CN116652914B - Triple-translation redundant parallel teleoperation manipulator - Google Patents

Triple-translation redundant parallel teleoperation manipulator Download PDF

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Publication number
CN116652914B
CN116652914B CN202310808595.2A CN202310808595A CN116652914B CN 116652914 B CN116652914 B CN 116652914B CN 202310808595 A CN202310808595 A CN 202310808595A CN 116652914 B CN116652914 B CN 116652914B
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plate
rod
holes
positioning holes
screw
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CN202310808595.2A
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CN116652914A (en
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巩明德
胡孔明
李天旭
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0036—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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]

Abstract

The invention discloses a three-translation redundancy parallel teleoperation manipulator, which solves the problems of difficult obstacle avoidance, difficult singularity solution and difficult feedback force direction existing in the prior art, and comprises a movable platform assembly, a fixed platform (18) and 3 parallel branched chains with the same structure; the fixed platform (18) is positioned at the bottommost end of the three-translation redundancy parallel teleoperation manipulator, 3 parallel branched chains with the same structure are positioned between the movable platform assembly and the fixed platform (18), the bottom ends of the 3 parallel branched chains are fixed on the upper surface of the fixed platform (18) through a guide rail plate (17) therein and by bolts, and the top ends of the parallel branched chains are fixed on the bottom surface of the movable platform (3) in the movable platform assembly through a joint (5) therein and by bolts; the extension lines of the screw rod rotation axes of the screw rod assemblies (14) in the 3 parallel branched chains with the same structure are intersected on the symmetrical central line of the fixed platform (18), and the included angle between the two adjacent screw rod rotation axes is 120 degrees.

Description

Triple-translation redundant parallel teleoperation manipulator
Technical Field
The invention relates to a manipulator in the field of teleoperation and parallel robots, in particular to a three-translation redundant parallel teleoperation manipulator.
Background
The positive kinematics of the three-translation parallel mechanism can be calculated explicitly, the response speed is high, and the three-translation parallel mechanism has strong advantages in the aspects of article sorting and machining. If the redundancy processing is carried out on the premise of ensuring the three-translation motion mode, the obtained three-translation redundancy driving parallel mechanism has better kinematic performance and better operability, and reduces joint stress under the condition of known external force. The mechanism with the mechanism activity degree larger than that of the motion platform can enlarge the working space, and is called a motion redundancy parallel mechanism; the mechanism with the driving quantity of the mechanism being more than the activity degree of the motion platform can effectively eliminate singular points in the working space, improve the motion performance of the mechanism and is called as a driving redundancy parallel mechanism; mechanisms with a greater number of mechanical sensors than drive joints can be used to solve positive kinematic problems, reducing position errors, known as measurement redundant parallel mechanisms. And corresponding redundant processing can be carried out on the parallel mechanism according to the performance requirement. Sukhan and Sungbok divide the redundancy of redundant drive parallel mechanisms into adding drive pairs, replacing passive pairs with drive pairs, and adding branches. The working space of the driving pair expandable mechanism is increased, the response speed is improved, and the driving pair expandable mechanism is suitable for occasions with larger working space requirements or higher response speed requirements, and can be used for avoiding obstacles when necessary; the driving pair replaces the passive pair, so that the working space is not increased, and the working space is reduced in some cases, but the response speed is improved, and the driving pair is suitable for occasions with smaller requirements on the working space; the addition of the branches can improve the rigidity of the system, and is suitable for occasions with higher rigidity requirements. Teleoperation techniques are often faced with environmental objects of unknown parameters, requiring robots to have a faster response speed and a stronger environmental adaptation capability.
In the redundant mode of the three-translation parallel robot, researchers do a great deal of research and obtain corresponding results. The Chinese patent application number is CN201210533432.X, the application date is 2012, 12 and 11, the invention name is a redundant-driving three-degree-of-freedom translation parallel robot mechanism, and the redundant-driving three-degree-of-freedom translation parallel robot mechanism is provided in the scheme and consists of a base, a movable platform and 4 parallel branched chains, wherein each parallel branched chain consists of 2 Hooke hinges and 2 moving pairs; the Chinese patent application number is CN201310249899.6, the application date is 2013, 6 and 21, the invention provides a redundant driving symmetrical three-degree-of-freedom moving parallel mechanism, which consists of four fixed guide rails, a movable platform and four parallel branched chains for connecting the two, wherein each parallel branched chain comprises 1 revolute pair connected with the movable platform, 1 movable pair and 1 cylindrical pair connected with the guide rails; the Chinese patent application number is CN201520355410.8, the application date is 2015, 5 and 27, the invention is named as a redundant driving three-dimensional translation parallel mechanism, and the redundant driving three-dimensional translation parallel mechanism is provided in the patent and consists of a bracket, a Delta parallel mechanism and a rectangular coordinate axis feeding device, and the working space of the Delta mechanism is enlarged by the plane movement of the rectangular coordinate axis feeding device; the Chinese patent application number is CN201620424647.1, the application date is 2016, 5 and 11, the invention is named as a space three-translation redundancy driving parallel mechanism, and the space three-translation redundancy driving parallel mechanism is provided in the proposal and consists of a movable platform, a bracket and 5 parallel branched chains for connecting the movable platform and the bracket, and is used for improving the precision, the stability and the bearing capacity of the mechanism; the invention provides a three-translation gantry parallel machine tool with additional redundancy linear sliding, which consists of a gantry, a linear module, a movable platform, a workbench and three parallel branched chains connecting the movable platform and the gantry, and enlarges the working space of the parallel machine tool.
The research result of the three-translation parallel manipulator suitable for the teleoperation field which is vigorously developed at present is less, and a new model which meets the three-translation movement mode, has high response speed and strong environmental adaptability is urgently needed to be created.
Disclosure of Invention
The invention aims to solve the technical problems that a three-translation parallel robot is difficult to avoid obstacles, is difficult to solve singularities and is difficult to feed back force directions in the prior art, and provides a three-translation redundant parallel teleoperation manipulator.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
the three-translation redundant parallel teleoperation manipulator comprises a movable platform assembly, a fixed platform and 3 parallel branched chains with the same structure;
the movable platform assembly comprises a handle, a six-dimensional force sensor, a movable platform and a gyroscope;
the handle consists of an upper handle rod and a lower flange plate; the flange plate at the lower part is provided with 3 handle mounting holes which are completely identical in structure and circumferentially distributed around the center of the flange plate, and the handle mounting holes are stepped light through holes with the upper aperture larger than the lower aperture and used for mounting the handle on the upper surface of the six-dimensional force sensor; the included angles between the connecting lines of the centers of the adjacent 2 handle mounting holes of the 3 handle mounting holes and the center of the flange plate are 120 degrees, the bottom end of the handle rod is fixedly connected with the center of the top end surface of the flange plate, and the rotation axis of the handle rod is collinear with the rotation axis of the flange plate;
The six-dimensional force sensor is a sensor for monitoring the stress of the handle by adopting the compact type 6-axis force of the Japanese leptino;
the gyroscope is used for monitoring the pose of the movable platform by VG800CA-210 of MEMSIC;
the handle is fixedly arranged on the six-dimensional force sensor by bolts, the six-dimensional force sensor is fixedly arranged on the upper surface of the movable platform by bolts, and the gyroscope is fixedly arranged on the bottom surface of the movable platform by bolts; the centers of the handle, the six-dimensional force sensor, the movable platform and the gyroscope are collinear;
the parallel branched chain comprises a frame component, a rotating motor component, a displacement sensor component, a screw rod component and a guide rail plate;
the displacement sensor assembly is arranged at the front end of the top end surface of the guide rail plate through the heightening plate, the rotation axis of the sensor shell in the displacement sensor assembly is parallel to the long side of the guide rail plate, and the left end of the displacement sensor assembly is fixedly connected with the right end surface of the nut sleeve in the screw rod assembly through the connecting sheet; the screw rod assembly is arranged on the top end surface of the guide rail plate at the rear side of the displacement sensor assembly, and the rotation axis of the screw rod in the screw rod assembly is parallel to the rotation axis of the sensor shell in the displacement sensor assembly; the rotary motor assembly is arranged on the top end surface of the nut sleeve through a lower plate thereof, and the rotation axis of an output shaft of the rotary motor in the rotary motor assembly is vertically crossed with the rotation axis of the screw rod; the bottom end of the frame component is sleeved on the output shaft of the rotating motor through the left end of the driving rod, and the bottom end and the left end are in rotating connection;
The positioning platform is positioned at the bottommost end of the three-translation redundant parallel teleoperation manipulator, 3 parallel branched chains with identical structures are positioned between the movable platform assembly and the positioning platform, the bottom ends of the 3 parallel branched chains are fixed on the upper surface of the positioning platform through guide rail plates in the parallel branched chains and bolts, and the top ends of the parallel branched chains are fixed on the bottom end surface of the movable platform in the movable platform assembly through joints in the parallel branched chains and bolts;
and extension lines of screw rod rotation axes of screw rod assemblies in the 3 parallel branched chains with identical structures are intersected on a symmetrical central line of the fixed platform, and an included angle between every two adjacent screw rod rotation axes is 120 degrees.
According to the technical scheme, the movable platform is a disc-shaped structural member, 3 six-dimensional force sensor mounting holes which are identical in structure and uniformly distributed along the circumference are arranged at the central position of the movable platform, and the six-dimensional force sensor mounting holes are stepped light through holes with the upper aperture smaller than the lower aperture; the outer sides of the 3 six-dimensional force sensor mounting holes are also provided with 4 gyroscope positioning holes which are distributed along the circumference and have identical structures, the gyroscope positioning holes are threaded through holes, the 4 gyroscope positioning holes are respectively positioned on 4 vertexes of a rectangle, and the 4 gyroscope positioning holes are aligned with the mounting holes on the gyroscope; the outermost sides of the 4 gyroscope positioning holes are also provided with 3 groups of holes with identical structures distributed along the circumference, each group of holes comprises 2 joint positioning holes with identical structures, each joint positioning hole is a light through hole, and the included angle between perpendicular bisectors of central connecting lines of the two groups of joint positioning holes is 120 degrees; the perpendicular bisectors of the central connecting lines of one group of joint locating holes are collinear with the diagonal lines of the rectangle formed by the central connecting lines of 4 gyroscope locating holes.
The fixed platform in the technical scheme is a hexagonal flat plate structural member which is formed by cutting 3 small regular triangle plates at 3 corners by the regular triangle plates and is provided with 3 long sides with equal length and 3 short sides with equal length; the fixed platform is provided with 3 groups of holes with identical structures, each group of holes comprises 3 guide rail plate positioning holes with identical structures, the guide rail plate positioning holes are threaded through holes, and the guide rail plate positioning holes correspond to guide rail plate mounting holes on the guide rail plate; the rotation center connecting line of each group of guide rail plate positioning holes is a perpendicular bisector of a short side intersecting with the rotation center connecting line; the rotation center connecting lines of the 3 groups of guide rail plate positioning holes are converged at the center of the hexagon.
The rotating motor component in the technical scheme comprises a right plate, a rotating motor, a lower plate and a left plate;
the right plate is fixedly arranged on the first ladder of the lower plate by adopting a bolt, the bottom end of the right end face of the right plate is in contact connection with the left end face of the second ladder of the lower plate, the bottom end face of the right plate is in contact connection with the upper surface of the first ladder of the lower plate, and the bottom end face of the right plate and the upper surface of the first ladder of the lower plate are connected by adopting a screw; the rotary motor is fixedly connected to the left end face of the right hole of the rotary motor shaft hole of the right plate through bolts, an output shaft of the rotary motor extends out of the rotary motor shaft hole of the right plate, and the leftmost end of the output shaft of the rotary motor is installed in the rotary motor shaft supporting hole of the left plate through a bearing; the right end face of the left plate is aligned in parallel with the left end face of the first step of the lower plate, and the bottom face of the left plate is coplanar with the bottom face of the lower plate; the middle part of the output shaft of the rotary motor is arranged in the driving rod mounting hole of the driving rod.
The displacement sensor component in the technical scheme comprises a sensor, 2 brackets with the same structure, a heightening plate and a connecting sheet;
the sensor adopts a displacement sensor with the model of KPM-16, and consists of a pull rod and a sensor shell;
the bracket is a plate with a convex structure, the middle of the bracket is provided with a displacement sensor mounting hole with the same shaft diameter as the sensor shell, and a groove with the size equal to 1/10 of the aperture of the displacement sensor mounting hole is arranged in the vertical direction upwards along the center of the displacement sensor mounting hole; the bracket is provided with 1 threaded through hole penetrating through the front side groove wall to the rear side groove wall, and the rotation axis of the threaded through hole is vertical to the front side groove wall and the rear side groove wall of the groove; clamping the displacement sensor housing by pre-tightening the bolts; the front side and the rear side of the bottom end of the bracket are respectively provided with 1 bracket mounting hole, and the bracket mounting holes are light through holes;
the heightening plate is a plate structural member which is cut off at the lower left corner of the rectangular plate and is in the shape of an isosceles right triangle plate; 2 heightening plate mounting holes with identical structures are longitudinally formed in the heightening plate, the heightening plate mounting holes are stepped light through holes with the upper aperture larger than the lower aperture, and the connecting lines of the 2 heightening plate mounting holes are parallel to the long edges of the upper surface of the heightening plate; the heightening plate is also provided with 4 bracket positioning holes with identical structures, the bracket positioning holes are threaded through holes, and the bracket positioning holes correspond to bracket mounting holes on the displacement sensor assembly, which are used for mounting the displacement sensor assembly on the heightening plate; the 4 bracket positioning holes with identical structures are positioned at 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the upper surface of the heightening plate;
The connecting sheet is a rectangular plate structural member; one side of the connecting piece is provided with 4 connecting piece mounting holes with identical structures, and the connecting piece mounting holes are stepped light through holes with front side apertures larger than rear side apertures; the other side of the connecting sheet is provided with 1 pull rod mounting hole for mounting a pull rod, and the pull rod mounting hole is an optical through hole;
the sensor is arranged in a displacement sensor mounting hole on the bracket through a shell in the sensor and is fixedly connected by bolts; the right end of the pull rod is inserted into the sensor shell, and the pull rod is in sliding connection with the shell; the left end of the pull rod is inserted into a pull rod mounting hole on the connecting sheet and fixedly connected by adopting a nut; the support with the same structure is arranged on the upper surface of the heightening plate in parallel and aligned by bolts, the bottom surfaces of the support with the same structure are in contact connection with the upper surface of the heightening plate, and the rotation axes of the displacement sensor mounting holes on the support with the same structure are collinear.
The screw rod assembly comprises a front support, a screw rod nut, a rear support, a coupler, a screw rod motor, a rear plate and a nut sleeve;
the screw rod is inserted into the screw rod nut, the screw rod nut is fixedly arranged in a screw rod nut hole on the nut sleeve by adopting a bolt, the left end of the screw rod is arranged in a screw rod mounting hole of the front support by adopting a bearing and a clamp spring, the right part of the screw rod is arranged in a screw rod mounting hole of the rear support by adopting a bearing, the right end of the screw rod extends out of the screw rod mounting hole of the rear support, and the right end of the screw rod is connected with the left end of the coupler; the output end of the screw motor shaft is connected with the right end of the coupler; the screw motor shaft extends out of the screw motor shaft hole of the rear plate; the left side face of the screw motor speed reducer is fixedly connected to the right end face of the rear plate through a bolt, and the left end face of the screw motor speed reducer is coplanar with the right end face of the rear plate.
According to the technical scheme, the nut sleeve is a cuboid structure, 2 left plate positioning holes with identical structures are formed in the left side of the upper surface of the nut sleeve, the left plate positioning holes are threaded blind holes, the central connecting line of the 2 left plate positioning holes is parallel to the short side of the upper surface of the nut sleeve, 4 lower plate positioning holes with identical structures are formed in the right side of the left plate positioning holes, the lower plate positioning holes are threaded blind holes, the 4 lower plate positioning holes are located on 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the upper surface of the nut sleeve; the middle of the front side surface of the nut sleeve is provided with 1 screw nut hole which is an optical through hole, 6 screw nut positioning holes which are completely identical in structure and distributed along the circumference are arranged by taking the axis of the screw nut hole as the center, the screw nut positioning holes are threaded blind holes, the included angle between the centers of every two adjacent 2 screw nut positioning holes in the left 3 screw nut positioning holes and the center connecting line of the screw nut holes is 45 degrees, the included angle between the centers of every two adjacent 2 screw nut positioning holes in the top end and the center connecting line of the screw nut holes is 90 degrees, the included angle between the centers of every two adjacent 2 screw nut positioning holes in the right 3 screw nut positioning holes and the center connecting line of the screw nut holes is 45 degrees, and the included angle between the centers of every 2 screw nut positioning holes in the bottom end and the center connecting line of the screw nut holes is 90 degrees; the left side of the left 3 screw nut positioning holes is also provided with 4 connecting piece positioning holes with identical structures, the connecting piece positioning holes are threaded blind holes, the 4 connecting piece positioning holes are positioned on 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the front side of the nut sleeve; the bottom surface of the nut sleeve is provided with 2 guide rail grooves with identical structures, the cross sections of the guide rail grooves and the guide rails on the guide rail plate are identical, and the center line of the guide rail grooves is parallel to the short side of the bottom surface of the nut sleeve.
The frame component in the technical scheme comprises a joint, an upper rod, 2 middle rods with the same structure, a lower rod and a driving rod;
the upper rod is arranged in an upper rod mounting hole on a joint at the top end of the parallel branched chain through a bearing and a clamp spring, and the axis of the middle cylinder of the upper rod is overlapped with the central line of the upper rod mounting hole; the left middle rod and the right middle rod are positioned between the upper rod and the lower rod; two ends of the upper rod are respectively arranged in upper rod mounting grooves at the upper ends of the middle rods at the left side and the right side, and are rotationally connected by round nuts and bolts; the middle position of the lower rod is arranged in a lower rod mounting hole on the driving rod, and the axis of the middle cylinder of the lower rod is coincident with the central line of the lower rod mounting hole; two ends of the lower rod are respectively arranged in lower rod mounting grooves at the lower ends of the middle rods at the left side and the right side; the center line of the center rod positioning hole on the upper rod coincides with the center line of the center rod mounting hole on the center rod, the center rod positioning hole on the lower rod coincides with the center line of the center rod mounting hole on the center rod, and the distance from the center rod positioning hole on the left end of the upper rod to the left end face of the joint is equal to the distance from the center rod positioning hole on the right end of the upper rod to the right end face of the joint; the distance from the middle rod positioning hole on the left end of the lower rod to the left end face of the cylinder at the upper end of the driving rod is equal to the distance from the middle rod positioning hole on the right end of the lower rod to the right end face of the cylinder at the upper end of the driving rod.
The guide rail plate is a rectangular flat plate structural member provided with a boss and 2 guide rails with identical structures, an isosceles right triangle triangular plate is cut off at the lower left corner of the guide rail plate, 2 guide screw assembly positioning holes with identical structures are formed in the left end of the guide rail plate, the guide screw assembly positioning holes are threaded through holes, and the central connecting line of the 2 guide screw assembly positioning holes is perpendicular to the long side of the guide rail plate; 2 guide rails which are parallel to each other are arranged on the right side of the 2 guide screw assembly positioning holes, the 2 guide rails are parallel to the long sides of the guide rail plate, the cross section of the guide rail is an isosceles trapezoid with the upper side longer than the lower side longer, 4 right guide screw assembly positioning holes with identical structures are arranged on the right side of the guide rail, the right guide screw assembly positioning holes are identical to the 2 guide screw assembly positioning holes with identical structures on the left side of the 2 guide rails, the 4 right guide screw assembly positioning holes are positioned on 4 vertexes of a rectangle, and the long sides of the rectangle are perpendicular to the long sides of the guide rail plate; a boss is arranged at the upper right of the guide rail plate, 2 rear plate positioning holes with identical structures are arranged on the boss, the rear plate positioning holes are threaded through holes, and the central connecting line of the 2 rear plate positioning holes is perpendicular to the long side of the guide rail plate; 2 heightening plate positioning holes with identical structures are formed in the bottommost end of the guide rail plate, the heightening plate positioning holes are threaded through holes, and the central connecting line of the 2 heightening plate positioning holes is parallel to the long side of the guide rail plate; and 3 guide rail plate mounting holes with identical structures are also arranged between the positioning holes of the heightening plate and the guide rail positioned below, and the guide rail plate mounting holes are stepped light through holes with the upper aperture larger than the lower aperture.
Compared with the prior art, the invention has the beneficial effects that:
1. the three-translation redundant parallel teleoperation manipulator has a response speed faster than that of the same type of non-redundant parallel robots;
2. the three-translation redundant parallel teleoperation manipulator disclosed by the invention has a higher operation speed than the same type of non-redundant parallel robots;
3. the three-translation redundant parallel teleoperation manipulator is larger than the working space of the three-translation parallel mechanism;
4. the three-translation redundant parallel teleoperation manipulator can avoid barriers and singular configurations, and has wider applicability;
5. the three-translation redundant parallel teleoperation manipulator disclosed by the invention can not only feed back the magnitude of force, but also feed back the direction of force.
In conclusion, the three-translation redundancy parallel teleoperation manipulator has higher practical value and wide application prospect, and provides a new structure for the technical fields of parallel robots, numerical control machine tools, coordinate measuring machines, teleoperation and the like.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is an isometric view of a three-translation redundant parallel teleoperation manipulator structure according to the present invention;
FIG. 2 is an isometric view of a structure of a movable platform assembly of the three-translation redundant parallel teleoperation manipulator according to the present invention;
FIG. 3 is an isometric view of a parallel branched structure of a triple-translational redundant parallel teleoperation manipulator according to the present invention;
FIG. 4 is an isometric view of a handle structure employed in the mobile platform assembly of the triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 5 is an isometric view of a movable platform structure employed in the movable platform assembly of the triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 6 is an isometric view of a joint structure used in the parallel branches of the triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 7 is an isometric view of an upper rod structure used in the parallel branches of the triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 8 is an isometric view of a displacement sensor assembly structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 9 is an isometric view of a lever structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 10 is an isometric view of a right plate structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 11 is an isometric view of a lower plate structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 12 is an isometric view of a drive rod structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 13 is an isometric view of a structural assembly of lead screws employed in parallel branches of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 14 is an isometric view of a rear plate structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 15 is an isometric view of a plate structure of an elevated plate employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 16 is an isometric view of a rail plate structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 17 is an isometric view of a fixed platform structure employed in the triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 18 is an isometric view of a joint tab structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 19 is an isometric view of a left plate structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
FIG. 20 is an isometric view of a nut sleeve structure employed in a parallel branch of a triple-translational redundant parallel teleoperation manipulator of the present invention;
in the figure: 1. handle, 2 six-dimensional force sensor, 3 motion platform, 4 gyroscope, 5 joint, 6 upper rod, 7 displacement sensor assembly, 8 middle rod, 9 right plate, 10 rotary motor, 11 lower rod, 12 lower plate, 13 drive rod, 14 screw assembly, 15 rear plate, 16 step up plate, 17 guide rail plate, 18 fixed platform, 19 connecting piece, 20 left plate, 21 nut housing, 22 handle mounting hole, 23 joint positioning hole, 24 gyroscope positioning hole, 25 six-dimensional force sensor mounting hole, 26 joint mounting hole, 27 upper rod mounting hole, 28 middle rod positioning hole, 29 snap spring slot, 30 tie rod, 31 bracket, 32 middle rod mounting hole, 33 upper rod mounting slot, 34 lower rod mounting slot, 35 rotary motor shaft hole, 36 rotary motor mounting hole, 37 right plate mounting hole, 38, lower plate mounting hole, 39, right plate positioning hole, 40, drive rod mounting hole, 41, lower rod mounting hole, 42, screw assembly mounting hole, 43, screw nut mounting hole, 44, rear plate mounting hole, 45, screw motor mounting hole, 46, screw motor shaft hole, 47, height plate mounting hole, 48, bracket positioning hole, 49, screw assembly positioning hole, 50, guide rail, 51, boss, 52, rear plate positioning hole, 53, height plate positioning hole, 54, guide rail plate mounting hole, 55, guide rail plate positioning hole, 56, connecting piece mounting hole, 57, pull rod mounting hole, 58, left plate mounting hole, 59, rotating motor shaft supporting hole, 60, left plate positioning hole, 61, lower plate positioning hole, 62, screw nut positioning hole, 63, guide rail groove, 64, screw nut hole, 65.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
referring to fig. 1, the triple-translational redundant parallel teleoperation manipulator of the present invention includes a movable platform assembly, a fixed platform 18, and 3 parallel branches with identical structures for connecting the movable platform assembly and the fixed platform 18.
The fixed platform 18 is positioned at the bottommost end of the three-translation redundancy parallel teleoperation manipulator, 3 parallel branched chains with identical structures are positioned between the movable platform assembly and the fixed platform 18, the bottom ends of the 3 parallel branched chains are fixed on the upper surface of the fixed platform 18 through guide rail plates 17 and bolts, and the top ends of the parallel branched chains are fixed on the bottom end surface of the movable platform 3 in the movable platform assembly through joints 5 and bolts.
The extension lines of the screw rod rotation axes of the screw rod assemblies 14 in the 3 parallel branched chains with the identical structures are intersected on the symmetrical central line of the fixed platform 18, and the included angle between the two adjacent screw rod rotation axes is 120 degrees.
Referring to fig. 2, the movable platform assembly includes a handle 1, a six-dimensional force sensor 2, a movable platform 3 and a gyroscope 4.
The six-dimensional force sensor 2 is a Japanese Leptrino compact 6-axis force sensor and is used for monitoring the stress of the handle 1;
The gyroscope 4 is a VG800CA-210 gyroscope of MEMSIC and is used for monitoring the pose of the movable platform 3.
Referring to fig. 4, the handle 1 is composed of an upper handle rod and a lower flange; the flange plate at the lower part is provided with 3 handle mounting holes 22 which are completely identical in structure and circumferentially distributed around the center of the flange plate, and the handle mounting holes 22 are stepped light through holes with the upper aperture larger than the lower aperture; for mounting the handle 1 on the upper surface of the six-dimensional force sensor 2; the included angles between the connecting lines of the centers of the adjacent 2 handle mounting holes 22 in the 3 handle mounting holes 22 and the center of the flange plate are 120 degrees, the bottom end of the handle rod is fixedly connected with the center of the top end surface of the flange plate, and the rotation axis of the handle rod is collinear with the rotation axis of the flange plate.
Referring to fig. 5, the movable platform 3 is a disc-shaped structural member, 3 six-dimensional force sensor mounting holes 25 which are completely identical and uniformly distributed along the circumference are arranged at the central position of the movable platform 3, and the six-dimensional force sensor mounting holes 25 are stepped light through holes with the upper aperture smaller than the lower aperture; the outer sides of the 3 six-dimensional force sensor mounting holes 25 are also provided with 4 gyroscope positioning holes 24 which have the same structure and are distributed along the circumference, the gyroscope positioning holes 24 are threaded through holes, the 4 gyroscope positioning holes 24 are respectively positioned on 4 vertexes of a rectangle, and the 4 gyroscope positioning holes 24 are aligned with the mounting holes on the gyroscope 4; the outermost side of the movable platform 3 is also provided with 3 groups of holes with completely identical structures distributed along the circumference, each group of holes comprises 2 completely identical joint positioning holes 23, and the joint positioning holes 23 are light through holes; the included angle between the perpendicular bisector of the center line of one group of joint locating holes 23 and the perpendicular bisector of the center line of the other group of joint locating holes 23 is 120 degrees; looking down from above the driven platform 3, the perpendicular bisectors of the center lines of the group of joint positioning holes 23 are collinear with the diagonal lines of the rectangle formed by the center lines of the 4 gyro positioning holes 24.
The handle 1 is positioned on the six-dimensional force sensor 2, the six-dimensional force sensor 2 is arranged on the upper surface of the movable platform 3, and the gyroscope 4 is arranged on the bottom surface of the movable platform 3. The centers of the handle 1, the six-dimensional force sensor 2, the movable platform 3 and the gyroscope 4 are collinear.
The handle 1 is fixed on the upper surface of the six-dimensional force sensor 2 by bolts; the six-dimensional force sensor 2 is fixed on the upper surface of the movable platform 3 by bolts, and the gyroscope 4 is fixed on the bottom surface of the movable platform 3 by bolt connection.
Referring to fig. 3, the parallel branched chain comprises a frame assembly, a rotating motor assembly, a displacement sensor assembly 7, a screw assembly 14 and a guide rail plate 17;
the structure and the connection mode of the 3 parallel branched chains are completely the same, so only 1 parallel branched chain is used for illustration.
The frame assembly comprises a joint 5, an upper rod 6, 2 middle rods 8 with the same structure, a lower rod 11 and a driving rod 13;
referring to fig. 6, the upper part of the joint 5 is a cuboid, and the lower part is a structural member consisting of semi-cylinders with the diameter equal to the long side of the lower surface of the upper long body; the upper surface of the joint 5 is provided with 2 identical joint mounting holes 26, the joint mounting holes 26 are threaded blind holes, and the distance between the 2 joint mounting holes 26 is equal to the distance between each group of joint positioning holes 23 on the movable platform 3; the lower part of the joint 5 is provided with 1 upper rod mounting hole 27 by taking the semi-cylindrical center as the center, and the upper rod mounting hole 27 is a stepped light through hole with the aperture of both sides larger than the aperture of the middle part; the aperture of the two sides is equal to the diameter of the outer ring of the bearing on the upper rod 6.
Referring to fig. 7, the upper rod 6 and the lower rod 11 have the same structure and size, and are all structural members formed by cutting out cylindrical surfaces of the upper part and the lower part of the cylindrical surfaces of the two ends of the cylindrical member along the direction parallel to the axis; taking the upper rod 6 as an example for illustration, the middle part of the upper rod 6 is of a cylindrical structure, the upper surface and the lower surface of two sides of the cylinder are planes, and the planes of two ends of the middle cylinder on the same side are coplanar; 2 snap spring grooves 29 are formed in the middle cylinder structure of the upper rod 6; the 2 snap spring grooves 29 are the same in size and are symmetrical with respect to the center of the upper rod 6; two ends of the upper rod 6 are also provided with 2 middle rod positioning holes 28 which are symmetrical with respect to the center of the upper rod 6, and the middle rod positioning holes 28 are light through holes; the axis of the center rod positioning hole 28 is perpendicular to the upper and lower surfaces of the two-sided structure.
Referring to fig. 9, the middle rod 8 is a straight rod structure formed by cutting 1 small cuboid vertically and symmetrically in the middle of a quadrangular prism, an upper rod mounting groove 33 and a lower rod mounting groove 34 are arranged at the left end and the right end of the straight rod structure, the upper rod mounting groove 33 at the left end and the lower rod mounting groove 34 at the right end are identical in structural dimension and symmetrically arranged at the left end, and the symmetry planes of the upper rod mounting groove 33 at the left end and the lower rod mounting groove 34 at the right end are coplanar with the longitudinal symmetry plane of the middle rod 8; the left and right ends are provided with 2 identical center pole mounting holes 32 penetrating through the upper pole mounting groove 33 and the lower pole mounting groove 34 and the upper and lower groove walls, the center pole mounting holes 32 are light through holes, and the 2 identical center pole mounting holes 32 correspond to the center pole positioning holes 28 at the two ends of the upper pole 6 and are used for respectively mounting the upper ends and the lower ends of the 2 center poles 8 at the two ends of the upper pole 6 and the lower pole 11.
Referring to fig. 12, the driving rod 13 is a structural member with cylindrical upper and lower ends and connected by isosceles trapezoid plate-type connecting rods in the middle; wherein the diameter of the upper end cylinder is larger than the diameter of the lower end cylinder, and the height of the upper end cylinder is larger than the height of the lower end cylinder; the thickness of the middle connecting rod is equal to the height of the lower end cylinder; the center of the upper end cylinder is provided with 1 lower rod mounting hole 41, and the lower rod mounting hole 41 is a stepped light through hole with the aperture of both sides larger than the aperture of the middle part; the aperture of the two sides of the lower rod mounting hole 41 is equal to the diameter of the outer ring of the bearing on the lower rod 11; at the lower end of the driving rod 13, 1 driving rod mounting hole 40 is provided with the central axis of the lower end cylinder as the center, the driving rod mounting hole 40 is a light through hole with a key groove, and the diameter of the light through hole is equal to the diameter of a rotating motor shaft, and is used for mounting the driving rod 13 on the rotating motor shaft.
The joint 5 is positioned at the top end of the parallel branched chain and sleeved on the upper rod 6, namely the upper rod 6 is arranged in an upper rod mounting hole 27 positioned on the joint 5 at the top end of the parallel branched chain, and the axis of a middle cylinder of the upper rod 6 is overlapped with the central line of the upper rod mounting hole 27; the left and right middle rods 8 are positioned between the upper rod 6 and the lower rod 11; two ends of the upper rod 6 are respectively arranged in upper rod mounting grooves 33 at the upper ends of the middle rods 8 at the left side and the right side; the lower rod 11 is arranged in a lower rod mounting hole 41 at the upper part of the driving rod 13, and the axis of the middle cylinder of the lower rod 11 coincides with the central line of the lower rod mounting hole 41; two ends of the lower rod 11 are respectively arranged in lower rod mounting grooves 34 at the lower ends of the middle rods 8 at the left side and the right side; the center line of the center rod positioning hole 28 on the upper rod 6 and the center line of the center rod mounting hole 32 on the center rod 8 coincide, and the distance from the center rod positioning hole 28 on the left end of the upper rod 6 to the left end face of the joint 5 is equal to the distance from the center rod positioning hole on the right end of the upper rod 6 to the right end face of the joint 5; the distance from the middle rod positioning hole 28 on the left end of the lower rod 11 to the left end surface of the cylinder at the upper end of the driving rod 13 is equal to the distance from the middle rod positioning hole 28 on the right end of the lower rod 11 to the right end surface of the cylinder at the upper end of the driving rod 13;
The upper rod 6 is arranged in an upper rod mounting hole 27 of the joint 5 through a bearing and a clamp spring and is in rotary connection; the two ends of the upper rod 6 are installed in an upper rod installation groove 33 at the upper part of the middle rod 8 through round nuts and bolts, and the length of the round nuts is equal to the thickness of the upper side and the lower side of the middle rod 8 for rotary connection. The lower rod 11 is arranged in a lower rod mounting hole 41 at the upper part of the driving rod 13 through a bearing and a clamp spring and is in rotary connection; the two ends of the lower rod 11 are installed in the lower rod installation groove 34 at the lower part of the middle rod 8 through round nuts and bolts for rotary connection.
The rotary motor assembly comprises a right plate 9, a rotary motor 10, a lower plate 12 and a left plate 20;
referring to fig. 10, the right plate 9 is a plate-type structural member with a semi-cylindrical plate at the upper part and a rectangular plate at the lower part, the thickness of the semi-cylindrical plate is equal to that of the rectangular plate, and the diameter of the semi-cylindrical plate is equal to that of the long side of the rectangular plate; the right plate 9 is provided with 1 rotary motor shaft hole 35 taking the rotation axis of the semi-cylindrical plate as the center, the rotary motor shaft hole 35 is a stepped light through hole with the left aperture smaller than the middle aperture, the middle aperture smaller than the right aperture, the left aperture is used for installing a rotary motor shaft, and the middle aperture and the right aperture are used for installing a speed reducer of the rotary motor 10; around the rotation motor shaft hole 35, with the rotation axis of the rotation motor shaft hole 35 as the center, 4 rotation motor mounting holes 36 with identical structures are arranged uniformly along the circumference, and the rotation motor mounting holes 36 are stepped light through holes with left side aperture larger than right side aperture for fixing the rotation motor 10; 2 right plate mounting holes 37 with identical structures are arranged near the bottom end surface of the right plate 9, and the right plate mounting holes 37 are stepped light through holes with left side apertures larger than right side apertures and are used for mounting the right plate 9 on the lower plate 12; the purpose of the 4 rotation motor mounting holes 36 and the 2 right plate mounting holes 37 using the stepped light through holes having the left side aperture larger than the right side aperture is to not affect the restriction of the degree of freedom of the lower end of the driving lever 13 after the combination of the left plate 20 and the right plate 9.
The rotating motor 10 adopts a direct current servo motor with the model number of JSF 42-3-30-AS-1000.
Referring to fig. 11, the lower plate 12 is a stepped plate structure formed by cutting a small cuboid along a short side parallel to the right side of the cuboid upper surface at the right end; four corners of the lower plate 12 are provided with 4 lower plate mounting holes 38 with identical structures, the lower plate mounting holes 38 are stepped light through holes with the upper aperture larger than the lower aperture, and the rotation axes of the 4 lower plate mounting holes 38 with identical structures are perpendicular to the lower plate 12; the purpose of the stepped light through hole is to shorten the distance between the rotating motor shaft and the screw rod and increase the force along the screw rod direction in the operation process; 2 right plate positioning holes 39 with identical structures are arranged on the left end face of the upper part of the stepped junction of the left end of the lower plate 12, the right plate positioning holes 39 are threaded blind holes, the right plate positioning holes 39 correspond to right plate mounting holes 37 on the right plate 9, and the right plate positioning holes 39 and the right plate mounting holes 37 are used for fixing the right plate 9 on the lower plate 12.
Referring to fig. 19, the left plate 20 is a plate-like structural member in a shape of "convex"; the top of the left plate 20 is an arc cylindrical surface, and the radius of the arc cylindrical surface is the same as that of the semi-cylindrical plate at the upper end of the right plate 9; the center of the arc cylindrical surface is provided with 1 rotating motor shaft supporting hole 59, and the rotating motor shaft supporting hole 59 is a stepped light through hole with the left side aperture smaller than the right side aperture and is used for installing a bearing and supporting a rotating motor shaft; the diameter of the right hole is equal to the outer diameter of the bearing; the mounting feet on two sides of the bottom of the left plate 20 are respectively provided with 1 left plate mounting hole 58, and the left plate mounting holes 58 are light through holes for mounting the left plate 20.
Referring to fig. 10, 11 and 19, the right plate 9 is mounted on the first step of the lower plate 12, the bottom end of the right end surface of the right plate 9 is in contact connection with the right end surface of the second step of the lower plate 12, and the bottom end surface of the right plate 9 is in contact connection with the upper surface of the first step of the lower plate 12; the output shaft of the rotary motor 10 extends out of the left hole of the rotary motor shaft hole 35 of the right plate 9, and the left side surface of the rotary motor reducer is coplanar with the left end surface of the right hole of the rotary motor shaft hole 35; the leftmost end of the output shaft of the rotary motor 10 is mounted in the rotary motor shaft supporting hole 59 of the left plate 20; the right end face of the left plate 20 is aligned in parallel with the right end face of the lower plate 12, and the bottom face of the left plate 20 is coplanar with the bottom face of the lower plate 12; the middle portion of the output shaft of the rotary motor 10 is mounted in the driving lever mounting hole 40 of the driving lever 13.
The right plate 9 is fixed on the first ladder of the lower plate 12 through bolt connection, the bottom end of the right end face of the right plate 9 is in contact connection with the right end face of the second ladder of the lower plate 12, and the rotary motor 10 is fixed on the left end face of the right hole of the rotary motor shaft hole 35 of the right plate 9 through bolt connection; the output shaft of the rotary motor 10 is rotationally connected with the left hole of the rotary motor shaft hole 35; the left end of the output shaft of the rotary motor 10 is mounted in the rotary motor shaft support hole 59 of the left plate 20 by a bearing for rotational connection.
Referring to fig. 8, the displacement sensor assembly 7 includes a sensor, 2 brackets 31 with the same structure, a height increasing plate 16 and a connecting sheet 19;
the sensor adopts a displacement sensor with the model of KPM-16, and consists of a pull rod 30 and a sensor shell;
the pull rod 30 is an elongated rod with a threaded top end;
the bracket 31 is a plate with a convex structure, the middle of the bracket is provided with a displacement sensor mounting hole with the same shaft diameter as the sensor shell, and a groove with the size equal to 1/10 of the aperture of the displacement sensor mounting hole is formed in the vertical direction upwards along the center of the displacement sensor mounting hole; the bracket 31 is provided with 1 threaded through hole penetrating from the front side groove wall to the rear side groove wall, and the rotation axis of the threaded through hole is vertical to the front side groove wall and the rear side groove wall of the groove; clamping the displacement sensor housing by pre-tightening the bolts; the front and rear sides of the bottom end of the bracket 31 are respectively provided with 1 bracket mounting hole, and the bracket mounting holes are light through holes.
Referring to fig. 15, the height-increasing plate 16 is a plate structure formed by cutting a rectangular plate at the lower left corner thereof to form an isosceles right triangle; 2 heightening plate mounting holes 47 with identical structures are longitudinally arranged on the heightening plate 16, the heightening plate mounting holes 47 are stepped light through holes with the upper aperture larger than the lower aperture, and the connecting lines of the 2 heightening plate mounting holes 47 are parallel to the long side of the upper surface of the heightening plate 16; the heightening plate 16 is also provided with 4 bracket positioning holes 48 with identical structures, the bracket positioning holes 48 are threaded through holes, and the bracket positioning holes 48 correspond to mounting holes of brackets on the displacement sensor assembly 7 and are used for mounting the displacement sensor assembly 7 on the heightening plate 16; the 4 bracket positioning holes 48 with identical structures are positioned at the 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the upper surface of the heightening plate 16; the function of the elevation plate 16 is to compensate for the height difference between the axis of the tie rod 30 and the axis of the screw.
Referring to fig. 18, the connecting piece 19 is a rectangular plate-like structural member; the left side of the connecting piece 19 is provided with 4 connecting piece mounting holes 56 with identical structures, the connecting piece mounting holes 56 are stepped light through holes with the front side aperture larger than the rear side aperture, and the purpose of the stepped light through holes is to enlarge the movement range of the screw rod assembly 14 as much as possible; the right side of the connecting piece 19 is provided with 1 tie rod mounting hole 57, and the tie rod mounting hole 57 is an optical through hole, and the tie rod mounting hole 57 is used for mounting the tie rod 30.
The sensor housing is arranged in a displacement sensor mounting hole of the bracket 31; the left end of the pull rod 30 is inserted into the pull rod mounting hole 57 on the connecting sheet 19; 2 brackets 31 with the same structure are arranged on the upper surface of the heightening plate 16 in parallel and aligned by bolts, and the bottom surfaces of the 2 brackets 31 with the same structure are in contact connection with the upper surface of the heightening plate 16.
The sensor housing is fixed in the displacement sensor mounting hole of the bracket 31 through bolting; the left end of the pull rod 30 is fixed in the pull rod mounting hole 57 of the connecting sheet 19 through threaded connection, the right end of the pull rod 30 is inserted into the sensor housing, and the pull rod 30 is in sliding connection with the housing.
Referring to fig. 13, the screw assembly 14 includes a front support, a screw nut, a rear support, a coupling, a screw motor, a rear plate 15, and a nut housing 21;
The front support and the rear support are cuboid structural members, the centers of the front support and the rear support are respectively provided with 1 screw rod mounting hole penetrating from the front side face to the rear side face, the screw rod mounting holes are light through holes, and the aperture is equal to the outer diameter of the bearing; the left side and the right side of the front support are respectively provided with 1 screw rod assembly mounting holes 42 which are completely the same in structure from the upper surface to the bottom surface, and the screw rod assembly mounting holes 42 are light through holes; the rear support is provided with 4 rear screw rod assembly mounting holes with identical structures, and the rear screw rod assembly mounting holes have identical structures with the screw rod assembly mounting holes 42;
the coupler is a flexible coupler with the model of SRJ-25C; radial force caused by assembly errors is reduced, and deformation of the screw rod is reduced;
the screw nut is a stepped shaft structural member, the rear end of the screw nut is of a shaft structure with threads inside, and the front end of the screw nut is of a flat shaft formed by removing two arc blocks along the central axis direction of the shaft; the left and right sides of the flat shaft of front end have 3 lead screw nut mounting holes 43 respectively equipartition, and lead screw nut mounting hole 43 is the light through-hole.
The lead screw motor is a 42-step motor with the model of SRJ-25C;
referring to fig. 14, the rear plate 15 is a plate-type structural member in a shape of a "convex"; 1 rear plate mounting holes 44 are respectively formed in the bottom feet at two sides of the bottom end of the rear plate 15, the rear plate mounting holes 44 are light through holes, and the rear plate mounting holes 44 in the bottom feet at two sides are identical in structure and size; the upper part of the rear plate 15 is provided with 1 screw motor shaft hole 46 and 4 screw motor mounting holes 45 which have the same structure and are uniformly distributed along the circumference and take the axis of the screw motor shaft hole 46 as the center; the screw motor shaft hole 46 is a stepped light through hole with the left aperture smaller than the middle aperture and the middle aperture smaller than the right aperture and is used for installing a screw motor; the screw motor mounting hole 45 is a light through hole for fixing the screw motor.
Referring to fig. 20, the nut sleeve 21 is a rectangular structural member, the left side of the upper surface of the nut sleeve 21 is provided with 2 left plate positioning holes 60 with identical structures, the left plate positioning holes 60 are threaded blind holes, the central connecting lines of the 2 left plate positioning holes 60 are parallel to the short sides of the upper surface of the nut sleeve 21, the right side of the 2 left plate positioning holes 60 is also provided with 4 lower plate positioning holes 61 with identical structures, the lower plate positioning holes 61 are threaded blind holes, the 4 lower plate positioning holes 61 are positioned on 4 vertexes of a rectangle, and the long sides of the rectangle are parallel to the long sides of the upper surface of the nut sleeve 21; the middle of the front side surface of the nut sleeve 21 is provided with 1 screw nut hole 64 in an upper position, the screw nut hole 64 is an optical through hole, the axis of the screw nut hole 64 is taken as the center, 6 screw nut positioning holes 62 which are completely identical in structure and distributed along the circumference are arranged, the screw nut positioning holes 62 are threaded blind holes, the included angles between the centers of the adjacent 2 screw nut positioning holes 62 in the left 3 screw nut positioning holes 62 and the central connecting line of the screw nut hole 64 are 45 degrees, the included angles between the centers of the 2 screw nut positioning holes 62 at the top and the central connecting line of the screw nut hole 64 are 90 degrees, the included angles between the centers of the adjacent 2 screw nut positioning holes 62 in the right 3 screw nut positioning holes 62 and the central connecting line of the screw nut hole 64 are 45 degrees, and the included angles between the centers of the 2 screw nut positioning holes 62 at the bottom and the central connecting line of the screw nut hole 64 are 90 degrees; the left side of the left 3 lead screw nut positioning holes 62 is also provided with 4 connecting piece positioning holes 65 with identical structures, the connecting piece positioning holes 65 are threaded blind holes, the 4 connecting piece positioning holes 65 are positioned on 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the front side of the nut sleeve 21; the bottom surface of the nut sleeve 21 is provided with 2 identical guide rail grooves 63, the cross section of the guide rail grooves 63 is identical to that of the guide rail 50, and the center line of the guide rail grooves 63 is parallel to the short side of the bottom surface of the nut sleeve 21.
Referring to fig. 3 and 13, the screw is inserted into the screw nut, the screw nut is installed in the screw nut hole 64 of the nut sleeve 21, the left end of the screw is installed in the screw installation hole of the front support, the right part of the screw extends out of the screw installation hole of the rear support, and the right end of the screw is inserted into the left end of the coupler; the output end of the screw motor shaft is inserted into the right end of the coupler; the screw motor shaft extends out of the screw motor shaft hole 46 of the rear plate 15; the left side face of the screw motor reducer is coplanar with the right end face of the rear plate 15.
The left end of the screw rod is arranged in a screw rod mounting hole of the front support through a bearing and a clamp spring and is in rotary connection; the screw nut is fixed on the front end surface of the nut sleeve 21 through bolt connection; the right part of the screw rod is arranged in the rear support through a bearing and is in rotary connection; the rightmost end of the screw rod is connected with a screw rod motor shaft through a coupler and a bolt; the left side surface of the screw motor reducer is fixed on the front end surface of the rear plate 15 through a bolt connection.
Referring to fig. 16, the guide rail plate 17 is a rectangular flat plate structural member provided with a boss 51 and 2 guide rails 50 with identical structures, a triangle with an isosceles right triangle shape is cut off at the lower left corner of the guide rail plate 17, the guide rail plate 17 is overlooked, 2 lead screw assembly positioning holes 49 with identical structures are arranged at the left end of the guide rail plate 17, the lead screw assembly positioning holes 49 are threaded through holes, and the central connecting line of the 2 lead screw assembly positioning holes 49 is perpendicular to the long side of the guide rail plate 17; 2 guide rails 50 which are parallel to each other are arranged on the right side of the 2 guide rail assembly positioning holes 49, the guide rails 50 are parallel to the long sides of the guide rail plate 17, the cross section of the guide rail 50 is an isosceles trapezoid with the upper side longer than the lower side longer, 4 right guide rail assembly positioning holes which are identical in structure are arranged on the right side of the guide rail 50, the right guide rail assembly positioning holes are identical in structure with the 2 guide rail assembly positioning holes 49 which are identical in structure on the left side of the 2 guide rails 50, the 4 right guide rail assembly positioning holes are positioned on 4 vertexes of a rectangle, and the long sides of the rectangle are perpendicular to the long sides of the guide rail plate 17; a boss 51 is provided at the upper right of the rail plate 17; 2 rear plate positioning holes 52 with identical structures are arranged on the boss 51, the rear plate positioning holes 52 are threaded through holes, and the central connecting line of the 2 rear plate positioning holes 52 is perpendicular to the long side of the guide rail plate 17; 2 heightening plate positioning holes 53 with identical structures are formed in the bottommost end of the guide rail plate 17, the heightening plate positioning holes 53 are threaded through holes, and the central connecting line of the 2 heightening plate positioning holes 53 is parallel to the long side of the guide rail plate 17; 3 guide rail plate mounting holes 54 with identical structures are also arranged between the heightening plate positioning holes 53 and the lower guide rail 50, and the guide rail plate mounting holes 54 are stepped light through holes with the upper aperture larger than the lower aperture.
The frame component is positioned at the top end of the parallel branched chain; the rotating motor assembly, the displacement sensor assembly 7 and the screw rod assembly 14 are positioned in the middle of the parallel branched chain, and the guide rail plate 17 is positioned at the bottommost end of the parallel branched chain; the rotating motor assembly is arranged on the top end surface of a nut sleeve 21 in the screw assembly 14; the displacement sensor assembly 7 is positioned on the left side of the rotary motor assembly and the screw assembly 14; the nut housing 21 of the screw assembly 14 is located on the right side of the upper surface of the guide rail plate 17, and the displacement sensor assembly 7 is located on the left side of the upper surface of the guide rail plate 17.
One (lower) end of the driving rod 13 of the frame assembly is mounted at the middle part of the rotating motor shaft of the rotating motor assembly through a key connection; the rotating motor assembly is fixedly connected to the top end surface of the nut sleeve 21 of the screw assembly 14 through bolts; the connecting sheet 19 of the displacement sensor assembly 7 is fixed on the left side of the rear end surface of the nut sleeve 21 through bolting, and the heightening plate 16 of the displacement sensor assembly 7 is fixed on the left side of the upper surface of the guide rail plate 17 through bolting; the nut sleeve 21 of the screw rod assembly 14 is arranged on the guide rail 50 of the guide rail plate 17 through sliding connection, and the front support and the rear support of the screw rod assembly 14 are fixedly connected to the right side of the upper surface of the guide rail plate 17 through bolts and are respectively positioned at two ends of the guide rail 50; the rear plate 15 of the screw assembly 14 is fixed to the upper surface of the boss 51 of the rail plate 17 by bolting. The distance between the left plate 20 and the right plate 9 is equal to the thickness of the driving rod 13 plus the thickness of two shims, thus limiting the 6 degrees of freedom of the driving rod 13 to follow the rotation of the motor shaft only. Wherein the nut sleeve 21, the screw assembly 14 and the guide rail plate 17 form an over-constraint mechanism for increasing screw stiffness, sharing screw load and guiding.
Referring to fig. 17, the fixed platform 18 is a hexagonal flat plate structural member formed by cutting 3 small regular triangle plates at 3 corners by a regular triangle plate, wherein the hexagonal flat plate structural member has 3 long sides with equal length and 3 short sides with equal length; the fixed platform 18 is provided with 3 groups of holes with identical structures, each group of holes comprises 3 guide rail plate positioning holes 55 with identical structures, the guide rail plate positioning holes 55 are threaded through holes, the guide rail plate positioning holes 55 correspond to guide rail plate mounting holes 54 on the guide rail plate 17, and the guide rail plate positioning holes 55 and the guide rail plate mounting holes 54 are used for mounting the guide rail plate 17 on the fixed platform 18; the rotation center connecting line of each group of guide rail plate positioning holes 55 is a perpendicular bisector of the short side intersecting with the rotation center connecting line; the center of rotation connecting lines of the 3 sets of guide rail plate positioning holes 55 meet at the center of the hexagon.
The invention relates to a working principle of a three-translation redundancy parallel teleoperation manipulator, which comprises the following steps:
the three-translation redundancy parallel teleoperation manipulator is a driving redundancy parallel mechanism and can be used for avoiding barriers and singular configurations. The gyroscope 4 is used for monitoring the pose of the movable platform 3 and is used as feedback of motion control; the encoder monitors the angular displacement of the rotary motor 10, the displacement sensor monitors the displacement of the nut sleeve 21, and the displacement sensor are used as feedback of driving quantity; the six-dimensional force sensor 2 is used for monitoring the force magnitude and direction of the handle 1, predicting the operation intention, and giving the angular speed proportionality coefficient of the rotating motor 10 and the screw motor. The screw motor follows the rotary motor 10 according to a given proportion, and the sum of the running speeds of the two motors is larger than the running speed of a single motor of the same type of non-redundant parallel robot under the condition of the same rotating speed. The three-translation redundancy parallel teleoperation manipulator can obtain a unique analytic solution by positive kinematics, and greatly shortens the resolving time, thereby improving the response speed.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The three-translation redundant parallel teleoperation manipulator is characterized by comprising a movable platform assembly, a fixed platform (18) and 3 parallel branched chains with the same structure;
the movable platform assembly comprises a handle (1), a six-dimensional force sensor (2), a movable platform (3) and a gyroscope (4);
the handle (1) consists of an upper handle rod and a lower flange plate; the flange plate at the lower part is provided with 3 handle mounting holes (22) which are completely identical in structure and circumferentially distributed around the center of the flange plate, and the handle mounting holes (22) are stepped light through holes with the upper aperture larger than the lower aperture and used for mounting the handle (1) on the upper surface of the six-dimensional force sensor (2); the included angles between the connecting lines of the centers of the adjacent 2 handle mounting holes (22) of the 3 handle mounting holes (22) and the center of the flange plate are 120 degrees, the bottom end of the handle rod is fixedly connected with the center of the top end surface of the flange plate, and the rotation axis of the handle rod is collinear with the rotation axis of the flange plate;
The six-dimensional force sensor (2) is a sensor for monitoring the stress of the handle (1) by adopting the compact type 6-axis force of the Japanese leptino;
the gyroscope (4) is a gyroscope which is used for monitoring the pose of the movable platform (3) and is selected from VG800CA-210 of MEMSIC;
the handle (1) is fixedly arranged on the six-dimensional force sensor (2) by bolts, the six-dimensional force sensor (2) is fixedly arranged on the upper surface of the movable platform (3) by bolts, and the gyroscope (4) is fixedly arranged on the bottom surface of the movable platform (3) by bolts; the centers of the handle (1), the six-dimensional force sensor (2), the movable platform (3) and the gyroscope (4) are collinear;
the parallel branched chain comprises a frame component, a rotating motor component, a displacement sensor component (7), a screw rod component (14) and a guide rail plate (17);
the displacement sensor assembly (7) is arranged at the front end of the top end face of the guide rail plate (17) through an heightening plate (16), the rotation axis of a sensor shell in the displacement sensor assembly (7) is parallel to the long side of the guide rail plate (17), and the left end of the displacement sensor assembly (7) is fixedly connected with the right end face of a nut sleeve (21) in the screw rod assembly (14) through a connecting sheet (19); the screw rod assembly (14) is arranged on the top end surface of a guide rail plate (17) at the rear side of the displacement sensor assembly (7), and the rotation axis of the screw rod in the screw rod assembly (14) is parallel to the rotation axis of the sensor housing in the displacement sensor assembly (7); the rotary motor assembly is arranged on the top end surface of the nut sleeve (21) through a lower plate (12) thereof, and the rotation axis of an output shaft of the rotary motor (10) in the rotary motor assembly is vertically crossed with the rotation axis of the screw rod; the bottom end of the frame component is sleeved on the output shaft of the rotating motor (10) through the left end of a driving rod (13) therein, and the two are in rotating connection;
The fixed platform (18) is positioned at the bottommost end of the three-translation redundant parallel teleoperation manipulator, 3 parallel branched chains with identical structures are positioned between the movable platform assembly and the fixed platform (18), the bottom ends of the 3 parallel branched chains with identical structures are fixed on the upper surface of the fixed platform (18) through a guide rail plate (17) therein and by bolts, and the top ends of the parallel branched chains are fixed on the bottom end surface of the movable platform (3) in the movable platform assembly through a joint (5) therein and by bolts;
the extension lines of the screw rod rotation axes of the screw rod assemblies (14) in the 3 parallel branched chains with the identical structures are intersected on the symmetrical central line of the fixed platform (18), and the included angle between the two adjacent screw rod rotation axes is 120 degrees.
2. The three-translation redundancy parallel teleoperation manipulator according to claim 1, wherein the movable platform (3) is a disc-shaped structural member, 3 six-dimensional force sensor mounting holes (25) which are completely identical in structure and uniformly distributed along the circumference are arranged at the central position of the movable platform (3), and the six-dimensional force sensor mounting holes (25) are stepped light through holes with the upper aperture smaller than the lower aperture; the outer sides of the 3 six-dimensional force sensor mounting holes (25) are also provided with 4 gyroscope positioning holes (24) which are distributed along the circumference and have the same structure, the gyroscope positioning holes (24) are threaded through holes, the 4 gyroscope positioning holes (24) are respectively positioned on 4 vertexes of a rectangle, and the 4 gyroscope positioning holes (24) are aligned with the mounting holes on the gyroscope (4); the outermost sides of the 4 gyroscope positioning holes (24) are also provided with 3 groups of holes with identical structures distributed along the circumference, each group of holes comprises 2 joint positioning holes (23) with identical structures, each joint positioning hole (23) is a light through hole, and an included angle between perpendicular bisectors of central connecting lines of the two groups of joint positioning holes (23) is 120 degrees; the perpendicular bisectors of the central connecting lines of one group of joint locating holes (23) are collinear with the diagonal lines of a rectangle formed by the central connecting lines of 4 gyroscope locating holes (24).
3. The three-translation redundant parallel teleoperation manipulator according to claim 1, characterized in that the fixed platform (18) is a hexagonal flat plate type structural member formed by cutting 3 small regular triangle plates at 3 corners by the regular triangle plates, wherein the hexagonal flat plate type structural member has 3 long sides with equal length and 3 short sides with equal length; 3 groups of holes with identical structures are formed in the fixed platform (18), each group of holes comprises 3 guide rail plate positioning holes (55) with identical structures, the guide rail plate positioning holes (55) are threaded through holes, and the guide rail plate positioning holes (55) correspond to guide rail plate mounting holes (54) in the guide rail plate (17); the rotation center connecting line of each group of guide rail plate positioning holes (55) is a perpendicular bisector of a short side intersecting with the rotation center connecting line; the connecting lines of the rotation centers of the 3 groups of guide rail plate positioning holes (55) are converged at the center of the hexagon.
4. The triple-translational redundant parallel teleoperation manipulator according to claim 1, wherein the rotary motor assembly comprises a right plate (9), a rotary motor (10), a lower plate (12) and a left plate (20);
the right plate (9) is fixedly arranged on a first step of the lower plate (12) by adopting a bolt, the bottom end of the right end face of the right plate (9) is in contact connection with the left end face of a second step of the lower plate (12), the bottom end face of the right plate (9) is in contact connection with the upper surface of the first step of the lower plate (12), and the bottom end face of the right plate and the upper surface of the first step of the lower plate (12) are connected by adopting a screw; the rotary motor (10) is fixedly connected to the left end face of the right hole of the rotary motor shaft hole (35) of the right plate (9) by adopting a bolt, an output shaft of the rotary motor (10) extends out of the rotary motor shaft hole (35) of the right plate (9), and the leftmost end of the output shaft of the rotary motor (10) is arranged in a rotary motor shaft supporting hole (59) of the left plate (20) by adopting a bearing; the right end face of the left plate (20) is aligned in parallel with the left end face of the first step of the lower plate (12), and the bottom face of the left plate (20) is coplanar with the bottom face of the lower plate (12); the middle part of the output shaft of the rotary motor (10) is installed in a driving rod installation hole (40) of the driving rod (13).
5. The three-translation redundancy parallel teleoperation manipulator according to claim 1, characterized in that the displacement sensor assembly (7) comprises a sensor, 2 brackets (31) with the same structure, a heightening plate (16) and a connecting sheet (19);
the sensor adopts a displacement sensor with the model of KPM-16, and consists of a pull rod (30) and a sensor shell;
the bracket (31) is a plate with a convex structure, a displacement sensor mounting hole with the same shaft diameter as the sensor shell is arranged in the middle of the bracket (31), and a groove with the size equal to 1/10 of the aperture of the displacement sensor mounting hole is arranged in the vertical direction upwards along the center of the displacement sensor mounting hole; the bracket (31) is provided with 1 threaded through hole penetrating through the front side groove wall to the rear side groove wall, and the rotation axis of the threaded through hole is vertical to the front side groove wall and the rear side groove wall of the groove; clamping the displacement sensor housing by pre-tightening the bolts; the front side and the rear side of the bottom end of the bracket (31) are respectively provided with 1 bracket mounting holes, and the bracket mounting holes are light through holes;
the heightening plate (16) is a plate structural member which is cut off at the lower left corner of the rectangular plate and is in the shape of an isosceles right triangle plate; 2 heightening plate mounting holes (47) with identical structures are longitudinally formed in the heightening plate (16), the heightening plate mounting holes (47) are stepped light through holes with the upper aperture larger than the lower aperture, and the connecting lines of the 2 heightening plate mounting holes (47) are parallel to the long side of the upper surface of the heightening plate (16); the heightening plate (16) is also provided with 4 bracket positioning holes (48) with identical structures, the bracket positioning holes (48) are threaded through holes, and the bracket positioning holes (48) correspond to bracket mounting holes on the displacement sensor assembly (7) for mounting the displacement sensor assembly (7) on the heightening plate (16); the 4 bracket positioning holes (48) with the identical structure are positioned at the 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the upper surface of the heightening plate (16);
The connecting sheet (19) is a rectangular plate structural member; one side of the connecting sheet (19) is provided with 4 connecting sheet mounting holes (56) with identical structures, and the connecting sheet mounting holes (56) are stepped light through holes with front side apertures larger than rear side apertures; the other side of the connecting sheet (19) is provided with 1 pull rod mounting hole (57) for mounting the pull rod (30), and the pull rod mounting hole (57) is an optical through hole;
the sensor is arranged in a displacement sensor mounting hole on a bracket (31) through a shell in the sensor and is fixedly connected by bolts; the right end of the pull rod (30) is inserted into the sensor shell, and the pull rod (30) is in sliding connection with the shell; the left end of the pull rod (30) is inserted into a pull rod mounting hole (57) on the connecting sheet (19) and fixedly connected by adopting a nut; the 2 brackets (31) with the same structure are arranged on the upper surface of the heightening plate (16) in parallel and aligned by bolts, the bottom surfaces of the 2 brackets (31) with the same structure are in contact connection with the upper surface of the heightening plate (16), and the rotation axes of the displacement sensor mounting holes on the 2 brackets (31) with the same structure are collinear.
6. The three-translation redundant parallel teleoperation manipulator according to claim 1, characterized in that the screw assembly (14) comprises a front support, a screw nut, a rear support, a coupling, a screw motor, a rear plate (15) and a nut sleeve (21);
The screw rod is inserted into the screw rod nut, the screw rod nut is fixedly arranged in a screw rod nut hole (64) on the nut sleeve (21) by adopting a bolt, the left end of the screw rod is arranged in a screw rod mounting hole of the front support by adopting a bearing and a clamp spring, the right part of the screw rod is arranged in a screw rod mounting hole of the rear support by adopting a bearing, the right end of the screw rod extends out of the screw rod mounting hole of the rear support, and the right end of the screw rod is connected with the left end of the coupler; the output end of the screw motor shaft is connected with the right end of the coupler; the screw motor shaft extends out of a screw motor shaft hole (46) of the rear plate (15); the left side face of the screw motor reducer is fixedly connected to the right end face of the rear plate (15) through bolts, and the left end face of the screw motor reducer is coplanar with the right end face of the rear plate (15).
7. The triple-translational redundancy parallel teleoperation manipulator according to claim 6, wherein the nut sleeve (21) is a cuboid structure, 2 left plate positioning holes (60) with identical structures are arranged on the left side of the upper surface of the nut sleeve (21), the left plate positioning holes (60) are threaded blind holes, the central connecting line of the 2 left plate positioning holes (60) is parallel to the short side of the upper surface of the nut sleeve (21), 4 lower plate positioning holes (61) with identical structures are arranged on the right side of the left plate positioning holes (60), the lower plate positioning holes (61) are threaded blind holes, the 4 lower plate positioning holes (61) are positioned on 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the upper surface of the nut sleeve (21); 1 screw nut hole (64) is arranged in the middle of the front side surface of the nut sleeve (21) and is an optical through hole, 6 screw nut positioning holes (62) which are completely identical in structure and distributed along the circumference are arranged by taking the axis of the screw nut hole (64) as the center, the screw nut positioning holes (62) are threaded blind holes, the included angles between the centers of the adjacent 2 screw nut positioning holes (62) in the left 3 screw nut positioning holes (62) and the central connecting line of the screw nut hole (64) are 45 degrees, the included angle between the centers of the 2 screw nut positioning holes (62) at the top and the central connecting line of the screw nut hole (64) is 90 degrees, and the included angles between the centers of the adjacent 2 screw nut positioning holes (62) in the right 3 screw nut positioning holes (62) and the central connecting line of the screw nut hole (64) are 45 degrees, and the included angles between the centers of the bottom 2 screw nut positioning holes (62) and the central connecting line of the screw nut hole (64) are 90 degrees; the left side of the left 3 screw nut positioning holes (62) is also provided with 4 connecting piece positioning holes (65) with identical structures, the connecting piece positioning holes (65) are threaded blind holes, the 4 connecting piece positioning holes (65) are positioned on 4 vertexes of a rectangle, and the long side of the rectangle is parallel to the long side of the front side surface of the nut sleeve (21); the bottom surface of the nut sleeve (21) is provided with 2 guide rail grooves (63) with the same structure, the cross section of the guide rail grooves (63) is the same as that of the guide rail (50) on the guide rail plate (17), and the center line of the guide rail grooves (63) is parallel to the short side of the bottom surface of the nut sleeve (21).
8. The triple-translational redundant parallel teleoperation manipulator according to claim 1, wherein the frame assembly comprises a joint (5), an upper rod (6), 2 middle rods (8) with the same structure, a lower rod (11) and a driving rod (13);
the upper rod (6) is arranged in an upper rod mounting hole (27) on a joint (5) at the top end of the parallel branched chain through a bearing and a clamp spring, and the axis of the middle cylinder of the upper rod (6) is overlapped with the central line of the upper rod mounting hole (27); the left middle rod (8) and the right middle rod (8) are positioned between the upper rod (6) and the lower rod (11); two ends of the upper rod (6) are respectively arranged in upper rod mounting grooves (33) at the upper ends of the middle rods (8) at the left side and the right side, and are rotationally connected by round nuts and bolts; the middle position of the lower rod (11) is arranged in a lower rod mounting hole (41) on the driving rod (13), and the axis of the middle cylinder of the lower rod (11) coincides with the central line of the lower rod mounting hole (41); two ends of the lower rod (11) are respectively arranged in lower rod mounting grooves (34) at the lower ends of the middle rods (8) at the left side and the right side; the center line of the center rod positioning hole (28) on the upper rod (6) is overlapped with the center line of the center rod mounting hole (32) on the center rod (8), the center rod positioning hole on the lower rod (11) is overlapped with the center line of the center rod mounting hole on the center rod (8), and the distance from the center rod positioning hole (28) on the left end of the upper rod (6) to the left end face of the joint (5) is equal to the distance from the center rod positioning hole on the right end of the upper rod (6) to the right end face of the joint (5); the distance from the middle rod positioning hole on the left end of the lower rod (11) to the left end face of the cylinder at the upper end of the driving rod (13) is equal to the distance from the middle rod positioning hole on the right end of the lower rod (11) to the right end face of the cylinder at the upper end of the driving rod (13).
9. The triple-translational redundancy parallel teleoperation manipulator according to claim 1, wherein the guide rail plate (17) is a rectangular flat plate type structural member provided with a boss (51) and 2 guide rails (50) with identical structures, a triangle plate of isosceles right triangle is cut off at the lower left corner of the guide rail plate (17), 2 lead screw assembly positioning holes (49) with identical structures are arranged at the left end of the guide rail plate (17), the lead screw assembly positioning holes (49) are threaded through holes, and the central connecting line of the 2 lead screw assembly positioning holes (49) is perpendicular to the long side of the guide rail plate (17); 2 guide rails (50) which are parallel to each other are arranged on the right side of the 2 guide screw assembly positioning holes (49), the 2 guide rails (50) are parallel to the long sides of the guide rail plate (17), the cross section of the guide rail (50) is an isosceles trapezoid with the upper side longer than the lower side longer, 4 right guide screw assembly positioning holes which are identical in structure are arranged on the right side of the guide rail (50), the right guide screw assembly positioning holes are identical in structure with the 2 guide screw assembly positioning holes (49) which are identical in structure on the left side of the 2 guide rails (50), the 4 right guide screw assembly positioning holes are positioned on 4 vertexes of a rectangle, and the long sides of the rectangle are perpendicular to the long sides of the guide rail plate (17); a boss (51) is arranged at the upper right of the guide rail plate (17), 2 rear plate positioning holes (52) with identical structures are arranged on the boss (51), the rear plate positioning holes (52) are threaded through holes, and the central connecting line of the 2 rear plate positioning holes (52) is perpendicular to the long side of the guide rail plate (17); 2 heightening plate positioning holes (53) with identical structures are formed in the lowest end of the guide rail plate (17), the heightening plate positioning holes (53) are threaded through holes, and the central connecting line of the 2 heightening plate positioning holes (53) is parallel to the long side of the guide rail plate (17); and 3 guide rail plate mounting holes (54) with identical structures are also arranged between the heightening plate positioning holes (53) and the guide rail (50) positioned below, and the guide rail plate mounting holes (54) are stepped light through holes with the upper aperture larger than the lower aperture.
CN202310808595.2A 2023-07-04 2023-07-04 Triple-translation redundant parallel teleoperation manipulator Active CN116652914B (en)

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CN114888780A (en) * 2022-04-29 2022-08-12 浙江理工大学 Three-branch 6+ 3-degree-of-freedom motion redundancy parallel mechanism
CN115922674A (en) * 2023-01-05 2023-04-07 哈尔滨工业大学（深圳） Three-degree-of-freedom redundant parallel-connection end force control actuator based on 2UPR-2RRU mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202862219U (en) * 2012-11-05 2013-04-10 吉林大学 Electro-hydraulic servo remote manipulation parallel manipulator with three degrees of freedom
CN104959975A (en) * 2015-07-27 2015-10-07 吉林大学 Three-dimensional translational parallel mechanism based on motion decoupling
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