CN115922674A - Three-degree-of-freedom redundant parallel-connection end force control actuator based on 2UPR-2RRU mechanism - Google Patents
Three-degree-of-freedom redundant parallel-connection end force control actuator based on 2UPR-2RRU mechanism Download PDFInfo
- Publication number
- CN115922674A CN115922674A CN202310012064.2A CN202310012064A CN115922674A CN 115922674 A CN115922674 A CN 115922674A CN 202310012064 A CN202310012064 A CN 202310012064A CN 115922674 A CN115922674 A CN 115922674A
- Authority
- CN
- China
- Prior art keywords
- axis
- rotation
- pair
- branched chain
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism, which comprises a fixed platform, a movable platform, an end tool, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain, wherein the fixed platform is connected with the movable platform through a first branch chain; the tail end tool is arranged on the movable platform; the movable platform is connected with the fixed platform through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain; the first branched chain and the third branched chain are UPR branched chains; the second and fourth branches are RRU branches. The movable platform is output by two-rotation one-movement three-degree-of-freedom motion relative to the fixed platform, and has four motion branched chains, redundant driving is beneficial to improving the integral rigidity of the mechanism, and the movable platform has the advantages of compact structure, high bearing capacity and high structural strength; meanwhile, the tail end force control actuator can be connected with different tail end tools on the movable platform, so that various operation functions are realized, and the tail end force control actuator has a good application prospect.
Description
Technical Field
The invention belongs to the field of contact operation, and particularly relates to a three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism.
Background
Aiming at a robot force control end effector in the field of contact operation, such as floating polishing equipment, a single-degree-of-freedom mechanism is adopted in the prior art, and the requirement of high-precision polishing and grinding of complex curved surfaces cannot be met; therefore, the three-degree-of-freedom parallel-connection end force control actuator for realizing two actions of rotating and moving has wide application prospect; the three-degree-of-freedom parallel mechanism or device has the advantages of good compactness, high bearing capacity and the like, and is widely researched.
In addition, in the parallel mechanisms or devices with two rotations and one translation, compared with non-redundant driving parallel mechanisms, the redundant driving parallel mechanisms also have the advantages of eliminating singular points, improving the rigidity and the flexibility of the mechanisms and the like. However, the parallel mechanism or device in the prior art has the defects of excessive hinges and more complex structure.
Disclosure of Invention
The invention mainly aims to provide a three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism, so as to solve the defects in the prior art.
In order to achieve the main purpose, the invention provides a three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism, which comprises a fixed platform, a movable platform, an end tool, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain; the tail end tool is arranged on the movable platform; the movable platform is connected with the fixed platform through a first branched chain, a second branched chain, a third branched chain and a fourth branched chain;
the first branched chain and the third branched chain are UPR branched chains; the second branched chain and the fourth branched chain are RRU branched chains;
the first branch chain is provided with a first U pair, a first moving pair and a first rotating pair; one end of the first branched chain is connected with the fixed platform through a first U pair, and the other end of the first branched chain is connected with the movable platform through a first revolute pair; a first moving pair is formed in the middle of the first branched chain;
the second branched chain is provided with a second revolute pair, a third revolute pair and a second U pair; one end of the second branched chain is connected with the fixed platform through a second revolute pair, and the other end of the second branched chain is connected with the movable platform through a second U pair; the middle part of the second branched chain forms a third revolute pair;
the third branched chain is provided with a third U pair, a second sliding pair and a fourth rotating pair; one end of the third branched chain is connected with the fixed platform through a third U pair, and the other end of the third branched chain is connected with the movable platform through a fourth revolute pair; a second sliding pair is formed in the middle of the third branched chain;
the fourth branched chain is provided with a fifth revolute pair, a sixth revolute pair and a fourth U pair; one end of the fourth branched chain is connected with the fixed platform through a fifth revolute pair, and the other end of the second branched chain is connected with the movable platform through a fourth U pair; the middle part of the fourth branched chain forms a sixth revolute pair;
the first U pair comprises a rotation axis $ 11 And axis of rotation $ 12 Rotation axis $ 11 And axis of rotation $ 12 Vertically intersecting; the third U pair comprises a rotation axis $ 31 And axis of rotation $ 32 (ii) a Axis of rotation $ 31 And axis of rotation $ 32 Perpendicular to the axis of rotation $ 11 And axis of rotation $ 31 Overlapping; axis of rotation $ 12 And axis of rotation $ 32 Are parallel to each other;
rotation axis of first rotation pair $ 14 And axis of rotation $ 12 Are parallel to each other; rotation axis of fourth revolute pair 34 And axis of rotation $ 32 Are parallel to each other; axis of rotation $ 34 And axis of rotation $ 14 Are parallel to each other;
moving axis of the first moving pair $ 13 Through the axis of rotation $ 11 And axis of rotation $ 12 And the intersection point of (c) with the axis of rotation $ 12 Vertically; second sliding pair sliding axis $ 33 Through the axis of rotation $ 31 And axis of rotation $ 32 And the intersection point of (c) with the axis of rotation $ 32 Vertically;
rotation axis of second revolute pair $ 21 And rotateDynamic axis $ 11 Axis of rotation $ 31 Are parallel to each other; rotation axis of third revolute pair 22 To the axis of rotation $ 21 Are parallel to each other; rotation axis of fifth revolute pair $ 41 To the axis of rotation $ 11 Axis of rotation $ 31 Parallel to each other, the rotation axis of the sixth revolute pair $ 42 To the axis of rotation $ 41 Are parallel to each other;
the second U pair comprises a rotation axis $ 23 And axis of rotation $ 24 Rotation axis $ 23 And axis of rotation $ 24 Vertically intersecting; the fourth U pair comprises a rotation axis $ 43 And axis of rotation $ 44 Axis of rotation $ 43 And axis of rotation $ 44 Vertically intersecting; axis of rotation $ 23 And the axis of rotation $ 43 Collinear; axis of rotation $ 24 And axis of rotation $ 44 Are parallel to each other and are symmetrically arranged relative to the movable platform.
According to another embodiment of the invention, the axis of rotation $ 11 And axis of rotation $ 31 A central axis passing through the fixed platform; rotation axis $ 23 To the axis of rotation $ 43 Passes through the central axis of the movable platform.
According to another specific embodiment of the invention, the first moving pair and the second moving pair adopt a penetrating motor component;
the first sliding pair comprises a first screw rod and a first motor matched with the first screw rod; a first motor fixing frame is arranged on the first motor, and the first motor fixing frame and the first U pair rotate along the rotation axis $ 12 Performing rotary matching;
the second sliding pair comprises a second screw rod and a second motor matched with the second screw rod; a second motor fixing frame is arranged on the second motor, and the second motor fixing frame and the third U pair rotate along the rotation axis $ 32 And performing rotating fit.
According to another specific embodiment of the invention, the first motor and the second motor are both positioned on one side of the fixed platform far away from the movable platform.
According to another specific embodiment of the invention, the second revolute pair is used as a driving pair for the second branched chain movement, and the fifth revolute pair is used as a driving pair for the fourth branched chain movement;
the second branched chain comprises a third motor, a first worm and a first worm wheel; the first worm is arranged at the output end of the third motor, the first worm is connected with the first worm wheel in a matching way, and the second revolute pair is driven by the first worm wheel;
the fourth branched chain comprises a fourth motor, a second worm and a second worm wheel; the second worm is arranged at the output end of the fourth motor, the second worm is connected with the second worm wheel in a matching mode, and the fifth revolute pair is driven by the second worm wheel.
According to another embodiment of the invention, the third motor and the fourth motor are both located on the side of the fixed platform far away from the movable platform.
The invention has the following beneficial effects:
the movable platform is output by two-rotation one-movement three-degree-of-freedom motion relative to the fixed platform, and has four motion branched chains, redundant driving is beneficial to improving the integral rigidity of the mechanism, and the movable platform has the advantages of compact structure, high bearing capacity and high structural strength; meanwhile, the tail end force control actuator can be connected with different tail end tools on the movable platform, so that various operation functions are realized, and the tail end force control actuator has a good application prospect.
In addition, the invention adopts a transmission mode of a penetrating motor and a worm, has more compact structure and self-locking function, and is beneficial to improving the stability and the accuracy of movement.
To more clearly illustrate the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the accompanying drawings and detailed description.
Drawings
FIG. 1 is a first perspective view of an embodiment of the present invention;
FIG. 2 is a second perspective view of the embodiment of the present invention;
FIG. 3 is a graph of the distribution of four branches in an embodiment of the present invention;
FIG. 4 is a structural diagram of a first branch chain in an embodiment of the present invention;
FIG. 5 is a structural diagram of a second branch chain in the embodiment of the present invention;
FIG. 6 is a structural view of a third branch chain in the embodiment of the present invention;
FIG. 7 is a structural view of a fourth branch chain in the embodiment of the present invention;
FIG. 8 is a simulation of six different types of motion in an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.
The embodiment of the invention provides a three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism, which comprises a fixed platform 10, a movable platform 20, an end tool 30, a first branched chain 40, a second branched chain 50, a third branched chain 60 and a fourth branched chain 70, as shown in a figure 1-2; the end tool 30 is arranged on the movable platform 20; the movable platform 20 is connected with the fixed platform 10 through a first branch chain 40, a second branch chain 50, a third branch chain 60 and a fourth branch chain 70.
As shown in fig. 3, the first branch 40 and the third branch 60 are UPR branches; the second branch 50 and the fourth branch 70 are RRU branches; the first branched chain 40 and the third branched chain 60 are oppositely distributed on opposite sides of the fixed platform 10 and the movable platform 20, and the second branched chain 50 and the fourth branched chain 70 are oppositely distributed on opposite sides of the fixed platform 10 and the movable platform 20.
As shown in fig. 4, the first branched chain 40 has a first U pair 41, a first moving pair 42 and a first rotating pair 43; one end of the first branched chain 40 is connected with the fixed platform 10 through a first U pair 41, and the other end of the first branched chain 40 is connected with the movable platform 20 through a first revolute pair 43; the middle part of the first branched chain 40 forms a first moving pair 42;
as shown in fig. 5, the second branched chain 50 has a second revolute pair 51, a third revolute pair 52 and a second U pair 53; one end of the second branched chain 50 is connected with the fixed platform 10 through a second revolute pair 51, and the other end of the second branched chain 50 is connected with the movable platform 20 through a second U pair 53; the middle part of the second branched chain 50 is formed into a third revolute pair 52;
as shown in fig. 6, the third branched chain 60 has a third U pair 61, a second moving pair 62 and a fourth rotating pair 63; one end of the third branched chain 60 is connected with the fixed platform 10 through a third U pair 61, and the other end of the third branched chain 60 is connected with the movable platform 20 through a fourth revolute pair 63; the middle part of the third branched chain 60 forms a second moving pair 62;
as shown in fig. 7, the fourth branched chain 70 has a fifth revolute pair 71, a sixth revolute pair 72 and a fourth U pair 73; one end of the fourth branched chain 70 is connected with the fixed platform 10 through a fifth revolute pair 71, and the other end of the second branched chain 50 is connected with the movable platform 20 through a fourth U pair 73; the middle part of the fourth branched chain 70 is formed into a sixth revolute pair 72;
as shown in fig. 3, 4 and 6, the first U-pair 41 includes a rotation axis $ 11 And axis of rotation $ 12 Axis of rotation $ 11 And axis of rotation $ 12 Vertically intersecting; the third U pair 61 comprises a rotation axis $ 31 And axis of rotation $ 32 (ii) a Axis of rotation $ 31 And axis of rotation $ 32 Perpendicular to the axis of rotation $ 11 And axis of rotation $ 31 The central axes are overlapped and pass through the fixed platform 10; axis of rotation $ 12 And axis of rotation $ 32 Are parallel to each other;
axis of rotation $of first revolute pair 43 14 And axis of rotation $ 12 Are parallel to each other; rotation axis $of fourth rotation pair 63 34 And axis of rotation $ 32 Are parallel to each other; axis of rotation $ 34 And axis of rotation $ 14 Are parallel to each other;
the axis of movement $of the first sliding pair 42 13 Through the axis of rotation $ 11 And axis of rotation $ 12 And the intersection point of (c) with the axis of rotation $ 12 Vertically; second sliding pair 62 moves axis $ 33 Through the axis of rotation $ 31 And axis of rotation $ 32 And the intersection point of (c) with the axis of rotation $ 32 Is perpendicular to。
As shown in fig. 3, 5, and 7, the rotation axis $of the second revolute pair 51 21 To the axis of rotation $ 11 Axis of rotation $ 31 Are parallel to each other; axis of rotation $of third revolute pair 52 22 And the axis of rotation $ 21 Are parallel to each other; rotation axis $of fifth revolute pair 71 41 To the axis of rotation $ 11 Axis of rotation $ 31 Parallel to each other, the axis of rotation $of the sixth revolute pair 72 42 To the axis of rotation $ 41 Are parallel to each other;
the second U pair 53 includes a rotation axis $ 23 And axis of rotation $ 24 Axis of rotation $ 23 And axis of rotation $ 24 Vertically intersecting; the fourth U pair 73 comprises a rotation axis $ 43 And axis of rotation $ 44 Axis of rotation $ 43 And axis of rotation $ 44 Vertically intersecting; axis of rotation $ 23 To the axis of rotation $ 43 Collinear and passing through the central axis of the mobile platform 20; axis of rotation $ 24 And axis of rotation $ 44 Parallel to each other and symmetrically arranged with respect to the movable platform 20.
As shown in fig. 3, the first and second sliding pairs 42 and 62 in the embodiment of the present invention employ a through motor assembly; as shown in fig. 4, the first moving pair 42 includes a first lead screw 421 and a first motor 422 cooperating with the first lead screw 421; a first motor fixing frame 423 is arranged on the first motor 422, and the first motor fixing frame 423 and the first U pair 41 rotate along the rotation axis $ 12 Performing rotary matching; as shown in fig. 6, the second moving pair 62 comprises a second lead screw 621 and a second motor 622 matched with the second lead screw 621; a second motor fixing frame 623 is arranged on the second motor 622, and the second motor fixing frame 623 and the third U pair 61 are arranged along the rotating axis $ 32 And performing rotating fit.
As shown in fig. 3, in the embodiment of the present invention, the second rotating pair 51 is used as a driving pair for the movement of the second branch chain 50, and the fifth rotating pair 71 is used as a driving pair for the movement of the fourth branch chain 70; as shown in fig. 5, the second branch 50 includes a third motor 54, a first worm 55 and a first worm gear 56; the first worm 55 is arranged at the output end of the third motor 54, the first worm 55 is in fit connection with the first worm wheel 56, and the second revolute pair 51 is driven by the first worm wheel 56; specifically, the third motor 54 is fixed to the stationary platform 10, and the first worm gear 56 is preferably rotatably disposed on the stationary platform 10 via a first bracket 57.
As shown in fig. 7, the fourth branch 70 includes a fourth motor 74, a second worm 75 and a second worm gear 76; the second worm 75 is arranged at the output end of the fourth motor 74, the second worm 75 is in fit connection with the second worm wheel 76, and the fifth revolute pair 71 is driven by the second worm wheel 76; specifically, the fourth motor 74 is fixed to the stationary stage 10, and the second worm gear 76 is preferably rotatably provided on the stationary stage 10 by a second bracket 77.
The first motor 422, the second motor 622, the third motor 54 and the fourth motor 74 are all located on one side of the fixed platform 10 far away from the movable platform 20, so that the first motor 422, the second motor 622, the third motor 54 and the fourth motor 74 can be arranged at the back without occupying the space between the movable platform 20 and the fixed platform 10, and on the other hand, the whole structure is more compact.
In the embodiment of the present invention, the UPR branched chains (the first branched chain 40 and the third branched chain 60) adopt a screw rod and a penetrating motor, on one hand, the first motor 422 and the second motor 622 are both located at one side of the fixed platform 10 far away from the movable platform 20, so that the first motor 422 and the second motor 622 are disposed at the rear position without occupying the space between the movable platform 20 and the fixed platform 10, and on the other hand, the overall structure is more compact. Correspondingly, the arrangement mode of the third motor 54 and the fourth motor 74 is also optimized by the RRU branched chain, so that the rear arrangement of the driving motors is realized without occupying the space between the movable platform 20 and the fixed platform 10; meanwhile, the worm and gear matched driving mode is adopted, the self-locking function is achieved, and the movement stability and accuracy are higher.
In the embodiment of the present invention, the movable platform 20 performs three-degree-of-freedom motion output with two rotations and one movement relative to the fixed platform 10, so as to meet the requirements for executing different types of tasks, as shown in fig. 8; meanwhile, according to the different types of contact operation, different types of end tools 30 can be replaced, so that multiple operation functions are realized, and the application range is expanded.
Although the present invention has been described with reference to specific embodiments, these embodiments are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that various changes/modifications can be made without departing from the scope of the invention, and it is intended to cover all such changes/modifications as fall within the true spirit and scope of the invention.
Claims (6)
1. A three-degree-of-freedom redundant parallel-connection end force control actuator based on a 2UPR-2RRU mechanism comprises a fixed platform, a movable platform, an end tool, a first branched chain, a second branched chain, a third branched chain and a fourth branched chain; the end tool is arranged on the movable platform; the movable platform is connected with the fixed platform through the first branched chain, the second branched chain, the third branched chain and the fourth branched chain;
the first branched chain and the third branched chain are UPR branched chains; the second branch chain and the fourth branch chain are RRU branch chains;
the first branch chain is provided with a first U pair, a first moving pair and a first rotating pair; one end of the first branched chain is connected with the fixed platform through the first U pair, and the other end of the first branched chain is connected with the movable platform through the first rotating pair; the middle part of the first branched chain forms the first sliding pair;
the second branched chain is provided with a second revolute pair, a third revolute pair and a second U pair; one end of the second branched chain is connected with the fixed platform through the second revolute pair, and the other end of the second branched chain is connected with the movable platform through the second U pair; the middle part of the second branched chain is formed into the third revolute pair;
the third branched chain is provided with a third U pair, a second sliding pair and a fourth rotating pair; one end of the third branched chain is connected with the fixed platform through the third U pair, and the other end of the third branched chain is connected with the movable platform through the fourth revolute pair; the middle part of the third branched chain forms the second sliding pair;
the fourth branched chain is provided with a fifth revolute pair, a sixth revolute pair and a fourth U pair; one end of the fourth branched chain is connected with the fixed platform through the fifth revolute pair, and the other end of the second branched chain is connected with the movable platform through the fourth U pair; the middle part of the fourth branched chain is formed into the sixth revolute pair;
the first U pair comprises a rotation axis $ 11 And axis of rotation $ 12 Rotation axis $ 11 And axis of rotation $ 12 Vertically intersecting; the third U pair comprises a rotation axis $ 31 And axis of rotation $ 32 (ii) a Axis of rotation $ 31 And axis of rotation $ 32 Perpendicular to the axis of rotation $ 11 And axis of rotation $ 31 Overlapping; rotation axis $ 12 And axis of rotation $ 32 Are parallel to each other;
the rotation axis of the first rotating pair $ 14 And axis of rotation $ 12 Are parallel to each other; the rotation axis of the fourth revolute pair $ 34 And axis of rotation $ 32 Are parallel to each other; axis of rotation $ 34 And axis of rotation $ 14 Are parallel to each other;
the moving axis of the first moving pair $ 13 Through the axis of rotation $ 11 And axis of rotation $ 12 And the intersection point of (c) with the axis of rotation $ 12 Vertically; the second sliding pair moving axis $ 33 Through the axis of rotation $ 31 And axis of rotation $ 32 And the intersection point of (c) with the axis of rotation $ 32 Vertically;
the rotation axis of the second revolute pair $ 21 To the axis of rotation $ 11 Axis of rotation $ 31 Are parallel to each other; the rotation axis of the third revolute pair $ 22 To the axis of rotation $ 21 Are parallel to each other; the rotation axis of the fifth revolute pair $ 41 To the axis of rotation $ 11 Axis of rotation $ 31 Parallel to each other, the rotation axis $ofthe sixth revolute pair 42 To the axis of rotation $ 41 Are parallel to each other;
the second U pair comprises a rotation axis $ 23 And axis of rotation $ 24 Axis of rotation $ 23 And axis of rotation $ 24 Vertically intersecting; the fourth U pair comprises a rotation axis $ 43 And axis of rotation $ 44 Axis of rotation $ 43 And axis of rotation $ 44 Vertically intersecting; rotation axis $ 23 To the axis of rotation $ 43 Collinear; rotation axis $ 24 And axis of rotation $ 44 Are parallel to each other and are symmetrically arranged relative to the movable platform.
2. The three-degree-of-freedom redundant parallel end force-controlled actuator based on a 2UPR-2RRU mechanism of claim 1, wherein: rotation axis $ 11 And axis of rotation $ 31 A central axis passing through the stationary platform; axis of rotation $ 23 To the axis of rotation $ 43 The central axis passes through the movable platform.
3. The three-degree-of-freedom redundant parallel end force-controlled actuator based on a 2UPR-2RRU mechanism of claim 1, wherein: the first moving pair and the second moving pair adopt penetrating motor components;
the first sliding pair comprises a first screw rod and a first motor matched with the first screw rod; the first motor is provided with a first motor fixing frame, and the first motor fixing frame and the first U pair rotate along a rotating axis $ 12 Performing rotary matching;
the second sliding pair comprises a second screw rod and a second motor matched with the second screw rod; a second motor fixing frame is arranged on the second motor, and the second motor fixing frame and the third U pair rotate along the rotation axis $ 32 And performing rotating fit.
4. The three-degree-of-freedom redundant parallel end force-controlled actuator based on a 2UPR-2RRU mechanism of claim 3, wherein: the first motor and the second motor are both located on one side, far away from the movable platform, of the fixed platform.
5. The three-degree-of-freedom redundant parallel end force-controlled actuator based on a 2UPR-2RRU mechanism of claim 1, wherein: the second rotating pair is used as a driving pair for the second branched chain to move, and the fifth rotating pair is used as a driving pair for the fourth branched chain to move;
the second branched chain comprises a third motor, a first worm and a first worm wheel; the first worm is arranged at the output end of the third motor, the first worm is in fit connection with the first worm wheel, and the second revolute pair is driven by the first worm wheel;
the fourth branch chain comprises a fourth motor, a second worm and a second worm wheel; the second worm is arranged at the output end of the fourth motor, the second worm is connected with the second worm wheel in a matching mode, and the fifth revolute pair is driven by the second worm wheel.
6. The three-degree-of-freedom redundant parallel end force-controlled actuator based on a 2UPR-2RRU mechanism of claim 5, wherein: the third motor and the fourth motor are both positioned on one side, away from the movable platform, of the fixed platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310012064.2A CN115922674B (en) | 2023-01-05 | 2023-01-05 | Three-degree-of-freedom redundant parallel terminal force control actuator based on 2UPR-2RRU mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310012064.2A CN115922674B (en) | 2023-01-05 | 2023-01-05 | Three-degree-of-freedom redundant parallel terminal force control actuator based on 2UPR-2RRU mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115922674A true CN115922674A (en) | 2023-04-07 |
| CN115922674B CN115922674B (en) | 2024-10-18 |
Family
ID=86649152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310012064.2A Active CN115922674B (en) | 2023-01-05 | 2023-01-05 | Three-degree-of-freedom redundant parallel terminal force control actuator based on 2UPR-2RRU mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115922674B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652914A (en) * | 2023-07-04 | 2023-08-29 | 吉林大学 | Triple-translation redundant parallel teleoperation manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060245894A1 (en) * | 2005-03-21 | 2006-11-02 | Michael Merz | Parallel robot |
| CN106002342A (en) * | 2016-07-01 | 2016-10-12 | 中国地质大学（武汉） | Five-axis linkage series-parallel machine tool |
| CN110181488A (en) * | 2019-06-26 | 2019-08-30 | 燕山大学 | A kind of full symmetric parallel institution of high performance three freedom redundancy driving |
| CN110524518A (en) * | 2019-09-04 | 2019-12-03 | 燕山大学 | One kind two moves one turn of few full symmetric parallel institution of branch redundant drive |
-
2023
- 2023-01-05 CN CN202310012064.2A patent/CN115922674B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060245894A1 (en) * | 2005-03-21 | 2006-11-02 | Michael Merz | Parallel robot |
| CN106002342A (en) * | 2016-07-01 | 2016-10-12 | 中国地质大学（武汉） | Five-axis linkage series-parallel machine tool |
| CN110181488A (en) * | 2019-06-26 | 2019-08-30 | 燕山大学 | A kind of full symmetric parallel institution of high performance three freedom redundancy driving |
| CN110524518A (en) * | 2019-09-04 | 2019-12-03 | 燕山大学 | One kind two moves one turn of few full symmetric parallel institution of branch redundant drive |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652914A (en) * | 2023-07-04 | 2023-08-29 | 吉林大学 | Triple-translation redundant parallel teleoperation manipulator |
| CN116652914B (en) * | 2023-07-04 | 2023-12-19 | 吉林大学 | Triple-translation redundant parallel teleoperation manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115922674B (en) | 2024-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110216703B (en) | Parallel multi-mode robot dexterous hand | |
| WO2018076601A1 (en) | Large-rotation angle two-rotational, one-translational parallel mechanism | |
| CN110125919B (en) | Three-degree-of-freedom redundant drive parallel mechanism with large rotation angle | |
| CN112454337B (en) | Four-degree-of-freedom parallel mechanism with large-angle twisting platform and composite branched chain | |
| CN109877813B (en) | Large-rotation-angle 2T2R four-degree-of-freedom parallel mechanism | |
| CN114227649B (en) | Three-movement two-rotation five-degree-of-freedom parallel driving robot | |
| CN114227648B (en) | High-rigidity five-degree-of-freedom parallel driving robot | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN112192550A (en) | Constraint redundant two-rotation two-movement four-freedom-degree parallel mechanism | |
| CN111267076A (en) | High-rigidity redundant drive parallel mechanism | |
| CN109514596B (en) | Double-cross hinge three-degree-of-freedom parallel joint mechanism | |
| WO2018233469A1 (en) | Spherical parallel mechanism | |
| CN110053026B (en) | Five-freedom-degree series-parallel robot for workpiece machining | |
| CN115922674A (en) | Three-degree-of-freedom redundant parallel-connection end force control actuator based on 2UPR-2RRU mechanism | |
| CN102018574B (en) | Small-volume medical manipulator joint with high load capacity | |
| CN110524517B (en) | Large-corner non-coplanar two-rotation one-movement redundant drive parallel mechanism | |
| CN112276912B (en) | Parallel mechanism containing orthogonal double-linear driving branched chain | |
| CN109571444B (en) | Two-translation one-rotation partial decoupling parallel mechanism | |
| CN109079761B (en) | Two-rotation one-movement parallel robot with closed-loop branched chain | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN111438682B (en) | Industrial mobile overturning platform with three degrees of freedom of two rotations and one movement | |
| CN117400298A (en) | Novel single-degree-of-freedom telescopic mechanical arm | |
| CN111604885B (en) | Six-freedom-degree series-parallel robot with multi-axis rotating support | |
| CN109696930B (en) | Six-degree-of-freedom three-dimensional force feedback mechanism | |
| CN114603538B (en) | Complete decoupling spherical 3R rotation parallel mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |