CN114683254B - Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism - Google Patents
Complete decoupling spherical surface 3 rotates 3 and removes parallel mechanism Download PDFInfo
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- CN114683254B CN114683254B CN202210604848.XA CN202210604848A CN114683254B CN 114683254 B CN114683254 B CN 114683254B CN 202210604848 A CN202210604848 A CN 202210604848A CN 114683254 B CN114683254 B CN 114683254B
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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
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
Abstract
The invention discloses a complete decoupling spherical surface 3 rotation 3 movement parallel mechanism, which belongs to the technical field of robots and comprises: the fixed platform is connected with the movable platform through a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain; and two ends of the first branched chain, the second branched chain, the third branched chain, the fourth branched chain and the fifth branched chain are respectively connected with the fixed platform and the movable platform. The problem that 3 rotate 3 and remove parallel mechanism and have that the vice driving motor of drive to install dynamic behavior not good on the motion component has been solved to this scheme, and 6 the vice independent control 3 rotational motion and 3 removal motions respectively of drive for the parallel mechanism of this scheme has that dynamic performance is good, controllability can the strong characteristics.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a complete decoupling spherical surface 3 rotation 3 movement parallel mechanism.
Background
The parallel robot mechanism is in a space multi-degree-of-freedom multi-ring closed chain form. Since the eighties of the last century, the parallel mechanism has been widely used in the fields of virtual axis machine tools, micro-motion operation tables, motion simulators, multi-dimensional force sensors and the like due to the characteristics of high rigidity, large bearing capacity, small accumulated error, good dynamic characteristics, compact structure and the like. The parallel mechanism has 2, 3, 4, 5 or 6 degrees of freedom.
At present, the existing fully decoupled 3-rotation 3-movement mechanism configurations are rare, and the driving motor is mounted on a moving component.
When some pseudo-completely decoupled 3-rotation 3-movement mechanisms realize completely decoupled control, the rotation of the driving pairs is required to be sequentially carried out, and the nature of the mechanism does not have the completely decoupled characteristic.
Disclosure of Invention
The invention aims at the problems and provides a parallel mechanism for completely decoupling the rotation 3 and the movement 3 of the spherical surface 3.
The technical scheme adopted by the invention is as follows: a complete decoupling sphere 3 rotation 3 movement parallel mechanism comprising: the fixed platform is connected with the movable platform through a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain;
the first branch chain comprises a first connecting rod, a second connecting rod and a third connecting rod;
one end of the first connecting rod is rotatably connected with the fixed platform through a first revolute pair R11, the other end of the first connecting rod is movably connected with the second connecting rod through a second revolute pair R12, and the second connecting rod is rotatably connected with the third connecting rod through a third revolute pair R13;
the second branched chain comprises a fourth connecting rod and a fifth connecting rod;
one end of the fourth connecting rod is movably connected with the fixed platform through a first sliding pair P21, the other end of the fourth connecting rod is movably connected with the fifth connecting rod through a first ball pair S22, the fifth connecting rod is movably connected with the second connecting rod through a second ball pair S23,
the third branched chain comprises a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod;
one end of the sixth connecting rod is movably connected with the fixed platform through a second sliding pair P31, the other end of the sixth connecting rod is rotatably connected with one end of the seventh connecting rod through a fourth sliding pair R32, the other end of the seventh connecting rod is connected with one end of the eighth connecting rod through a third sliding pair P33, the other end of the eighth connecting rod is connected with one end of the ninth connecting rod through a fifth sliding pair R34, and the other end of the ninth connecting rod is connected with a fourth sliding pair P35,
the fourth sliding pair P35 is also movably connected with the second connecting rod, the ninth connecting rod is also connected with a fifth sliding pair P36, the ninth connecting rod is connected with one end of the tenth connecting rod through a fifth sliding pair P36, and the other end of the tenth connecting rod is movably connected with the third connecting rod through a screw pair H37;
the fourth branched chain comprises a twelfth connecting rod, a thirteenth connecting rod, a fourteenth connecting rod, a fifteenth connecting rod, a sixteenth connecting rod, a seventeenth connecting rod and an eighteenth connecting rod;
one end of the twelfth connecting rod is connected with the fixed platform through a sixth sliding pair P41, the other end of the twelfth connecting rod is connected with one end of the thirteenth connecting rod through a sixth sliding pair R42, the other end of the thirteenth connecting rod is connected with one end of the fourteenth connecting rod through a seventh sliding pair P43, the other end of the fourteenth connecting rod is connected with one end of the fifteenth connecting rod through a seventh sliding pair R44, the other end of the fifteenth connecting rod is connected with one end of the sixteenth connecting rod through a ninth sliding pair P46, the other end of the sixteenth connecting rod is connected with one end of the seventeenth connecting rod through an eighth sliding pair R47, and the other end of the seventeenth connecting rod is connected with the third connecting rod through a tenth sliding pair P48,
the seventeenth connecting rod and the eighteenth connecting rod are further connected through an eleventh sliding pair P49, and the fifteenth connecting rod and the second connecting rod are connected through an eighth sliding pair P45;
the fifth branch chain comprises a nineteenth connecting rod, a twentieth connecting rod, a twenty-first connecting rod, a twenty-second connecting rod, a twenty-third connecting rod, a twenty-fourth connecting rod and a twenty-fifth connecting rod;
one end of the nineteenth connecting rod is connected with the fixed platform through a twelfth revolute pair P51, the other end of the nineteenth connecting rod is connected with one end of the twentieth connecting rod through a ninth revolute pair R52, the other end of the twentieth connecting rod is connected with one end of the twenty-first connecting rod through a thirteenth revolute pair P53, the other end of the twenty-first connecting rod is connected with one end of the twenty-second connecting rod through a tenth revolute pair R54, the other end of the twenty-second connecting rod is connected with one end of the twenty-third connecting rod through a fifteenth revolute pair P56, the other end of the twenty-third connecting rod is connected with one end of the twenty-fourth connecting rod through an eleventh revolute pair R57, and the other end of the twenty-fourth connecting rod is connected with the third connecting rod through a sixteenth revolute pair P58,
the twenty-second connecting rod is movably connected with the second connecting rod through a fourteenth sliding pair P55, the twenty-fourth connecting rod is movably connected with the twenty-fifth connecting rod through a seventeenth sliding pair P59, the twenty-fifth connecting rod is movably connected with the third connecting rod through an eighteenth sliding pair P510, the twenty-fifth connecting rod is movably connected with the eighteenth connecting rod through a nineteenth sliding pair P511, the eighteenth connecting rod is movably connected with the seventeenth connecting rod through an eleventh sliding pair P49, and the eighteenth connecting rod is movably connected with the movable platform through a sliding pair P613;
the sixth branched chain comprises a twenty-sixth connecting rod, a twenty-seventh connecting rod, a twenty-eighth connecting rod, a twenty-ninth connecting rod, a thirty-third connecting rod, a thirty-eleventh connecting rod, a thirty-second connecting rod and a thirty-third connecting rod;
one end of the twenty-sixth connecting rod is connected with the fixed platform through a twentieth revolute pair P61, the other end of the twenty-sixth connecting rod is connected with one end of the twenty-seventh connecting rod through a twelfth revolute pair R62, the other end of the twenty-seventh connecting rod is connected with one end of the twenty-eighth connecting rod through a twenty-first revolute pair P63, the other end of the twenty-eighth connecting rod is connected with one end of the twenty-ninth connecting rod through a thirteenth revolute pair R64, the other end of the twenty-ninth connecting rod is connected with one end of the thirty connecting rod through a twenty-third revolute pair P66, the other end of the thirty connecting rod is connected with one end of the thirty connecting rod through a fourteenth revolute pair R67, and the other end of the thirty-first connecting rod is connected with the third connecting rod through a twenty-fourteenth revolute pair P68,
the twenty-ninth connecting rod is movably connected with the second connecting rod through a twenty-twelfth sliding pair P65, the thirty-first connecting rod is movably connected with the thirty-second connecting rod through a twenty-fifth sliding pair P69, the thirty-second connecting rod is movably connected with the third connecting rod through a twenty-sixth sliding pair P610, the thirty-third connecting rod is movably connected with the thirty-second connecting rod through a twenty-seventh sliding pair P611, and the thirty-third connecting rod is movably connected with the movable platform through a twenty-eighteenth sliding pair P612.
Further, the first connecting rod is an arc-shaped connecting rod, and the second connecting rod is a T-shaped connecting rod.
Further, the relative rotation axis of the first revolute pair R11 is parallel to the X-axis direction, and the relative rotation axis of the second revolute pair R12 is along the Y-axis direction;
the third revolute pair R13 is perpendicular to the direction of the relative rotation axis of the second revolute pair R12, and the relative rotation axis of the third revolute pair R13 is along the Z-axis direction;
the first revolute pair R11 is connected with a motor, and the first revolute pair R11 is used as a revolute driving pair.
Further, the first sliding pair P21 moves along the X-axis direction, the direction of the first sliding pair P21 moves is coincident with the axis of the first rotating pair R11,
the first sliding pair P21 is connected with a motor, and the first sliding pair P21 is used as a first sliding driving pair.
Further, the moving direction of the second revolute pair P31 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the fourth revolute pair R32 coincides with the relative rotation axis of the first revolute pair R11;
the included angle between the moving direction of the third moving pair P33 and the relative rotating axis of the fourth rotating pair R32 is 45 degrees, and the included angle between the moving direction of the third moving pair P33 and the moving direction of the fourth moving pair P35 is 45 degrees;
the moving direction of the fourth moving pair P35 is coincided with the relative rotating axis of a fifth rotating pair R34, the relative rotating axis of the fifth rotating pair R34 is coincided with the relative rotating axis of the second rotating pair R12, and the included angle between the moving direction of the fourth moving pair P35 and the moving direction of the fifth moving pair P36 is 45 degrees;
the included angle between the moving direction of the fifth sliding pair P36 and the axial direction of the screw pair H37 is 45 degrees, and the axial line of the screw pair H37 is superposed with the relative rotating axis of the third rotating pair R13;
the relative rotation axes of the first revolute pair R11, the second revolute pair R12 and the third revolute pair R13 intersect at a coordinate system xyz point O, the relative rotation axes of the fifth revolute pair R34 and the fourth revolute pair R32 intersect at a point O, the axis of the screw pair H37 passes through the point O, and the moving directions of the second revolute pair P31, the first revolute pair P21 and the fourth revolute pair P35 pass through the point O;
the second sliding pair P31 is connected with a motor, and the second sliding pair P31 is used as a second sliding driving pair.
Still further, the fifteenth link is a V-shaped link, and the seventeenth link is a Y-shaped link.
Further, the moving direction of the sixth revolute pair P41 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the sixth revolute pair R42 coincides with the relative rotation axis of the first revolute pair R11;
the line angle between the moving direction of the seventh sliding pair P43 and the relative rotation axis of the sixth sliding pair R42 is 45 °, the angle between the moving direction of the seventh sliding pair P43 and the moving direction of the eighth sliding pair P45 is 45 °, and the moving direction of the eighth sliding pair P45 is overlapped with the relative rotation axis of the seventh sliding pair R44;
the relative rotation axis of the seventh revolute pair R44 is overlapped with the relative rotation axis of the second revolute pair R12, the included angle between the moving direction of the eighth revolute pair P45 and the moving direction of the ninth revolute pair P46 is 45 degrees, the included angle between the moving direction of the ninth revolute pair P46 and the moving direction of the tenth revolute pair P48 is 45 degrees, and the relative rotation axis of the eighth revolute pair R47 is overlapped with the relative rotation axis of the third revolute pair R13;
the moving direction of the eleventh sliding pair P49 is along the X-axis direction, and the moving direction of the tenth sliding pair P48 is along the Z-axis direction;
the sixth sliding pair P41 is connected to a motor, and the sixth sliding pair P41 serves as a third sliding driving pair.
Further, the moving direction of the twelfth revolute pair P51 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the ninth revolute pair R52 coincides with the relative rotation axis of the first revolute pair R11;
the line angle between the moving direction of the thirteenth moving pair P53 and the relative rotation axis of the ninth rotating pair R52 is 45 °, the angle between the moving direction of the thirteenth moving pair P53 and the moving direction of the fourteenth moving pair P55 is 45 °, and the moving direction of the fourteenth moving pair P55 is overlapped with the relative rotation axis of the tenth rotating pair R54;
the relative rotation axis of the tenth revolute pair R54 is coincident with the relative rotation axis of the second revolute pair R12, the moving direction of the fourteenth revolute pair P55 is 45 degrees to the moving direction of the fifteenth revolute pair P56, the moving direction of the fifteenth revolute pair P56 is 45 degrees to the moving direction of the sixteenth revolute pair P58, and the relative rotation axis of the eleventh revolute pair R57 is coincident with the relative rotation axis of the third revolute pair R13;
an included angle between the moving direction of the seventeenth sliding pair P59 and the moving direction of the sixteenth sliding pair P58 is 45 °, an included angle between the moving direction of the seventeenth sliding pair P59 and the moving direction of the eighteenth sliding pair P510 is 45 °, and an included angle between the moving direction of the eighteenth sliding pair P510 and the moving direction of the sixteenth sliding pair P58 is 90 °;
the moving direction of the eighteenth kinematic pair P510 is along the X-axis direction, and the moving direction of the nineteenth kinematic pair P511 is along the Z-axis direction;
the twelfth sliding pair P51 is connected to a motor, and the twelfth sliding pair P51 serves as a fourth sliding driving pair.
Further, the moving direction of the twentieth revolute pair P61 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the twelfth revolute pair R62 coincides with the relative rotation axis of the first revolute pair R11;
the included angle between the moving direction of the twenty-first moving pair P63 and the relative rotating axis of the twelfth rotating pair R62 is 45 degrees, the included angle between the moving direction of the twenty-first moving pair P63 and the moving direction of the twenty-second moving pair P65 is 45 degrees, and the moving direction of the twenty-second moving pair P65 is overlapped with the relative rotating axis of the thirteenth rotating pair R64;
the relative rotation axis of the thirteenth revolute pair R64 is coincident with the relative rotation axis of the second revolute pair R12, the included angle between the moving direction of the twenty-second revolute pair P65 and the moving direction of the twenty-third revolute pair P66 is 45 degrees, the included angle between the moving direction of the twenty-third revolute pair P66 and the moving direction of the twenty-fourth revolute pair P68 is 45 degrees, and the relative rotation axis of the fourteenth revolute pair R67 is coincident with the relative rotation axis of the third revolute pair R13;
an included angle between the moving direction of the twenty-fifth sliding pair P69 and the moving direction of the twenty-fourth sliding pair P68 is 45 °, an included angle between the moving direction of the twenty-fifth sliding pair P69 and the moving direction of the twenty-sixth sliding pair P610 is 45 °, and an included angle between the moving direction of the twenty-sixth sliding pair P610 and the moving direction of the twenty-fourth sliding pair P68 is 90 °;
the moving direction of the twenty-sixth moving pair P610 is along the Y-axis direction, the moving direction of the twenty-seventh moving pair P611 is along the X-axis direction, and the moving direction of the twenty-eighth moving pair P612 is along the Z-axis direction;
the twentieth sliding pair P61 is connected to a motor, and the twentieth sliding pair P61 serves as a fifth sliding driving pair.
The invention has the beneficial effects that:
the problem that the dynamic performance of a driving motor placed on a motion component is low, and the motion control of a parallel mechanism is complex due to the fact that 3 driving motors are rotated and 3 are moved is solved, the parallel mechanism has 3 driving motor control mechanisms which use the spatial rotation motion represented by an Euler angle, each motor independently controls the rotation motion of one Euler angle, and 3 driving motors respectively control 3 movement motions, and the parallel mechanism has the advantages of being good in dynamic performance and strong in controllability; the novel parallel mechanism has certain application prospect in the fields of motion simulation, laser scanning, radar tracking, posture adjustment, robot wrists and the like.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic view of a 3-rotation 3-movement spherical parallel mechanism of an embodiment of the invention.
Reference numerals:
1 is a first link, 2 is a second link, 3 is a third link, 4 is a fourth link, 5 is a fifth link, 6 is a sixth link, 7 is a seventh link, 8 is an eighth link, 9 is a ninth link, 10 is a tenth link, 11 is a fixed platform, 12 is a twelfth link, 13 is a thirteenth link, 14 is a fourteenth link, 15 is a fifteenth link, 16 is a sixteenth link, 17 is a seventeenth link, 18 is an eighteenth link, 19 is a nineteenth link, 20 is a twentieth link, 21 is a twenty-first link, 22 is a twenty-second link, 23 is a twenty-third link, 24 is a twenty-fourth link, 25 is a twenty-fifth link, 26 is a twenty-sixth link, 27 is a twenty-seventh link, 28 is a twenty-eighth link, 29 is a twenty-ninth link, 30 is a thirty-third link, 31 is a thirty-first link, 32 is a thirty-second link, 33 is a thirty-third link, reference numeral 34 denotes a movable platform, R11 denotes a first revolute pair, R12 denotes a second revolute pair, R13 denotes a third revolute pair, R32 denotes a fourth revolute pair, R34 denotes a fifth revolute pair, R42 denotes a sixth revolute pair, R44 denotes a seventh revolute pair, R44 denotes an eighth revolute pair, R44 denotes a ninth revolute pair, R44 denotes a tenth revolute pair, R44 denotes an eleventh revolute pair, R44 denotes a twelfth revolute pair, R44 denotes a thirteenth revolute pair, R44 denotes a fourteenth revolute pair, P44 denotes a first revolute pair, P44 denotes a second revolute pair, P44 denotes a third revolute pair, P44 denotes a fourth revolute pair, P44 denotes a fifth revolute pair, P44 denotes a sixth revolute pair, P44 denotes a seventh revolute pair, P44 denotes an eighth revolute pair, P44 denotes a ninth revolute pair, P44 denotes a tenth pair, P44 denotes a sixteenth pair, P44 denotes a fifteenth a P44 denotes a fourteenth pair, P44 denotes a fourteenth pair denotes a P44, P44 denotes a fifteenth a P44, a P44 denotes a fifteenth pair denotes a P44, a P44 denotes a fourteenth pair denotes a P44, a fifteenth pair denotes a P44, a P44 denotes a fourteenth pair denotes a P44, a P44 denotes a fifteenth pair, p510 is an eighteenth sliding pair, P511 is a nineteenth sliding pair, P61 is a twentieth sliding pair, P63 is a twenty-first sliding pair, P65 is a twenty-second sliding pair, P66 is a twenty-third sliding pair, P68 is a twenty-fourth sliding pair, P69 is a twenty-fifth sliding pair, P610 is a twenty-sixth sliding pair, P611 is a twenty-seventh sliding pair, P612 is a twenty-eighth sliding pair, S22 is a first ball pair, and S23 is a second ball pair.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, as shown in fig. 1, a parallel mechanism for completely decoupling rotation 3 and movement of a spherical surface 3 comprises: the device comprises a fixed platform 11 and a movable platform 34, wherein the fixed platform 11 is connected with the movable platform 34 through a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain respectively;
the first branch chain comprises a first connecting rod 1, a second connecting rod 2 and a third connecting rod 3;
one end of the first connecting rod 1 is rotatably connected with the fixed platform 11 through a first revolute pair R11, the other end of the first connecting rod 1 is movably connected with the second connecting rod 2 through a second revolute pair R12, and the second connecting rod 2 is rotatably connected with the third connecting rod 3 through a third revolute pair R13;
the second branched chain comprises a fourth connecting rod 4 and a fifth connecting rod 5;
one end of the fourth link 4 is movably connected with the fixed platform 11 through a first sliding pair P21, the other end of the fourth link 4 is movably connected with the fifth link 5 through a first ball pair S22, the fifth link 5 is movably connected with the second link 2 through a second ball pair S23,
the third branched chain comprises a sixth connecting rod 6, a seventh connecting rod 7, an eighth connecting rod 8, a ninth connecting rod 9 and a tenth connecting rod 10;
one end of the sixth link 6 is fixedly connected with the fixed platform 11 through a second revolute pair P31, the other end of the sixth link 6 is rotatably connected with one end of the seventh link 7 through a fourth revolute pair R32, the other end of the seventh link 7 is connected with one end of the eighth link 8 through a third revolute pair P33, the other end of the eighth link 8 is connected with one end of the ninth link 9 through a fifth revolute pair R34, and the other end of the ninth link 9 is connected with a fourth revolute pair P35,
the fourth sliding pair P35 is further movably connected to the second link 2, the ninth link 9 is further connected to a fifth sliding pair P36, the ninth link 9 is connected to one end of the tenth link 10 through a fifth sliding pair P36, and the other end of the tenth link 10 is movably connected to the third link 3 through a screw pair H37;
the fourth branched chain comprises a twelfth connecting rod 12, a thirteenth connecting rod 13, a fourteenth connecting rod 14, a fifteenth connecting rod 15, a sixteenth connecting rod 16, a seventeenth connecting rod 17 and an eighteenth connecting rod 18;
one end of the twelfth link 12 is connected to the fixed platform 11 through a sixth revolute pair P41, the other end of the twelfth link 12 is connected to one end of the thirteenth link 13 through a sixth revolute pair R42, the other end of the thirteenth link 13 is connected to one end of the fourteenth link 14 through a seventh revolute pair P43, the other end of the fourteenth link 14 is connected to one end of the fifteenth link 15 through a seventh revolute pair R44, the other end of the fifteenth link 15 is connected to one end of the sixteenth link 16 through a ninth revolute pair P46, the other end of the sixteenth link 16 is connected to one end of the seventeenth link 17 through an eighth revolute pair R47, and the other end of the seventeenth link 17 is connected to the third link 3 through a tenth revolute pair P48,
the seventeenth link 17 and the eighteenth link 18 are further connected by an eleventh sliding pair P49, and the fifteenth link 15 and the first link 2 are connected by an eighth sliding pair P45;
the fifth branched chain comprises a nineteenth connecting rod 19, a twentieth connecting rod 20, a twenty-first connecting rod 21, a twenty-second connecting rod 22, a twenty-third connecting rod 23, a twenty-fourth connecting rod 24 and a twenty-fifth connecting rod 25;
one end of the nineteenth link 19 is connected to the fixed platform 11 through a twelfth revolute pair P51, the other end of the nineteenth link 19 is connected to one end of the twentieth link 20 through a ninth revolute pair R52, the other end of the twentieth link 20 is connected to one end of the twenty-first link 21 through a thirteenth revolute pair P53, the other end of the twenty-first link 21 is connected to one end of the twenty-second link 22 through a tenth revolute pair R54, the other end of the twenty-second link 22 is connected to one end of the twenty-third link 23 through a fifteenth revolute pair P56, the other end of the twenty-third link 23 is connected to one end of the twenty-fourth link 24 through an eleventh revolute pair R57, and the other end of the twenty-fourth link 24 is connected to the third link 3 through a sixteenth revolute pair P58,
the twenty-second link 22 is movably connected with the first link 2 through a fourteenth sliding pair P55, the twenty-fourth link 24 is movably connected with the twenty-fifth link 25 through a seventeenth sliding pair P59, the twenty-fifth link 25 is movably connected with the third link 3 through an eighteenth sliding pair P510, the twenty-fifth link is movably connected with the eighteenth link 18 through a nineteenth sliding pair P511, the eighteenth link 18 is movably connected with the seventeenth link 17 through an eleventh sliding pair P49, and the eighteenth link 18 is movably connected with the movable platform 34 through a sliding pair P613;
the sixth branched chain comprises a twenty-sixth link 26, a twenty-seventh link 27, a twenty-eighth link 28, a twenty-ninth link 29, a thirty-third link 30, a thirty-eleventh link 31, a thirty-second link 32 and a thirty-third link 33;
one end of the twenty-sixth link 26 is connected to the fixed platform 11 through a twentieth revolute pair P61, the other end of the twenty-sixth link 26 is connected to one end of the twenty-seventh link 27 through a twelfth revolute pair R62, the other end of the twenty-seventh link 27 is connected to one end of the twenty-eighth link 28 through a twenty-first revolute pair P63, the other end of the twenty-eighth link 28 is connected to one end of the twenty-ninth link 29 through a thirteenth revolute pair R64, the other end of the twenty-ninth link 29 is connected to one end of the thirty-third link 30 through a twenty-third revolute pair P66, the other end of the thirty-third link 30 is connected to one end of the thirty-first link 31 through a fourteenth revolute pair R67, and the other end of the thirty-first link 31 is connected to the third link 3 through a twenty-fourteenth revolute pair P68,
the twenty-ninth link 29 is movably connected with the first link 2 through a twenty-twelfth sliding pair P65, the thirty-first link 31 is movably connected with the thirty-second link 32 through a twenty-fifth sliding pair P69, the thirty-second link 32 is movably connected with the third link 3 through a twenty-sixth sliding pair P610, the thirty-third link 33 is movably connected with the thirty-second link 32 through a twenty-seventh sliding pair P611, and the thirty-third link 32 is movably connected with the movable platform 34 through a twenty-eighteenth sliding pair P612.
In an embodiment of the present invention, the first link 1 is an arc-shaped link, and the second link 2 is a T-shaped link.
In an embodiment of the present invention, the relative rotation axis of the first revolute pair R11 is parallel to the X-axis direction, and the relative rotation axis of the second revolute pair R12 is along the Y-axis direction;
the third revolute pair R13 is perpendicular to the direction of the relative rotation axis of the second revolute pair R12, and the relative rotation axis of the third revolute pair R13 is along the Z-axis direction;
the first revolute pair R11 is connected with a motor, and the first revolute pair R11 is used as a revolute driving pair.
In one embodiment of the present invention, the first sliding pair P21 moves along the X-axis direction, the direction of the first sliding pair P21 moves coincides with the axis of the first rotating pair R11,
the first sliding pair P21 is connected with a motor, and the first sliding pair P21 is used as a first sliding driving pair.
In an embodiment of the present invention, the moving direction of the second revolute pair P31 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the fourth revolute pair R32 coincides with the relative rotation axis of the first revolute pair R11;
the included angle between the moving direction of the third moving pair P33 and the relative rotating axis of the fourth rotating pair R32 is 45 degrees, and the included angle between the moving direction of the third moving pair P33 and the moving direction of the fourth moving pair P35 is 45 degrees;
the moving direction of the fourth moving pair P35 is coincided with the relative rotating axis of a fifth rotating pair R34, the relative rotating axis of the fifth rotating pair R34 is coincided with the relative rotating axis of the second rotating pair R12, and the included angle between the moving direction of the fourth moving pair P35 and the moving direction of the fifth moving pair P36 is 45 degrees;
the moving direction of the fifth sliding pair P36 forms an included angle of 45 degrees with the axial direction of the screw pair H37, and the axial line of the screw pair H37 is coincided with the relative rotating axis of the third rotating pair R13;
the relative rotation axes of the first revolute pair R11, the second revolute pair R12 and the third revolute pair R13 intersect at a coordinate system xyz point O, the relative rotation axes of the fifth revolute pair R34 and the fourth revolute pair R32 intersect at a point O, the axis of the screw pair H37 passes through the point O, and the moving direction of the second moving pair P31, the first moving pair P21 and the fourth moving pair P35 passes through the point O;
the second sliding pair P31 is connected with a motor, and the second sliding pair P31 is used as a second sliding driving pair.
In an embodiment of the present invention, the fifteenth link 15 is a V-shaped link, and the seventeenth link 17 is a Y-shaped link.
In an embodiment of the present invention, the moving direction of the sixth revolute pair P41 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the sixth revolute pair R42 coincides with the relative rotation axis of the first revolute pair R11;
the line angle between the moving direction of the seventh sliding pair P43 and the relative rotation axis of the sixth sliding pair R42 is 45 °, the angle between the moving direction of the seventh sliding pair P43 and the moving direction of the eighth sliding pair P45 is 45 °, and the moving direction of the eighth sliding pair P45 is overlapped with the relative rotation axis of the seventh sliding pair R44;
the relative rotation axis of the seventh revolute pair R44 is overlapped with the relative rotation axis of the second revolute pair R12, the included angle between the moving direction of the eighth revolute pair P45 and the moving direction of the ninth revolute pair P46 is 45 degrees, the included angle between the moving direction of the ninth revolute pair P46 and the moving direction of the tenth revolute pair P48 is 45 degrees, and the relative rotation axis of the eighth revolute pair R47 is overlapped with the relative rotation axis of the third revolute pair R13;
the moving direction of the eleventh sliding pair P49 is along the X-axis direction, and the moving direction of the tenth sliding pair P48 is along the Z-axis direction;
the sixth sliding pair P41 is connected to a motor, and the sixth sliding pair P41 serves as a third sliding driving pair.
In an embodiment of the present invention, the moving direction of the twelfth revolute pair P51 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the ninth revolute pair R52 coincides with the relative rotation axis of the first revolute pair R11;
the line angle between the moving direction of the thirteenth moving pair P53 and the relative rotation axis of the ninth rotating pair R52 is 45 °, the angle between the moving direction of the thirteenth moving pair P53 and the moving direction of the fourteenth moving pair P55 is 45 °, and the moving direction of the fourteenth moving pair P55 is overlapped with the relative rotation axis of the tenth rotating pair R54;
the relative rotation axis of the tenth revolute pair R54 is coincident with the relative rotation axis of the second revolute pair R12, the moving direction of the fourteenth revolute pair P55 is 45 degrees to the moving direction of the fifteenth revolute pair P56, the moving direction of the fifteenth revolute pair P56 is 45 degrees to the moving direction of the sixteenth revolute pair P58, and the relative rotation axis of the eleventh revolute pair R57 is coincident with the relative rotation axis of the third revolute pair R13;
an included angle between the moving direction of the seventeenth sliding pair P59 and the moving direction of the sixteenth sliding pair P58 is 45 °, an included angle between the moving direction of the seventeenth sliding pair P59 and the moving direction of the eighteenth sliding pair P510 is 45 °, and an included angle between the moving direction of the eighteenth sliding pair P510 and the moving direction of the sixteenth sliding pair P58 is 90 °;
the moving direction of the eighteenth moving pair P510 is along the X-axis direction, and the moving direction of the nineteenth moving pair P511 is along the Z-axis direction;
the twelfth sliding pair P51 is connected to a motor, and the twelfth sliding pair P51 is a fourth sliding driving pair.
In an embodiment of the present invention, the moving direction of the twentieth revolute pair P61 coincides with the relative rotation axis of the first revolute pair R11, and the relative rotation axis of the twelfth revolute pair R62 coincides with the relative rotation axis of the first revolute pair R11;
the included angle between the moving direction of the twenty-first moving pair P63 and the relative rotating axis of the twelfth rotating pair R62 is 45 degrees, the included angle between the moving direction of the twenty-first moving pair P63 and the moving direction of the twenty-second moving pair P65 is 45 degrees, and the moving direction of the twenty-second moving pair P65 is overlapped with the relative rotating axis of the thirteenth rotating pair R64;
the relative rotation axis of the thirteenth revolute pair R64 is coincident with the relative rotation axis of the second revolute pair R12, the included angle between the moving direction of the twenty-second revolute pair P65 and the moving direction of the twenty-third revolute pair P66 is 45 degrees, the included angle between the moving direction of the twenty-third revolute pair P66 and the moving direction of the twenty-fourth revolute pair P68 is 45 degrees, and the relative rotation axis of the fourteenth revolute pair R67 is coincident with the relative rotation axis of the third revolute pair R13;
an included angle between the moving direction of the twenty-fifth sliding pair P69 and the moving direction of the twenty-fourth sliding pair P68 is 45 °, an included angle between the moving direction of the twenty-fifth sliding pair P69 and the moving direction of the twenty-sixth sliding pair P610 is 45 °, and an included angle between the moving direction of the twenty-sixth sliding pair P610 and the moving direction of the twenty-fourth sliding pair P68 is 90 °;
the moving direction of the twenty-sixth moving pair P610 is along the Y-axis direction, the moving direction of the twenty-seventh moving pair P611 is along the X-axis direction, and the moving direction of the twenty-eighth moving pair P612 is along the Z-axis direction;
the twentieth sliding pair P61 is connected with a motor, and the twentieth sliding pair P61 is used as a fifth sliding driving pair.
A revolute pair in this application refers to a joint that allows two members to revolve about a common axis, so a relative rotation axis refers to a common axis about which they allow two members to revolve.
The screw pair is a connecting pair with parts moving mutually, namely the mutual movement is a screw thread movement, the code is H, the screw pair is a space V-level low pair, and the degree of freedom is 1.
When the working method of the rotary 3-motion parallel mechanism of the completely decoupled spherical surface 3 is used, a first rotary pair R11 uniquely controls the rotation of the brake platform 34 around a first rotary pair R11 shaft, a first moving pair P21 uniquely controls the rotation of the brake platform 34 around a second rotary pair R12 shaft, a second driving pair P31 uniquely controls the rotation of the brake platform 34 around a third rotary pair R13 shaft, a sixth moving pair P41 uniquely controls the motion of the brake platform 34 along the moving direction of a tenth moving pair P48, a twelfth moving pair P51 uniquely controls the motion of the brake platform 34 along the moving direction of an eleventh moving pair P49, and a twentieth moving pair P61 uniquely controls the motion of the brake platform 34 along the moving direction of a twenty-sixth moving pair P610.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (1)
1. A complete decoupling sphere 3 rotates 3 and moves parallel mechanism, its characterized in that includes: the fixed platform is connected with the movable platform through a first branched chain, a second branched chain, a third branched chain, a fourth branched chain, a fifth branched chain and a sixth branched chain respectively;
the first branch chain comprises a first connecting rod, a second connecting rod and a third connecting rod;
one end of the first connecting rod is rotatably connected with the fixed platform through a first rotating pair (R11), the other end of the first connecting rod is movably connected with the second connecting rod through a second rotating pair (R12), and the second connecting rod is rotatably connected with the third connecting rod through a third rotating pair (R13);
the second branched chain comprises a fourth connecting rod and a fifth connecting rod;
one end of the fourth connecting rod is movably connected with the fixed platform through a first moving pair (P21), the other end of the fourth connecting rod is movably connected with the fifth connecting rod through a first ball pair (S22), the fifth connecting rod is movably connected with the second connecting rod through a second ball pair (S23),
the third branched chain comprises a sixth connecting rod, a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod;
one end of the sixth connecting rod is movably connected with the fixed platform through a second sliding pair (P31), the other end of the sixth connecting rod is rotatably connected with one end of the seventh connecting rod through a fourth sliding pair (R32), the other end of the seventh connecting rod is connected with one end of the eighth connecting rod through a third sliding pair (P33), the other end of the eighth connecting rod is connected with one end of the ninth connecting rod through a fifth sliding pair (R34), and the other end of the ninth connecting rod is connected with a fourth sliding pair (P35),
the fourth sliding pair (P35) is also movably connected with the second connecting rod, the ninth connecting rod is also connected with a fifth sliding pair (P36), the ninth connecting rod is connected with one end of the tenth connecting rod through a fifth sliding pair (P36), and the other end of the tenth connecting rod is movably connected with the third connecting rod through a screw pair (H37);
the fourth branched chain comprises a twelfth connecting rod, a thirteenth connecting rod, a fourteenth connecting rod, a fifteenth connecting rod, a sixteenth connecting rod, a seventeenth connecting rod and an eighteenth connecting rod;
one end of the twelfth connecting rod is connected with the fixed platform through a sixth revolute pair (P41), the other end of the twelfth connecting rod is connected with one end of the thirteenth connecting rod through a sixth revolute pair (R42), the other end of the thirteenth connecting rod is connected with one end of the fourteenth connecting rod through a seventh revolute pair (P43), the other end of the fourteenth connecting rod is connected with one end of the fifteenth connecting rod through a seventh revolute pair (R44), the other end of the fifteenth connecting rod is connected with one end of the sixteenth connecting rod through a ninth revolute pair (P46), the other end of the sixteenth connecting rod is connected with one end of the seventeenth connecting rod through an eighth revolute pair (R47), and the other end of the seventeenth connecting rod is connected with the third connecting rod through a tenth revolute pair (P48),
the seventeenth connecting rod and the eighteenth connecting rod are further connected through an eleventh sliding pair (P49), and the fifteenth connecting rod and the second connecting rod are connected through an eighth sliding pair (P45);
the fifth branched chain comprises a nineteenth connecting rod, a twentieth connecting rod, a twenty-first connecting rod, a twenty-second connecting rod, a twenty-third connecting rod, a twenty-fourth connecting rod and a twenty-fifth connecting rod;
one end of the nineteenth connecting rod is connected with the fixed platform through a twelfth revolute pair (P51), the other end of the nineteenth connecting rod is connected with one end of the twentieth connecting rod through a ninth revolute pair (R52), the other end of the twentieth connecting rod is connected with one end of the twenty-first connecting rod through a thirteenth revolute pair (P53), the other end of the twenty-first connecting rod is connected with one end of the twenty-second connecting rod through a tenth revolute pair (R54), the other end of the twenty-second connecting rod is connected with one end of the twenty-third connecting rod through a fifteenth revolute pair (P56), the other end of the twenty-third connecting rod is connected with one end of the twenty-fourth connecting rod through an eleventh revolute pair (R57), and the other end of the twenty-fourth connecting rod is connected with the third connecting rod through a sixteenth revolute pair (P58),
the twenty-second connecting rod is movably connected with the second connecting rod through a fourteenth moving pair (P55), the twenty-fourth connecting rod is movably connected with the twenty-fifth connecting rod through a seventeenth moving pair (P59), the twenty-fifth connecting rod is movably connected with the third connecting rod through an eighteenth moving pair (P510), the twenty-fifth connecting rod is movably connected with the eighteenth connecting rod through a nineteenth moving pair (P511), the eighteenth connecting rod is movably connected with the seventeenth connecting rod through an eleventh moving pair (P49), and the eighteenth connecting rod is movably connected with the movable platform through a moving pair (P613);
the sixth branched chain comprises a twenty-sixth connecting rod, a twenty-seventh connecting rod, a twenty-eighth connecting rod, a twenty-ninth connecting rod, a thirty-third connecting rod, a thirty-eleventh connecting rod, a thirty-second connecting rod and a thirty-third connecting rod;
one end of the twenty-sixth connecting rod is connected with the fixed platform through a twentieth revolute pair (P61), the other end of the twenty-sixth connecting rod is connected with one end of the twenty-seventh connecting rod through a twelfth revolute pair (R62), the other end of the twenty-seventh connecting rod is connected with one end of the twenty-eighth connecting rod through a twenty-first revolute pair (P63), the other end of the twenty-eighth connecting rod is connected with one end of the twenty-ninth connecting rod through a thirteenth revolute pair (R64), the other end of the twenty-ninth connecting rod is connected with one end of the thirty-eighth connecting rod through a twenty-third revolute pair (P66), the other end of the thirty-sixth connecting rod is connected with one end of the thirty-eleventh connecting rod through a fourteenth revolute pair (R67), and the other end of the thirty-eleventh connecting rod is connected with the third connecting rod through a twenty-fourteenth revolute pair (P68),
the twenty-ninth connecting rod is movably connected with the second connecting rod through a twenty-twelfth sliding pair (P65), the thirty-first connecting rod is movably connected with the thirty-second connecting rod through a twenty-fifth sliding pair (P69), the thirty-second connecting rod is movably connected with the third connecting rod through a twenty-sixth sliding pair (P610), the thirty-third connecting rod is movably connected with the thirty-second connecting rod through a twenty-seventh sliding pair (P611), and the thirty-third connecting rod is movably connected with the movable platform through a twenty-eighteenth sliding pair (P612);
the first connecting rod is an arc-shaped connecting rod, and the second connecting rod is a T-shaped connecting rod;
the relative rotation axis of the first revolute pair (R11) is parallel to the X-axis direction, and the relative rotation axis of the second revolute pair (R12) is along the Y-axis direction;
the third revolute pair (R13) is perpendicular to the direction of the relative rotation axis of the second revolute pair (R12), and the relative rotation axis of the third revolute pair (R13) is along the Z-axis direction;
the first rotating pair (R11) is connected with a motor, and the first rotating pair (R11) is used as a rotating driving pair;
the first moving pair (P21) moves along the X-axis direction, the moving direction of the first moving pair (P21) is coincident with the axis of the first rotating pair (R11),
the first sliding pair (P21) is connected with a motor and serves as a first sliding driving pair (P21);
the moving direction of the second moving pair (P31) is coincident with the relative rotation axis of the first rotating pair (R11), and the relative rotation axis of the fourth rotating pair (R32) is coincident with the relative rotation axis of the first rotating pair (R11);
the included angle between the moving direction of the third moving pair (P33) and the relative rotating shaft of the fourth rotating pair (R32) is 45 degrees, and the included angle between the moving direction of the third moving pair (P33) and the moving direction of the fourth moving pair (P35) is 45 degrees;
the moving direction of the fourth moving pair (P35) is overlapped with the relative rotating axis of a fifth rotating pair (R34), the relative rotating axis of the fifth rotating pair (R34) is overlapped with the relative rotating axis of the second rotating pair (R12), and the moving direction of the fourth moving pair (P35) is 45 degrees to the moving direction of the fifth moving pair (P36);
the moving direction of the fifth moving pair (P36) forms an included angle of 45 degrees with the axial direction of the screw pair (H37), and the axial line of the screw pair (H37) is coincident with the relative rotating axis of the third rotating pair (R13);
the relative rotation axes of the first revolute pair (R11), the second revolute pair (R12) and the third revolute pair (R13) intersect at a coordinate system xyz point O, the relative rotation axes of the fifth revolute pair (R34) and the fourth revolute pair (R32) intersect at a point O, the axis of the screw pair (H37) passes through the point O, and the moving directions of the second revolute pair (P31), the first revolute pair (P21) and the fourth revolute pair (P35) pass through the point O;
the second sliding pair (P31) is connected with a motor and serves as a second sliding driving pair (P31);
the fifteenth connecting rod is a V-shaped connecting rod, and the seventeenth connecting rod is a Y-shaped connecting rod;
the moving direction of the sixth sliding pair (P41) is coincident with the relative rotation axis of the first rotating pair (R11), and the relative rotation axis of the sixth rotating pair (R42) is coincident with the relative rotation axis of the first rotating pair (R11);
the line angle between the moving direction of the seventh moving pair (P43) and the relative rotating axis of the sixth rotating pair (R42) is 45 degrees, the angle between the moving direction of the seventh moving pair (P43) and the moving direction of the eighth moving pair (P45) is 45 degrees, and the moving direction of the eighth moving pair (P45) is coincident with the relative rotating axis of the seventh rotating pair (R44);
the relative rotation axis of the seventh revolute pair (R44) is coincident with the relative rotation axis of the second revolute pair (R12), the moving direction of the eighth revolute pair (P45) is 45 degrees to the moving direction of the ninth revolute pair (P46), the moving direction of the ninth revolute pair (P46) is 45 degrees to the moving direction of the tenth revolute pair (P48), and the relative rotation axis of the eighth revolute pair (R47) is coincident with the relative rotation axis of the third revolute pair (R13);
the moving direction of the eleventh moving pair (P49) is along the X-axis direction, and the moving direction of the tenth moving pair (P48) is along the Z-axis direction;
the sixth sliding pair (P41) is connected with a motor and is used as a third sliding driving pair (P41);
the moving direction of the twelfth sliding pair (P51) is coincident with the relative rotating axis of the first rotating pair (R11), and the relative rotating axis of the ninth rotating pair (R52) is coincident with the relative rotating axis of the first rotating pair (R11);
the line angle between the moving direction of the thirteenth moving pair (P53) and the relative rotating axis of the ninth rotating pair (R52) is 45 degrees, the angle between the moving direction of the thirteenth moving pair (P53) and the moving direction of the fourteenth moving pair (P55) is 45 degrees, and the moving direction of the fourteenth moving pair (P55) is coincident with the relative rotating axis of the twelfth rotating pair (R54);
the relative rotation axis of the tenth revolute pair (R54) is coincident with the relative rotation axis of the second revolute pair (R12), the moving direction of the fourteenth revolute pair (P55) is 45 degrees to the moving direction of the fifteenth revolute pair (P56), the moving direction of the fifteenth revolute pair (P56) is 45 degrees to the moving direction of the sixteenth revolute pair (P58), and the relative rotation axis of the eleventh revolute pair (R57) is coincident with the relative rotation axis of the third revolute pair (R13);
the included angle between the moving direction of the seventeenth moving pair (P59) and the moving direction of the sixteenth moving pair (P58) is 45 degrees, the included angle between the moving direction of the seventeenth moving pair (P59) and the moving direction of the eighteenth moving pair (P510) is 45 degrees, and the included angle between the moving direction of the eighteenth moving pair (P510) and the moving direction of the sixteenth moving pair (P58) is 90 degrees;
the moving direction of the eighteenth moving pair (P510) is along the X-axis direction, and the moving direction of the nineteenth moving pair (P511) is along the Z-axis direction;
the twelfth sliding pair (P51) is connected with a motor and is used as a fourth sliding driving pair (P51);
the twenty-second moving pair (P61) moving direction is coincident with the relative rotation axis of the first rotating pair (R11), and the relative rotation axis of the twelfth rotating pair (R62) is coincident with the relative rotation axis of the first rotating pair (R11);
the line included angle between the moving direction of the twenty-first moving pair (P63) and the relative rotating axis of the twelfth rotating pair (R62) is 45 degrees, the included angle between the moving direction of the twenty-first moving pair (P63) and the moving direction of the twenty-second moving pair (P65) is 45 degrees, and the moving direction of the twenty-second moving pair (P65) is coincident with the relative rotating axis of the thirteenth rotating pair (R64);
the relative rotation axis of the thirteenth revolute pair (R64) is coincident with the relative rotation axis of the second revolute pair (R12), the moving direction of the twenty-second revolute pair (P65) is 45 degrees to the moving direction of the twenty-third revolute pair (P66), the moving direction of the twenty-third revolute pair (P66) is 45 degrees to the moving direction of the twenty-fourth revolute pair (P68), and the relative rotation axis of the fourteenth revolute pair (R67) is coincident with the relative rotation axis of the third revolute pair (R13);
the included angle between the moving direction of the twenty-fifth moving pair (P69) and the moving direction of the twenty-fourth moving pair (P68) is 45 degrees, the included angle between the moving direction of the twenty-fifth moving pair (P69) and the moving direction of the twenty-sixth moving pair (P610) is 45 degrees, and the included angle between the moving direction of the twenty-sixth moving pair (P610) and the moving direction of the twenty-fourth moving pair (P68) is 90 degrees;
the moving direction of the twenty-sixth moving pair (P610) is along the Y-axis direction, the moving direction of the twenty-seventh moving pair (P611) is along the X-axis direction, and the moving direction of the twenty-eighth moving pair (P612) is along the Z-axis direction;
the twentieth sliding pair (P61) is connected with a motor, and the twentieth sliding pair (P61) is used as a fifth sliding driving pair.
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| US9020639B2 (en) * | 2009-08-06 | 2015-04-28 | The Regents Of The University Of California | Multimodal dynamic robotic systems |
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