-2-2 and the second PVC gel film are made of the same material, the diameter is 40mm, and the thickness is 0.5 mm; the first metal foil 2-2-3 and the second metal foil are made of the same material, the diameter is 40mm, and the thickness is about 0.02 mm; in this example, a total of 10 first PVC gel monolayers were provided, which were stacked to obtain a first PVC gel laminate 2-2.
In the embodiment, the first PVC gel film and the second PVC gel film are both made of PVC gel films, and the PVC gel films are prepared by the following method: 0.25g of PVC powder (PVC, CAS 9002-86-2, average Mw-233000and average Mn-99000, Sigma-Aldrich), 2..25g of plasticizer dibutyl adipate (DBA, CAS 105997and purity of 96%, Sigma-Aldrich), 0.0075g of liquid calcium zinc stabilizer, 0.015g of epoxidized soybean oil, and heating at 180 ℃ for 6min to cure to form a PVC gel film.
FIG. 6 is a view showing the structure of a baffle 2-3 of a PVC gel driver 2, wherein the baffle (made of an insulating material) 2-3 has a diameter of 40mm and a thickness of 5 mm; the positioning hole 2-3-1 is positioned at the axis of the baffle 2-3, the diameter is 3mm, and the hole depth is 3 mm.
FIG. 7 is a view showing the construction of the driving rod 3 and the link 4, wherein the driving rod 3 has a diameter of 3mm and a length of 60 mm; the diameter of the connecting rod 4 is 3mm, and the length of the connecting rod is 10 mm; the driving rod 3 is connected with the connecting rod 4 through a spherical pair 6. The driving rod 3 and the connecting rod 4 are made of stainless steel.
FIG. 8 is a structural diagram of a movable platform 5, wherein the diameter of the movable platform 5 is 110mm, the thickness of the movable platform 5 is 5mm, three suspension loop positioning holes 5-1 are arranged on the movable platform 5 at intervals of 120 degrees in an array manner, and MR52ZZ miniature bearings 5-2 are installed on the suspension loop positioning holes. The movable platform 5 is connected with the connecting rod 4 through a suspension loop positioning hole 5-1 and a bearing 5-2 to realize revolute pair connection. In a specific implementation, the movable platform 5 can be processed by a 3D printing technology or a mechanical manufacturing technology, and the 3D printing device adopts a photocuring 3D printer produced by creative three-dimensional companies.
FIG. 9 shows the shrinkage strain of a single PVC gel as a function of voltage, and the samples prepared at 200V, 400V, 600V, 800V and 1000V had shrinkage strains of 6.44%, 11.83%, 13.39%, 14.50% and 16.71%, respectively. The voltage is increased, the migration amount of DBA molecules in the PVC gel is increased, the gel is more crawled into pores of the anode stainless steel mesh, and therefore the deformation amount is increased.
FIG. 10 shows the relationship between the restoring force and voltage of monolithic PVC gel, and the restoring forces of the prepared samples are 0.11N, 0.27N, 0.39N, 0.46N and 0.54N at 200V, 400V, 600V, 800V and 1000V, respectively. After the voltage is increased, the deformation of the PVC gel is increased, and when the electric field is removed, the acting force of the PVC gel for returning to the original position is correspondingly increased.
The present invention can be better understood from the above examples. Then, those skilled in the art will readily understand that the specific specification parameters (fixed platform, movable platform, basic size of the PVC gel driver, etc.), number of groups of PVC gel drivers, bearing type, material of each part, process conditions and results thereof described in the examples are merely illustrative of the present invention. The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A three-degree-of-freedom parallel mechanism based on PVC gel driving is characterized in that the device comprises a fixed platform, a PVC gel driver, a transmission rod, a connecting rod and a movable platform;
the three PVC gel drivers are fixedly arranged on the fixed platform, each PVC gel driver comprises a driver outer shell provided with a driver outer shell cover, a first PVC gel laminated structure, a baffle plate and a second PVC gel laminated structure are sequentially arranged in the driver outer shell from bottom to top, and the linear bearing is arranged at the top end of the driver outer shell cover; the driver shell cover is matched with the shape of the driver shell; the baffle is arranged between the first PVC gel laminated structure and the second PVC gel laminated structure;
the first PVC gel laminated structure comprises at least two first PVC gel monolayers, each comprising two first PVC gel films, a first metal mesh and two first metal foils; the first metal net is arranged between the two first PVC gel films, and the outer surfaces of the two first PVC gel films are provided with first metal foils;
the second PVC gel laminated structure comprises at least two second PVC gel monolayers, each second PVC gel monolayer comprises two second PVC gel films, a second metal net and two second metal foils; the second metal net is arranged between the two second PVC gel films, and second metal foils are arranged on the outer surfaces of the two second PVC gel films; the axes of the second PVC gel film, the second metal net and the second metal foil are provided with through holes;
the axis of the baffle is provided with a positioning hole, one end of the transmission rod penetrates through the linear bearing and the through hole of the axis of the driver shell cover and then is fixedly connected with the baffle positioning hole, and the other end of the transmission rod is connected with the connecting rod through the spherical pair;
the fixed platform is provided with three groups of positioning through holes which are arrayed at intervals of 120 degrees, and the three PVC gel drivers are connected with the fixed platform through the three groups of positioning through holes;
the lower surface of the movable platform is provided with three groups of positioning lug holes which are arranged at intervals of 120 degrees in an array manner, each positioning lug hole is provided with a bearing, and the connecting rod is connected with the movable platform through the bearing.
2. The PVC gel-drive-based three-degree-of-freedom parallel mechanism is characterized in that the first PVC gel film and the second PVC gel film are both made of PVC gel films; the PVC gel film is prepared by the following method: 100 parts of PVC powder, 900 parts of plasticizer, 2.2-3.5 parts of heat stabilizer, 5-8 parts of epoxidized soybean oil and 6min of heating at 180 ℃ in parts by mass, and curing to obtain the PVC gel film.
3. The PVC gel drive based three-degree-of-freedom parallel mechanism according to claim 2, wherein the plasticizer comprises one of dibutyl adipate, dioctyl phthalate, tributyl citrate, and acetyl tributyl citrate.
4. The PVC gel drive-based three-degree-of-freedom parallel mechanism according to any one of claims 1 to 3, wherein the thickness of the PVC gel film is not less than 0.3 mm.
5. The PVC gel drive-based three-degree-of-freedom parallel mechanism according to any one of claims 1 to 3, wherein the first metal foil is made of copper or aluminum, and the second metal foil is made of copper or aluminum.
6. The PVC gel drive-based three-degree-of-freedom parallel mechanism according to any one of claims 1-3, wherein the first metal mesh and the second metal mesh are 8-40 mesh and 200-700 μm thick.
7. The PVC gel drive-based three-degree-of-freedom parallel mechanism according to any one of claims 1-3, wherein the thickness of the first metal foil and the second metal foil is 50 μm-500 μm.
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| CN202110367437.9A CN113276089A (en) | 2021-04-06 | 2021-04-06 | Three-degree-of-freedom parallel mechanism based on polyvinyl chloride gel driving |
| CN2021103674379 | 2021-04-06 |
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