CN117325135A - Six-degree-of-freedom parallel robot with variable lower hinge support positions and solving method thereof - Google Patents
Six-degree-of-freedom parallel robot with variable lower hinge support positions and solving method thereof Download PDFInfo
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Abstract
A six-degree-of-freedom parallel robot with a variable lower hinge support position and a solving method thereof are applied to the field of six-degree-of-freedom parallel robots. The lower surface of the upper platform is connected with an upper hinged support, the upper hinged support is connected with an upper actuator, the other end of the upper actuator is connected with a lower hinged support, the lower hinged support is connected with a lower actuator, the lower hinged support is connected with a guide rail, and the lower actuator is fixed on the lower platform with the guide rail. The invention can be used as a common six-degree-of-freedom platform under the condition of fixed lower support. Meanwhile, the range of the pose of the upper platform is enlarged, and the use working condition is increased. Especially under the working conditions of wind wave simulation, wind wave compensation of a ship body, offshore wind power displacement compensation and the like which need large-amplitude vertical displacement, the invention can play a better role. The invention increases the pose control space of the upper platform under the condition of not increasing the use space.
Description
Technical Field
The invention relates to a six-degree-of-freedom parallel robot with a variable lower hinge support position and a solving method thereof, belonging to the field of parallel robots.
Background
At present, the Stewart robot has the advantages of large load and small structure, is widely applied in the fields of gesture simulation and the like, and has a good market environment. However, due to the limitation of the mechanical structure, the pose change amplitude of the six-degree-of-freedom platform is relatively small, and if a large range of motion in position and pose is to be realized, the size of the whole platform needs to be increased. Therefore, the structure needs to be improved, and a smaller structure is realized to achieve larger pose change.
Disclosure of Invention
In order to solve the technical defect of smaller pose change range of the existing six-degree-of-freedom parallel robot, the invention provides the six-degree-of-freedom parallel robot with a variable lower hinge support position and a solving method thereof, and provides an implementation mode of the pose of an upper platform.
The six-degree-of-freedom parallel robot with the position of a lower hinge support is characterized in that the lower surface of an upper platform is connected with an upper hinge support, the upper hinge support is connected with an upper actuator, the other end of the upper actuator is connected with a lower hinge support, the lower hinge support is connected with a lower actuator, the lower hinge support is connected with a guide rail, and the lower actuator is fixed on the lower platform with the guide rail.
The upper hinge support and the lower hinge support are respectively connected through 6 single-degree-of-freedom upper actuators or lower actuators, the upper hinge support and the lower hinge support are of Hooke hinge structures, the Hooke hinge structures are formed by connecting a hinge support mounting bottom plate with Hooke hinges, and the Hooke hinges are respectively connected with an upper platform and a lower platform, so that spherical movement tracks can be realized.
The lower platform is connected with three guide rails which extend outwards from the center, the three guide rails are uniformly distributed at 120 degrees, and the lower hinge supports are respectively arranged in the three guide rails.
And 3 lower actuators capable of moving along the direction of the guide rail are respectively arranged in the guide rail, the lower actuators are connected with the lower hinge support, and the lower actuators push the lower hinge support to move along the guide rail, so that the gesture control of the upper platform is realized.
The upper actuator and the lower actuator can be servo linear actuators such as electric cylinders and hydraulic cylinders, and are not limited in form.
The upper platform and the three upper hinge supports are rigidly connected together by screws and uniformly distributed at 120 degrees.
A method for solving a six-degree-of-freedom parallel robot with a variable lower hinge support position comprises the following steps: and giving the gesture of the platform, obtaining the coordinates of each upper hinged support through coordinate transformation, keeping the position of the actuator for controlling the lower hinged support unchanged, and preferentially actuating the length of the actuator connected with the upper hinged support and the lower hinged support through a triangular relationship. When the actuator cannot meet the position requirement, the position of the upper platform pose which can be met by the minimum displacement of the lower hinged support is determined through the triangular relationship, and the lower hinged support is moved to realize the upper platform target pose.
The invention can be used as a common six-degree-of-freedom platform under the condition of fixed lower support. Meanwhile, the range of the pose of the upper platform is enlarged, and the use working condition is increased. Especially under the working conditions of wind wave simulation, wind wave compensation of a ship body, offshore wind power displacement compensation and the like which need large-amplitude vertical displacement, the invention can play a better role. The invention increases the pose control space of the upper platform under the condition of not increasing the use space.
According to the solving method of the six-degree-of-freedom parallel robot with the position of the lower hinge support, the parameters of a large circle and a small circle of a six-degree-of-freedom motion platform are adjusted by changing the position of the lower hinge support, and the swing arm mechanism is provided with two rotary joints which are driven by a motor and a speed reducer respectively. Through the movement of the swing arm mechanism, the diameter of the hinged circle and the inclination angle of the electric cylinder are changed, so that the rotation rigidity, the transverse translation rigidity and the travel in all directions of the platform are changed, structural interference is avoided, and the stability, the reliability, the safety and the application range of the movement of the platform are improved.
According to the method for solving the six-degree-of-freedom parallel robot with the position of the lower hinged support, provided by the invention, the three guide rails and the three actuators are arranged on the lower platform, one ends of the three lower actuators are fixed on the lower platform, the other ends of the three lower actuators are fixed on the lower hinged support, the positions of the lower hinged support on the guide rails of the lower platform are controlled by controlling the telescopic movement of the lower actuators, and the inclination angle of the actuating cylinder and the diameter of the lower hinged circle are changed, so that the adjustment of the structural parameters of the six-degree-of-freedom parallel robot is realized, the requirements of different poses of the six-degree-of-freedom parallel robot are met, the problem of mechanical structural interference is avoided, and the method has the characteristics of strong adaptability, strong bearing capacity, compact structure and the like, and is suitable for flight simulators in the aerospace field, vehicle driving simulators in the automobile industry field, dynamic simulators in the entertainment field, adjustment and matching devices in the manufacturing field, and the like, and has a wide application prospect.
It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered a part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent. In addition, all combinations of claimed subject matter are considered part of the disclosed inventive subject matter.
The foregoing and other aspects, embodiments, and features of the present teachings will be more fully understood from the following description, taken together with the accompanying drawings. Other additional aspects of the invention, such as features and/or advantages of the exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the embodiments according to the teachings of the invention.
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The invention, together with a further understanding of the many of its attendant advantages, will be best understood by reference to the following detailed description, when considered in conjunction with the accompanying drawings, which are included to provide a further understanding of the invention, and the accompanying drawings, illustrate and describe the invention and do not constitute a limitation to the invention, and wherein:
fig. 1 is a forward schematic of the present invention.
Fig. 2 is a schematic view of the lower hinge bracket fixing of the present invention.
Fig. 3 is a schematic view of the upper hinge support fixing of the present invention.
Fig. 4 is a schematic view of the hinge support of the present invention.
Fig. 5 is a schematic plan view of the present invention.
Fig. 6 is a schematic diagram of the coordinates of the platform structure of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It will be apparent that many modifications and variations are possible within the scope of the invention, as will be apparent to those skilled in the art based upon the teachings herein.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
It will be understood by those skilled in the art that all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art unless defined otherwise.
In order to facilitate understanding of the embodiments, the following description will be given in conjunction with further explanation, and the various embodiments do not constitute a limitation of the summary of the invention.
Example 1: as shown in fig. 1, 2, 3, 4, 5 and 6, a six-degree-of-freedom parallel robot with a variable lower hinge support position includes an upper platform 1, an upper hinge support 2, an upper actuator 3, a lower hinge support 4, a lower actuator 5, a lower platform 6, a guide rail 7, a hinge support mounting base plate 8 and a hook joint 9. The lower face of the upper platform 1 is connected with an upper hinge support 2, the upper hinge support 2 is connected with an upper actuator 3, the other end of the upper actuator 3 is connected with a lower hinge support 4, the lower hinge support 4 is connected with a lower actuator 5, the lower hinge support 4 is connected with a guide rail 7, and the lower actuator 5 and the guide rail 7 are fixed on a lower platform 6.
The upper hinge support 2 and the lower hinge support 4 are respectively connected through 6 actuators with single degrees of freedom, the upper hinge support 2 and the lower hinge support 4 are of Hooke's joint structure, the Hooke's joint structure is that a hinge support mounting bottom plate 8 is connected with Hooke's joint 9, the Hooke's joint 9 is respectively connected with the upper platform 1 and the lower platform 6, and spherical movement tracks can be realized.
The lower platform 6 is connected with three guide rails 7 which extend outwards from the center, the three guide rails 7 are uniformly distributed at 120 degrees, and the 3 lower hinge supports 4 are respectively arranged in the three guide rails 7.
And 3 lower actuators 5 capable of moving along the guide rail direction are respectively installed in the guide rail 7, the lower actuators 5 are connected with the lower hinge support 4, and the lower actuators 5 push the lower hinge support 4 to move along the guide rail 7, so that the attitude control of the upper platform is realized.
Example 2: as shown in fig. 1, 2, 3, 4, 5 and 6, a six-degree-of-freedom parallel robot with a variable lower hinge support position, the upper platform 1 serves as an interface connected with the outside for realizing the pose required by the external component. The three positions connected with the upper hinge support 2 are reserved, the fixed position of the upper hinge support 2 is shown in figure 2, the circle centers of the circumscribed circles of the three hinge supports are taken as the center, the connecting lines of the three upper hinge supports and the center are mutually 120 degrees, and the centers of the three hinge supports form an equilateral triangle.
The upper hinge support 2 and the lower hinge support 4 are similar in structure, and as shown in fig. 4, the upper hinge support 2 and the lower hinge support 4 are composed of a hinge support mounting base plate 8 and a hook hinge 9, and the two hook hinges are respectively fixed on the hinge support mounting base plate 8 by bolts.
As shown in fig. 2, the upper actuator 3 is rigidly connected to one end of the hook 9 of the upper hinge support 2, and the actuator can rotate spherically about the center of the hook. One section of the lower hinge support 4 is connected to the other end of the actuator in the same way.
As shown in fig. 3, three guide rails 7 are installed on the lower platform 6, the guide rails 7 extend outwards at 120 ° from each other along the center, and three lower actuators 5 are fixed on the lower platform 6, and the fixing points are on the extension lines of the three guide rails 7. The centers of the circumscribed circles of the three fixed points are positioned at the same position with the center of the guide rail 7, and the three points also form an equilateral triangle. The direction of movement of the lower actuator 5 is along the direction of the guide rail 7.
The middle position of the lower actuator 5 is the starting position of the lower hinge support 4, and the distribution of the lower hinge support 4 is also an equilateral triangle taking the center of the guide rail 7 as the center of the circumcircle. At this time, the displacement of 6 upper actuators 3 is moved, so that the pose of the upper platform 1 is changed, an envelope curve is formed according to the change, and the change range of the position of the upper platform 1 can be obtained. The position of the lower hinge support 4 is moved to find that the range of the position variation of the upper platform 1 becomes large, so that a wider range of pose control can be achieved.
Example 3: as shown in fig. 1, 2, 3, 4, 5 and 6, a method for solving a six-degree-of-freedom parallel robot with a variable lower hinge support position includes the steps of: the upper actuator 3 is marked in a counterclockwise direction as a first direction S 1 Second direction S 2 Third direction S 3 Fourth direction S 4 Fifth direction S 5 Sixth direction S 6 The method comprises the steps of carrying out a first treatment on the surface of the The coordinates of the rotation center of the corresponding upper hinge support 2 and the rotation center of the lower hinge support 4 are respectively marked as first coordinates A 1 Second coordinates A 2 Third coordinate A 3 Fourth coordinate A 4 Fifth coordinate A 5 Sixth coordinate A6 and seventh coordinate B 1 Eighth coordinate B 2 Ninth coordinate B 3 Tenth coordinate B 4 Eleventh coordinate B 5 Twelfth coordinate B 6 。
When the upper actuator 3 and the lower actuator 5 are both in the middle position, the positions of the upper hinge support and the lower hinge support of the six-degree-of-freedom parallel robot and the initial height of the platform are determined.
According to the Stewart platform structure, as shown in figure 6, describing the motion of the six-degree-of-freedom parallel robot, establishing the following two coordinate systems, wherein a static coordinate system o-xyz is fixedly connected on a base, and a dynamic coordinate system o 1 -x 1 y 1 z 1 As it is attached to the upper platform.
The origin of the coordinates of the dynamic coordinate system and the static coordinate system are both at the center of the upper surface of the upper platform.
The main structural parameters of the six-degree-of-freedom parallel robot are as shown in fig. 6:
the radius Ra of the upper hinge point circle;
a lower hinge point circle radius Rb;
shortest distance d between upper hinge points a ；
Shortest distance d between lower hinge points b 。
The coordinate vector of the rotation center of the upper hinge support 2 in the dynamic coordinate system is represented by a matrix a. The first to third rows of elements of the first column of the matrix a respectively identify the coordinates of the pivot point of the upper hinge support in the X-axis, Y-axis and Z-axis of the dynamic coordinate system, and the other columns have similar meanings to the first column.
As shown in fig. 6, the relationship is defined by a triangle:
and (3) solving to obtain:
in triangle A 1 A O Wherein, the three-dimensional relationship is obtained by the following three-dimensional relationship:
thus the first coordinate A 1 The points are as follows:
similarly, the second coordinate A of the hinge point of the upper platform 2 Third coordinate A 3 Fourth coordinate A 4 Fifth coordinate A 5 Sixth coordinate A 6 The coordinate values of (2) are also determined as described above.
As shown in fig. 6, the relationship is defined by a triangle:
and (3) solving to obtain:
in triangle B 1 B O Wherein, the three-dimensional relationship is obtained by the following three-dimensional relationship:
thus seventh coordinate B 1 The points are as follows:
similarly, the eighth coordinate B of the hinge point of the upper platform 2 Ninth coordinate B 3 Tenth coordinate B 4 Eleventh coordinate B 5 Twelfth coordinate B 6 The coordinate values of (2) are also determined as described above.
The main structural parameters of the six-degree-of-freedom parallel robot are as shown in fig. 6:
upper hinge point circle radius R a Lower hinge point circle radius R b Shortest distance d between upper hinge points a Shortest distance d between lower hinge points b 。
A method for solving a six-degree-of-freedom parallel robot with a variable lower hinge support position comprises the steps of determining main structural parameters of the six-degree-of-freedom parallel robot according to the pose required to be realized by a given six-degree-of-freedom parallel robot, and then carrying out coordinate transformation according to the position and the pose required to be achieved by an upper platform to determine a first coordinate A 1 Second coordinates A 2 Third coordinate A 3 Fourth coordinate A 4 Fifth coordinate A 5 Sixth coordinate A 6 New coordinate position, first mould length a at this point 1 B 1 Second die length A 2 B 2 Third die length A 3 B 3 Fourth die length A 4 B 4 Fifth die length A 5 B 5 Length A of the sixth die 6 B 6 The die length of the upper actuator 3 is equal to the total length of the upper actuator, and the actuator 5 is connected with the main structural parameters of the robot in parallel according to six degrees of freedomThe lower hinge support 4 is driven to make the seventh coordinate B 1 Eighth coordinate B 2 Ninth coordinate B 3 Tenth coordinate B 4 Eleventh coordinate B 5 Twelfth coordinate B 6 The coordinate values of the lower hinge support and the upper hinge support meet the main structural parameters of the six-degree-of-freedom parallel robot, so that the aim of adjusting the integral mechanism parameters of the six-degree-of-freedom robot is fulfilled.
Example 4: as shown in fig. 1, 2, 3, 4, 5 and 6, the solving method of the six-degree-of-freedom parallel robot with the position of the lower hinge support is that the upper platform and the three upper hinge supports are rigidly connected together and uniformly distributed at 120 degrees. The upper hinge support and the lower hinge support are connected through 6 actuators with single degrees of freedom, and the upper hinge support and the lower hinge support are of Hooke hinge structures, so that a spherical movement track can be realized. The lower platform is provided with three guide rails which extend outwards from the center, and the three guide rails are uniformly distributed at 120 degrees. The 3 lower hinge supports are respectively arranged in the three guide rails. And 3 actuators which stretch along the direction of the guide rail are simultaneously arranged in the guide rail and are connected with the lower hinge support, and the actuators push the lower hinge support to move along the direction of the guide rail, so that the gesture control of the upper platform is realized.
As shown in fig. 1, 2, 3, 4, 5 and 6, the six-degree-of-freedom parallel robot with the position of the lower hinge support is capable of increasing the pose control space of the upper platform without increasing the use space. The specific solving method for the elongation of each position of the actuator is as follows: and giving the gesture of the platform, obtaining the coordinates of each upper hinged support through coordinate transformation, keeping the position of the actuator for controlling the lower hinged support unchanged, and preferentially actuating the lengths of the actuators connected with the upper and lower supports through a triangular relationship. When the actuator cannot meet the position requirement, the position of the upper platform pose which can be met by the minimum displacement of the lower hinged support is determined through the triangular relationship, and the lower hinged support is moved to realize the upper platform target pose.
As shown in fig. 1, 2, 3, 4, 5 and 6, a six-degree-of-freedom motion platform with a changeable lower hinge support is provided, wherein an upper platform is used for gesture simulation, three upper hinge supports with two hook hinges are uniformly distributed on the upper platform, and the upper hinge supports are connected with the lower hinge supports through linear servo actuators. Meanwhile, the lower hinge support is arranged on the guide rail, and the lower hinge support is driven by the linear servo actuator to move linearly along the direction of the guide rail between the ground and the lower hinge support.
The actuator controls the displacement of the lower hinge support, and is not limited to the form and the mounting mode of the actuator.
As described above, the embodiments of the present invention have been described in detail, but it will be apparent to those skilled in the art that many modifications can be made without departing from the spirit and effect of the present invention. Accordingly, such modifications are also entirely within the scope of the present invention.
Claims (8)
1. The six-degree-of-freedom parallel robot with the position of the lower hinge support is characterized in that the lower surface of the upper platform is connected with the upper hinge support, the upper hinge support is connected with the upper actuator, the other end of the upper actuator is connected with the lower hinge support, the lower hinge support is connected with the lower actuator, the lower hinge support is connected with the guide rail, and the lower actuator is fixed on the lower platform with the guide rail.
2. The six-degree-of-freedom parallel robot with the position of the lower hinge support being variable according to claim 1, wherein the upper hinge support and the lower hinge support are respectively connected through 6 single-degree-of-freedom upper actuators or lower actuators, the upper hinge support and the lower hinge support are of Hooke's joint structures, the Hooke's joint structures are formed by connecting a hinge support mounting bottom plate with Hooke's joints, and the Hooke's joints are respectively connected with an upper platform and a lower platform, so that a spherical movement track can be realized.
3. The six-degree-of-freedom parallel robot of claim 1 wherein the lower platform is connected to three rails extending outwardly from the center, the three rails being uniformly distributed at 120 °, the lower hinge supports being mounted in the three rails, respectively.
4. The six-degree-of-freedom parallel robot with the position of the lower hinge support being variable according to claim 1, wherein 3 lower actuators capable of moving along the direction of the guide rail are respectively installed in the guide rail, the lower actuators are connected with the lower hinge support, and the lower actuators push the lower hinge support to move along the guide rail, so that the posture control of the upper platform is realized.
5. The six-degree-of-freedom parallel robot with a variable lower hinge support position according to claim 1, wherein the upper actuator and the lower actuator are servo linear actuators using electric cylinders or hydraulic cylinders, and the upper platform and the three upper hinge supports are rigidly connected by screws and uniformly distributed at 120 degrees.
6. The method for solving the six-degree-of-freedom parallel robot with the position of the lower hinged support is characterized by comprising the following steps of: giving the gesture of a platform, obtaining the coordinates of each upper hinged support through coordinate transformation, keeping the position of an actuator for controlling the lower hinged support unchanged, preferentially actuating the length of the actuator connected with the upper hinged support and the lower hinged support through a triangular relation, determining the position of the gesture of the upper platform which can be met by the minimum displacement of the lower hinged support through the triangular relation when the actuator cannot meet the position requirement, moving the lower hinged support, and realizing the target gesture of the upper platform.
7. The method for solving a six-degree-of-freedom parallel robot with a variable lower hinge support position according to claim 6, comprising the steps of:
marking the upper actuator as a first direction, a second direction, a third direction, a fourth direction, a fifth direction and a sixth direction according to the anticlockwise direction;
the corresponding coordinates of the rotation center of the upper hinge support and the rotation center of the lower hinge support are respectively marked as a first coordinate, a second coordinate, a third coordinate, a fourth coordinate, a fifth coordinate, a sixth coordinate, a seventh coordinate, an eighth coordinate, a ninth coordinate, a tenth coordinate, an eleventh coordinate and a twelfth coordinate,
when the upper actuator and the lower actuator are both in the middle position, the positions of the upper hinge support and the lower hinge support of the six-degree-of-freedom parallel robot and the initial height of the platform are determined,
describing the motion of a six-degree-of-freedom parallel robot, establishing the following two coordinate systems, wherein a static coordinate system o-xyz is fixedly connected to a base, and a dynamic coordinate system o 1 -x 1 y 1 z 1 As a result of being connected to the upper platform,
the origin of the coordinates of the dynamic coordinate system and the static coordinate system are both at the center of the upper surface of the upper platform,
the main structural parameters of the six-degree-of-freedom parallel robot,
the radius Ra of the circle of the upper hinge point,
the radius Rb of the circle of the lower hinge point,
the shortest distance da between the upper hinge points,
the shortest distance db between the lower hinge points,
the coordinate vector of the upper hinge support rotation center in the dynamic coordinate system is represented by a matrix a,
the first to third rows of elements of the first column of the matrix a identify the coordinates of the pivot point of the upper hinge support in the X, Y and Z axes of the dynamic coordinate system, respectively, the remaining columns having similar meanings to the first column,
the triangle relation is used for obtaining:
and (3) solving to obtain:
in triangle A 1 In AO, the triangular relationship is:
the first coordinate point is therefore:
similarly, the coordinate values of the second coordinate, the third coordinate, the fourth coordinate, the fifth coordinate and the sixth coordinate of the hinge point of the upper platform are also determined according to the method,
the triangle relation is used for obtaining:
and (3) solving to obtain:
in triangle B 1 B O Wherein, the three-dimensional relationship is obtained by the following three-dimensional relationship:
the seventh coordinate point is therefore:
similarly, the coordinate values of the eighth coordinate, the ninth coordinate, the tenth coordinate, the eleventh coordinate and the twelfth coordinate of the hinge point of the upper platform are also determined according to the above method.
8. The method for solving the six-degree-of-freedom parallel robot with the position of the lower hinge support according to claim 6, wherein the position and the posture of the upper platform are required to be achieved to carry out coordinate transformation, new coordinate positions of a first coordinate, a second coordinate, a third coordinate, a fourth coordinate, a fifth coordinate and a sixth coordinate are determined, at the moment, the lengths of the first, the second, the third, the fourth, the fifth and the sixth mould are the total length of the upper actuator, and the actuators drive the lower hinge support according to the main structural parameters of the six-degree-of-freedom parallel robot, so that coordinate values of a seventh coordinate, an eighth coordinate, a ninth coordinate, a tenth coordinate, an eleventh coordinate and a twelfth coordinate meet the main structural parameters of the six-degree-of-freedom parallel robot, and the aim of adjusting the overall mechanical parameters of the six-degree-of-freedom robot by adjusting the positions of the lower hinge support is achieved.
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