CN1255250C - New type series-parallel connection jogging robot - Google Patents
New type series-parallel connection jogging robot Download PDFInfo
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- CN1255250C CN1255250C CN 01128916 CN01128916A CN1255250C CN 1255250 C CN1255250 C CN 1255250C CN 01128916 CN01128916 CN 01128916 CN 01128916 A CN01128916 A CN 01128916A CN 1255250 C CN1255250 C CN 1255250C
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- pedestal
- rods
- parallel connection
- series
- jogging
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Abstract
The present invention belongs to the field of jogging robots. The present invention has the essential structures that a base and a work table are connected by three or four fixed long rods, wherein one end of one fixed long rod is connected with the base through the flexible movement pair of a parallel plate which is processed directly on a location base; the other end is connected with the work table through a spherical hinge or a hooke hinge; one end of each of other fixed long rods is connected with the flexible movement pair of the parallel plate through a spherical hinge or a hooke hinge; the other ends are connected with the work table through spherical hinges; the end connected with the base of the fixed long rod is provided with a micro displacement driver. The present invention which can realize the jogging operation of zero friction, zero clearance and high resolution has the advantages of simple and compact structure, low manufacture cost, simple control, large working, high motion resolution, fine dynamic characteristic, etc.
Description
One, technical field
This invention belongs to the jiggle robot technical field.
Two, background technology
Jiggle robot has wide application prospect in retrofit, integrated circuit manufacturing, fiber alignment, CCD butt joint, biology and fields such as genetic engineering, Aero-Space.In the research of jiggle robot, parallel institution especially causes people's attention, this mainly is because parallel institution has the following advantages: (1) compact conformation, (2) design processing is simple, sensitivity to temperature is not high, and (3) driver can place on the pedestal, and it is little that (4) error value product is involved amplification, (5) intrinsic frequency height has been avoided the uncontrollable repetitive error of being introduced by vibrations.
Si Taodun (Stoughton) has designed a kind of jiggle robot of being made up of two parallel institutions, and each parallel institution is made up of six piezoelectric elements; Hu Genzi (Hudgens) and special plug (Tesar) have proposed this base of a fruit watt (Stewart) platform jiggle robot of a kind of complete parallel connection; More domestic units have also developed based on the six-freedom parallel jiggle robot of GENERAL TYPE Stewart structure, series-parallel connection six-freedom micro displacement robot, based on the cell manipulation jiggle robot and the parallel micromotion decoupling-structure jogging robot of its (Delta) mechanism of Dare.They contribute with progressive for the development of jiggle robot, and the some of them achievement in research has been applied for patent.Disclosed patent application is generally the six-freedom parallel jiggle robot of Stewart structure, but still exists complex structure, motion analysis difficulty, is prone to problems such as movement interference.
Three, Fa Ming content
The object of the present invention is to provide a kind of series-parallel connection jogging robot of new construction, it has, and simple and compact for structure, low cost of manufacture, working space are big, position analysis and kinematics analysis easily, advantage such as good, the mobile decoupling of simple, the Motion Resolution rate height of control, dynamic characteristic.
The technical scheme of new type series-parallel connection jogging robot of the present invention is as follows:
New type series-parallel connection jogging robot, by pedestal, workbench, two ends constitute with connecting-rods with constant lengh and the micro-displacement driver that pedestal and workbench link respectively, it is characterized in that containing 3 or 4 said connecting-rods with constant lenghs, one end of connecting-rods with constant lengh links by Hooke's hinge or ball pivot and workbench, in the other end, have on the parallel-plate compliant translational joint that directly is fixed on pedestal, all the other link by the parallel-plate compliant translational joint that directly processes on Hooke's hinge or ball pivot and the positioning seat, said reservation and pedestal rigidity connect firmly, and each connecting-rods with constant lengh and the pedestal end that links is provided with micro-displacement driver.
Ball pivot and Hooke's hinge said in such scheme are flexible hinge structure.
Said micro-displacement driver can be piezoelectric micro-displacement actuator in such scheme.Micro-displacement driver can be arranged on the end that connecting-rods with constant lengh and pedestal link.
Said connecting-rods with constant lengh in such scheme, the one end links with the compliant translational joint that directly processes on positioning pedestal, and said positioning seat rigidity is positioned on the pedestal, and piezoelectric micro-displacement actuator is between pedestal and compliant translational joint.
Said other connecting-rods with constant lengh in such scheme, link by the flexible ball pivot that directly processes in its end or Hooke's hinge and the compliant translational joint that on positioning seat, directly processes, said positioning seat rigidity is positioned on the pedestal, and piezoelectric micro-displacement actuator is between pedestal and compliant translational joint.
Being positioned at the series-parallel connection jogging robot body that the positioning seat on the pedestal constitutes by pedestal and rigidity is the non-assembly of time processing moulding.
That jiggle robot disclosed by the invention has is simple and compact for structure, low cost of manufacture, position analysis and kinematics analysis easily, advantages such as control is simple, working space is big, Motion Resolution rate height, dynamic characteristic are good, mobile decoupling, driving-chain is short, the transmission level is few, accumulated error is little, can realize not having rub, no gap and high-resolution fine motion operate.Can be applicable to field and other occasions of handling small items, carrying out fine location and microoperation such as retrofit, integrated circuit manufacturing, fiber alignment, CCD butt joint, biology and genetic engineering, microsurgery, microelectronics assembling.The present invention also can cooperate with two-way mobile micro-displacement work table, to form multiple degrees of freedom hybrid type jiggle robot, enlarges the application of jiggle robot.
Four, description of drawings
Accompanying drawing 1 is the general structure schematic diagram of new type series-parallel connection jogging robot embodiment 1 of the present invention.
Accompanying drawing 2 is the general structure schematic diagram of new type series-parallel connection jogging robot embodiment 2 of the present invention.
Five, the specific embodiment
Embodiment 1:
Structure as shown in Figure 1, be the four-freedom hybrid jiggle robot, form by pedestal 1, workbench 2, connecting-rods with constant lengh 3,4,5,6 and piezo-ceramic micro displacement unit 8 etc., link by 4 connecting-rods with constant lenghs between pedestal 1 and the workbench 2, one of them connecting-rods with constant lengh 3 one end directly and pedestal 1 link by the parallel-plate compliant translational joint, the other end directly links by flexible ball pivot and workbench 2; Other three connecting-rods with constant lenghs, 4,5,6 one ends link by flexible Hooke's hinge and parallel-plate compliant translational joint, and the other end links by ball pivot and workbench 2.The positioning seat rigidity is positioned on the pedestal, thereby constitutes the jiggle robot body with pedestal, and the time processing moulding.Between the pedestal 1 and dull and stereotyped compliant translational joint 9 of piezoelectric micro-displacement actuator 8 in positioning seat 7, transmit the micrometric displacement motion by direct contact.
Embodiment 2:
Structure as shown in Figure 2, it is a kind of Three Degree Of Freedom series-parallel connection jogging robot, form by pedestal 1, workbench 2, connecting-rods with constant lengh 3,4,5, piezo-ceramic micro displacement unit 8 etc., link by 3 connecting-rods with constant lenghs between pedestal 1 and the workbench 2, one of them connecting-rods with constant lengh 3 one end and pedestal 1 link by the parallel-plate compliant translational joint, and the other end links by flexible Hooke's hinge and workbench 2; Two other connecting-rods with constant lengh 4,5 one ends link by flexible ball pivot and parallel-plate compliant translational joint, and the other end links by flexible ball pivot and workbench 2.Three connecting-rods with constant lenghs all adopt piezoelectric micro-displacement actuator, and driver is arranged on the end that connecting-rods with constant lengh and pedestal link.
The location layout of the connecting-rods with constant lengh among the embodiment 1 also can adopt following distribution form, and promptly connecting-rods with constant lengh 3 can be positioned at its pedestal that links and workbench center, and other three connecting-rods with constant lenghs along the circumferential direction evenly distribute, and this placement scheme can be realized mobile decoupling.
Version of the present invention is not limited to the described form of the foregoing description.
Claims (7)
1, series-parallel connection jogging robot, by pedestal (1), workbench (2), two ends constitute with connecting-rods with constant lengh and the micro-displacement driver (8) that pedestal and workbench link respectively, it is characterized in that containing 3 or 4 said connecting-rods with constant lenghs, connecting-rods with constant lengh one end links by Hooke's hinge or ball pivot and workbench, in the other end, have on the parallel-plate compliant translational joint that directly is fixed on pedestal, all the other link by the parallel-plate compliant translational joint that directly processes on the positioning seat that rigidity connects firmly on Hooke's hinge or ball pivot and the pedestal, and each connecting-rods with constant lengh and the pedestal end that links is provided with micro-displacement driver (8).
2, series-parallel connection jogging robot as claimed in claim 1 is characterized in that said ball pivot and Hooke's hinge are flexible hinge structure.
3, series-parallel connection jogging robot as claimed in claim 2 is characterized in that said micro-displacement driver is a piezoelectric micro-displacement actuator.
4, series-parallel connection jogging robot as claimed in claim 3 is characterized in that micro-displacement driver is arranged on the end that connecting-rods with constant lengh and pedestal (1) link.
5, series-parallel connection jogging robot as claimed in claim 4, it is characterized in that connecting-rods with constant lengh (3) and the compliant translational joint (9) that directly processes link on positioning seat (7), said positioning seat (7) rigidity is positioned on the pedestal, and piezoelectric micro-displacement actuator (8) is positioned between pedestal (1) and the compliant translational joint.
6, series-parallel connection jogging robot as claimed in claim 5, it is characterized in that said connecting-rods with constant lengh (4,5,6), the flexible ball pivot or the flexible Hooke's hinge that directly process by the connecting-rods with constant lengh end link with the compliant translational joint (9) that directly processes on positioning seat (7), said positioning seat (7) rigidity is positioned on the pedestal, and piezoelectric micro-displacement actuator (8) is positioned between pedestal (1) and the compliant translational joint (9).
7, series-parallel connection jogging robot as claimed in claim 6 is characterized in that being positioned at the series-parallel connection jogging robot body that the positioning seat (7) on the pedestal constitutes by pedestal (1) and rigidity is the non-assembly of time processing moulding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01128916 CN1255250C (en) | 2001-09-29 | 2001-09-29 | New type series-parallel connection jogging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01128916 CN1255250C (en) | 2001-09-29 | 2001-09-29 | New type series-parallel connection jogging robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1410231A CN1410231A (en) | 2003-04-16 |
| CN1255250C true CN1255250C (en) | 2006-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01128916 Expired - Fee Related CN1255250C (en) | 2001-09-29 | 2001-09-29 | New type series-parallel connection jogging robot |
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| Country | Link |
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| CN (1) | CN1255250C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1298030C (en) * | 2003-11-04 | 2007-01-31 | 电子科技大学 | Precisively butting apparatus for photoelectric device package |
| CN100345665C (en) * | 2003-12-25 | 2007-10-31 | 电子科技大学 | Precisely micro-operated robot structure |
| CN1297373C (en) * | 2004-03-17 | 2007-01-31 | 哈尔滨工业大学 | High precision flexible parallel robot with six degreed of freedom and large travel |
| CN103552061B (en) * | 2013-11-18 | 2015-07-15 | 山东理工大学 | Parallel micro-motion platform with one translational degree of freedom and two rotational degrees of freedom |
| CN105643604B (en) * | 2016-03-25 | 2018-06-12 | 西安电子科技大学 | A kind of submissive system of four-degree-of-freedom fine motion |
| CN110559081B (en) * | 2019-09-10 | 2020-05-29 | 清华大学 | In vivo additive repair system and in vivo repair device |
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2001
- 2001-09-29 CN CN 01128916 patent/CN1255250C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1410231A (en) | 2003-04-16 |
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