CN1170658C - Four-freedom parallel robot mechanism - Google Patents
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- CN1170658C CN1170658C CNB001059351A CN00105935A CN1170658C CN 1170658 C CN1170658 C CN 1170658C CN B001059351 A CNB001059351 A CN B001059351A CN 00105935 A CN00105935 A CN 00105935A CN 1170658 C CN1170658 C CN 1170658C
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Abstract
The present invention belongs to the industrial robot field and comprises a machine frame, a motion table and branches connecting the motion table and the machine frame. The motion table is connected with the machine frame by the four branches to form a parallel closed-loop structure, wherein the two branches respectively contain two single-freedom kinematic pairs and a spherical hinge, and the other two branches respectively include a single-freedom kinematic pair, two spherical hinges or one spherical hinge and a hooke hinge; four hinges connecting the motion table and a fixed table are arranged across. The present invention has the advantages of specific motion mode, easy normal solution and inverse solution of kinematics, high rigidity, high precision, low moving mass, high dynamic property and simple structure.
Description
The present invention relates to the four-freedom parallel connection robot mechanism that a kind of two-dimensional shift and two-dimensional rotates.
In the existing robot that roboticized job task is on active service, two class mechanisms are arranged: series connection and in parallel.Tandem is the open kinematic chain that each rod member links to each other successively by kinematic pair, and this robotlike has big working space and high flexibility, and shortcoming is: 1. because the accumulation of each rod member error causes the end piece precision very low; 2. rigidity is low; 3. inertia is big, and dynamic performance is very poor.Therefore the serial machine people is very inapplicable in the operation occasion of high location of needs and power control accuracy, and for fear of this class shortcoming, robot mechanism can adopt parallel.
Parallel robot mechanism is an a kind of closed loop mechanism, its moving platform or claim the disconnected actuator in end independently kinematic chain and frame link by at least two.A kind of key element of complete parallel institution indispensability is: a. end effector must have freedom of motion; B. this end effector links by several kinematic chains or branch and frame of being mutually related; C. each kinematic chain contains two rod members at the most; D. each branch or kinematic chain are driven by unique moving sets or revolute pair.Compare with serial mechanism, parallel institution has advantages such as rigidity height, precision height, dynamic performance are good, compact conformation, and therefore at the end of the seventies to the beginning of the eighties, parallel institution is used to the mechanism of industrial robot.At present, parallel institution particularly the parallel institution of lower-mobility (free degree is less than 6) firmly with in the industries such as torque sensor, flight simulator more and more obtain paying attention at lathe, fine motion operating desk, robot.
Parallel institution just occurred in 1949, be one in the U.S. cry height not the people of (Gough) design and detect tire, in the sixties, this mechanism is excavated again, reason is because this mechanism is more practical on flight simulator.In nineteen sixty-five, this people of Stewart (Stewart) utilizes the parallel institution of 6DOF to make a flight simulator, and this mechanism is called Stewart (Stewart) mechanism.Therefore at the beginning, parallel institution refers to Stewart (Stewart) or Gao Fu-Stewart (Gough-Stewart) mechanism of 6DOF more, parallel institution be used as one of flight simulator very important reasons be its energy anharmonic ratio height, active force on the motion platform relatively is evenly distributed on six rod members, each rod member has been equivalent to carry 1/6 active force, so its energy anharmonic ratio height, for example the weight of a parallel robot model machine is 35kg, it is carried as 600kg.But six-degree-of-freedom parallel connection mechanism brings much to people again or even an also insurmountable at present difficult problem, such as the foundation of its forward kinematics solution, kinetic model and precision calibration or the like, the obstruction that this is serious six-degree-of-freedom parallel connection mechanism in practice further application.
Present parallel institution has 2,3,4,5 and 6 frees degree more.According to relevant document, existing disclosed parallel institution (comprising non-complete parallel institution) has 87 kinds, wherein 3,6DOF respectively account for 40%, 4DOF account for 6%, 5DOF account for 3.5%, the parallel institution of 2DOF accounts for 10.5%.By above allocation proportion, because the restriction of rod member, 2DOF mechanism kind seldom is reasonable also, what 4, the parallel institution of 5DOF was few has pity on, its reason is that people do not find also that a kind of approach can move three in space, three rotational freedoms decompose and come, for parallel institution, this is a very very difficult thing; Another reason is the angle from symmetrical configuration, 4, the parallel institution of 5DOF is difficult to possess this requirement.4, the parallel institution of 5DOF is few, do not need in the reality not to represent or the lacking of needs, and is on the contrary, and 4, the parallel institution of 5DOF uses more extensive in industry.What existing four-freedom parallel mechanism had is not complete parallel institution, and the complex structure that has is difficult to further be used in practice.For example, four-freedom parallel connection robot mechanism as shown in Figure 1, the moving platform 46 of this mechanism is connected with frame 41 by three side chains 44,49,50, wherein side chain 49,50 has identical form: with are moving platform 46 and being connected of frame 41 spherical hinge 47,48,51,52 (one of them spherical hinge of each side chain also can be a Hooke's hinge), each side chain has a driving; The kinematic pair of side chain 44 is revolute pair 42,43,45, and this side chain has two drivings.From the angle of input, this mechanism is not a kind of complete parallel institution.
The objective of the invention is to overcome weak point of the prior art and a kind of four-freedom parallel connection robot mechanism is provided, mobile and the rotation in space is organically combined, constitute the four-freedom parallel connection robot mechanism that two-dimensional shift and two-dimensional rotates, has high rigidity, high accuracy, the harmonic motion quality, high dynamic performance, kinematics is positive and negative separates characteristics such as simple.
A kind of four-freedom parallel connection robot mechanism that the present invention proposes comprises frame, motion platform, connects the branch of motion platform and frame; It is characterized in that said motion platform is connected with frame by four branches, form parallel closed loop structure; Wherein, two single dof mobility pairs are respectively contained in two branches, a spherical hinge, and a single dof mobility pair is respectively contained in two other branch, two spherical hinges or a spherical hinge and a Hooke's hinge; Each four hinge that connects motion platform and fixed station are to intersect to be arranged.
The rod member of said four branches can be extensible link, and wherein the kinematic pair of first and third branch's connection motion platform one end can be the Three Degree Of Freedom ball pivot, and the kinematic pair that the other end connects frame can be revolute pair; The second, the kinematic pair of four branches connection motion platform can be the Three Degree Of Freedom ball pivot, and the kinematic pair that connects frame can be Hooke's hinge or spherical hinge.
The rod member of said each branch can be made of connecting rod and side link, and the connecting rod of first and third branch can be connected with side link by revolute pair; The second, the kinematic pair of the connecting rod of four branches connection side link can be Hooke's hinge or ball pivot; The kinematic pair of four branch's connection motion platforms can be the Three Degree Of Freedom ball pivot, and the kinematic pair that is connected with frame can be revolute pair.
The present invention compared with prior art has following advantage:
1, parallel robot mechanism of the present invention is compared with traditional tandem robot mechanism, has high rigidity, high accuracy, harmonic motion quality, characteristics such as high dynamic performance.
2, parallel robot mechanism kinematics of the present invention is positive and negative separates simply.
3, spatial three-freedom parallel robot mechanism of the present invention organically combines the mobile and rotation in space;
4, the motion platform of four-freedom parallel connection robot mechanism of the present invention has clear and definite forms of motion: two mobile, two rotations.
5, four-freedom parallel connection robot mechanism of the present invention has a wide range of applications in the operation of four spatial movements of needs.
Brief Description Of Drawings:
Fig. 1 is existing a kind of four-freedom parallel connection robot mechanism schematic diagram.
Fig. 2 is one of embodiment of four-freedom parallel connection robot mechanism of the present invention general structure schematic diagram.
Fig. 3 is the two general structure schematic diagrames of the embodiment of four-freedom parallel connection robot mechanism of the present invention.
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail:
Embodiment 1: one of four-freedom parallel connection robot mechanism
The general structure of present embodiment as shown in Figure 2, this motion of mechanism platform 7 is connected with frame 1 by four extensible link 4,5,10,11, wherein the kinematic pair of connecting rod 4,10 connection motion platforms 7 one ends is a Three Degree Of Freedom ball pivot 6,8, and the kinematic pair that the other end connects frame 1 is a revolute pair 2,12; The kinematic pair that connecting rod 5,11 connects motion platform 7 is a Three Degree Of Freedom ball pivot 14,9, and the kinematic pair that connects frame 1 is respectively Hooke's hinge 3 and 13.Motion platform 7 realizes by moving of four extensible link 4,5,10,11 that the two dimension on connecting rod 4 and plane, 10 place moves and around the four-degree-of-freedom spatial movement of the rotation of the two axial lines of hinge 6 and 8 and 14 and 9.
Embodiment 2: two of four-freedom parallel connection robot mechanism
The general structure of present embodiment as shown in Figure 3, this motion of mechanism platform 35 is connected with frame 24 by four branches that are made of four connecting rods 17,31,18,32 and corresponding four side links 40,37,21,28 respectively.The kinematic pair that connecting rod 17,31 connects motion platform 35 1 ends is a Three Degree Of Freedom ball pivot 15,33, and the other end is connected with side link 40,37 by revolute pair 19,30; The kinematic pair that connecting rod 18,32 connects motion platform 35 is a Three Degree Of Freedom ball pivot 16,34, and the kinematic pair that connects side link 21,28 is respectively Hooke's hinge or ball pivot 20 and 29; Side link 40,37,21,28 is connected with frame by revolute pair 38,25,22,36 respectively.The rotation that motion platform 35 drives four side links 40,37,21,28 by four motors 39,26,23,27 realizes that the two dimension on connecting rod 40 and plane, 37 place moves and around the four-degree-of-freedom spatial movement of the rotation of the two axial lines of hinge 15 and 33 and 16 and 34.
Claims (3)
1, a kind of four-freedom parallel connection robot mechanism, the branch that comprises frame, motion platform, connection motion platform and frame, said motion platform is connected with frame by four branches, and four branches that connect motion platform and fixed station are intersection and arrange, form parallel connection and close structure; It is characterized in that, wherein two single dof mobility pairs are respectively contained in two branches, a spherical hinge, a single dof mobility pair is respectively contained in two other branch, two spherical hinges or a spherical hinge and a Hooke's hinge, it is driven that a single dof mobility pair is arranged in each branch, and this mechanism kinematic platform has two mobile, two rotational freedoms with respect to frame.
2, according to the said four-freedom parallel connection robot mechanism of claim 1, it is characterized in that: the rod member of said four branches is the extensible link that contains a moving sets, wherein the kinematic pair of first and third branch's connection motion platform one end is the Three Degree Of Freedom ball pivot, and the kinematic pair that the other end connects frame is a revolute pair; The second, the kinematic pair of four branches connection motion platform is the Three Degree Of Freedom ball pivot, and the kinematic pair that connects frame is Hooke's hinge or spherical hinge; The scalable of said rod member is to realize by the moving sets that drives each branch.
3, according to the said four-freedom parallel connection robot mechanism of claim 1, it is characterized in that: the rod member of said each branch is made of connecting rod and side link, and the connecting rod of first and third branch is connected with side link by revolute pair; The second, the kinematic pair of the connecting rod of four branches connection side link is Hooke's hinge or ball pivot; The kinematic pair of four branch's connection motion platforms is the Three Degree Of Freedom ball pivot, and the kinematic pair that is connected with frame is a revolute pair; The revolute pair that connects frame in each branch is drivable.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB001059351A CN1170658C (en) | 2000-04-21 | 2000-04-21 | Four-freedom parallel robot mechanism |
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| CNB001059351A CN1170658C (en) | 2000-04-21 | 2000-04-21 | Four-freedom parallel robot mechanism |
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| CN1170658C true CN1170658C (en) | 2004-10-13 |
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| CN100354068C (en) * | 2005-02-06 | 2007-12-12 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
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2000
- 2000-04-21 CN CNB001059351A patent/CN1170658C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354068C (en) * | 2005-02-06 | 2007-12-12 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
| CN109630101A (en) * | 2018-11-27 | 2019-04-16 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro- power parallel institution |
| CN109630101B (en) * | 2018-11-27 | 2021-07-20 | 中国地质大学（武汉） | Six-dimensional acceleration sensor based on micro-force parallel mechanism |
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| CN1267586A (en) | 2000-09-27 |
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