CN1417003A - Parallel robot mechanism with three-freedom rotating platform - Google Patents
Parallel robot mechanism with three-freedom rotating platform Download PDFInfo
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- CN1417003A CN1417003A CN 02153745 CN02153745A CN1417003A CN 1417003 A CN1417003 A CN 1417003A CN 02153745 CN02153745 CN 02153745 CN 02153745 A CN02153745 A CN 02153745A CN 1417003 A CN1417003 A CN 1417003A
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Abstract
The present invention provides a parallel robot mechanism with spherically rotating movable platform. The mechanism consists of a movable platform, a fixed platform and three motional branched chains to connect the movable platform and the fixed platform and in the same structure. Each motional branched chain consists of gimbal, shift pair and cylindrical pair, and the axis of the gimbal is perpendicular to that of the shift pair and that of the cylindrical pair. All the axes of the three gimbals and the three cylindrical pairs are crossed in one point. When the said mechanism is driven to move, the movable platform moves spherically around some fixed point. The mechanism has simple structure and symmetrical motional branched chain structures and may be used in wrist joint of robot and other application fields needing spatial gesture positioning.
Description
(1) technical field
The present invention relates to a kind of parallel robot mechanism.
(2) background technology
Parallel robot has that rigidity is big, load is from the high traditional unexistent advantage of serial machine people of anharmonic ratio, becomes the focus and the focus of robotics research in the world in recent years.Parallel robot is formed by the movement branched chain connection by moving platform and fixed platform usually, the free degree number of parallel robot is general identical with the number of movement branched chain, early stage parallel robot is the 6-SPS Stewart platform mechanism of 6DOF normally, and the Stewart platform mechanism has that working space is little, motion normal solution difficulty, complex structural designs and shortcomings such as position and pose parameter lotus root connection.In order to overcome these shortcomings of 6DOF parallel institution, many in recent years researchers have turned to lower-mobility (moving platform freedom of motion number is less than 6) parallel robot to notice, that the lower-mobility parallel robot mechanism has is simple in structure, working space is big, design with control advantages such as fairly simple.So far the lower-mobility parallel robot mechanism great majority that proposed are Three Degree Of Freedoms, wherein based on the straight moving platform parallel robot mechanism of Three Degree Of Freedom, Three Degree Of Freedom translation parallel machine people (U.S. Patent number: 5656905) as Tsai proposition in 1997, with Three Degree Of Freedom translation parallel machine physiognomy ratio, Three Degree Of Freedom rotating parallel robot mechanism type is less, so far has only 3-RRR parallel institution (Gosselin C.and Angeles J., 1989, " The Optimum Kinematic Design of a SphericalThree-Degree-of-Freedom Parallel Manipulator; " ASME Journal of Mechanisms, Transmissions, and Automation in Design, 111 (2), pp.202-207.), (the Karouia of 3-UPU mechanism that Karouia proposed in 2000, M., and Herv é, J.M., 2000, " A Three-DOF Tripod For Generating Spherical Rotation; " Advancesin Robot Kinematics, J.Lenarcic and M.M.Stanisic (eds.), Kluwer Academic Publishers, pp.395-402.), (the Vischer P. of Argos mechanism that Vischer proposed in 2000, and Clavel R., 2000, " Argos:A Novel3-DOF Parallel Wrist Mechanism; " The International Journal of Robotics Research, 19 (1), pp.5-11.) and 3-RUU (the Di Ggregorio that proposes of Di Gregorio calendar year 2001, R., 2001, " A New Parallel WristUsing Only Revolute Pairs:The 3-RUU Wrist; " Robotica, 19 (3), pp.305-309.) etc. limited is several, wherein the 3-RRR parallel robot belonged to constraint mechanism, it requires very high to manufacturing and installation accuracy, otherwise stuck phenomenon will take place, and two revolute pairs are arranged in every movement branched chain of 3-RUU parallel institution are motionless (or being called lazy pair), be that in fact it be equivalent to the 3-RRR parallel institution, and all containing a spherical pair in every side chain of Argos parallel institution, spherical pair will improve manufacturing cost and be difficult to guarantee its precision.In sum, the parallel robot mechanism type of Three Degree Of Freedom rotatable platform very little at present, and they also exist at aspect of performance can not satisfactory part, be starved of more novel Three Degree Of Freedom one-rotation parallel mechanism, to satisfy design and the requirement of using.
(3) summary of the invention
The invention provides a kind of novel Three Degree Of Freedom rotatable platform parallel robot mechanism.
Technical scheme of the present invention is: the structure of three movement branched chain of connection moving platform and fixed platform is identical, every movement branched chain and the joining kinematic pair of fixed platform are universal joints, with the joining kinematic pair of moving platform be cylindrical pair, the intermediary movements pair of movement branched chain is a moving sets, when mechanism kinematic, moving platform is made spherical rotation around a fixing point.
The invention has the beneficial effects as follows: these mechanisms have simple in structure, do not have constraint, position and attitude parameter to separate lotus root and do not have advantages such as Sui's pair, be convenient to control and design, can be applicable to attitude location or other occasion that needs three-dimensional sphere to rotate of robot wrist mechanism, satellite antenna.
(4) description of drawings
Fig. 1 Three Degree Of Freedom rotatable platform parallel robot mechanism schematic diagram
(5) specific embodiment
Three Degree Of Freedom rotatable platform parallel robot mechanism, by fixed platform 1 and moving platform 2 and be connected moving platform and three movement branched chain of fixed platform are formed, article three, the structure of movement branched chain is identical, every movement branched chain and fixed platform 1 joining kinematic pair are universal joints 3, with moving platform 2 joining kinematic pairs are cylindrical pairs 5, the intermediary movements pair of movement branched chain is a moving sets 4, and when mechanism kinematic, moving platform 2 is made spherical rotation around fixing point O.In each movement branched chain in the universal joint 3 axis 6 adjacent with moving sets 4 perpendicular to the axis 8 of moving sets and the axis 9 of cylindrical pair.The axis 9 of all cylindrical pairs O that intersects at a point in the axis 7 adjacent and three side chains in the universal joint 3 in all three movement branched chain with fixed platform 1, the center of rotation when this point is exactly the moving platform motion.Illustrated movement branched chain also can be inverted, universal joint connects with moving platform, cylindrical pair connects with fixed platform, and promptly the kinematic pair arrangement mode in each movement branched chain is transformed to the arrangement mode of " cylindrical pair-moving sets-universal joint " from " universal joint-moving sets-cylindrical pair ".Moving sets 4 in each bar movement branched chain of mechanism is optional secondary as driving, and then moving platform is only made spherical rotation around the point of the O shown in the figure in the motion process of driving link.
Claims (4)
1. Three Degree Of Freedom rotatable platform parallel robot mechanism, this mechanism is by moving platform (2) and fixed platform (1) and be connected moving platform and three movement branched chain of fixed platform are formed, it is characterized in that: the structure of three movement branched chain is identical, every movement branched chain and the joining kinematic pair of fixed platform (1) are universal joint (3), with the joining kinematic pair of moving platform (2) be cylindrical pair (5), the intermediary movements pair of movement branched chain is moving sets (4), when mechanism kinematic, moving platform (2) is made spherical rotation around a fixing point.
2. according to the described Three Degree Of Freedom rotatable platform of claim 1 parallel robot mechanism, it is characterized in that: axis (6) adjacent with moving sets (4) in the universal joint in each movement branched chain (3) is perpendicular to the axis (8) of moving sets and the axis (9) of cylindrical pair.
3. according to claim 1,2 described Three Degree Of Freedom rotatable platform parallel robot mechanisms, it is characterized in that: in the universal joint (3) in all three movement branched chain in the axis (7) adjacent and three movement branched chain with fixed platform (1) axis (9) of all cylindrical pairs (5) intersect at a point the center of rotation when this point is exactly the moving platform motion.
4. according to claim 1,2 described Three Degree Of Freedom rotatable platform parallel robot mechanisms, the kinematic pair arrangement mode in each movement branched chain can be transformed to the arrangement mode of " cylindrical pair-moving sets-universal joint " from described " universal joint-moving sets-cylindrical pair ".
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021537453A CN1189288C (en) | 2002-12-04 | 2002-12-04 | Parallel robot mechanism with three-freedom rotating platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021537453A CN1189288C (en) | 2002-12-04 | 2002-12-04 | Parallel robot mechanism with three-freedom rotating platform |
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| CN1417003A true CN1417003A (en) | 2003-05-14 |
| CN1189288C CN1189288C (en) | 2005-02-16 |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293989C (en) * | 2003-10-08 | 2007-01-10 | 杨廷力 | Zero-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN100406209C (en) * | 2004-09-02 | 2008-07-30 | 中国科学院数学与系统科学研究院 | Parallel connection mechanism constituted of circular pair, circular pair and spherical pair |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | Three-translation spatial parallel robotic mechanism |
| CN102120299A (en) * | 2011-03-30 | 2011-07-13 | 东华大学 | Decoupled three-rotation parallel mechanism |
| CN102275163A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Spherical parallel movement mechanism |
| CN102275161A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical motion mechanism |
| CN102513999A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Hybrid assembling robot |
| CN102962836A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetric two-rotation one-movement parallel mechanism |
| CN103009380A (en) * | 2012-12-31 | 2013-04-03 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN103878766A (en) * | 2014-04-04 | 2014-06-25 | 苏州大学 | Three-PRS type micro-motion parallel robot |
| CN104227710A (en) * | 2014-09-28 | 2014-12-24 | 天津理工大学 | Spatial three-degree-of-freedom parallel mechanism |
| CN105082172A (en) * | 2015-06-17 | 2015-11-25 | 北京交通大学 | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators |
| CN105109573A (en) * | 2015-06-25 | 2015-12-02 | 北京交通大学 | Transformable triangular prism robot |
| CN109434813A (en) * | 2019-01-08 | 2019-03-08 | 北华航天工业学院 | A kind of freedom degree parallel connection planar robot |
| CN110861071A (en) * | 2019-10-30 | 2020-03-06 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN111409059A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Four-degree-of-freedom parallel mechanism with closed-loop branched chain |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101709748B (en) * | 2009-12-10 | 2012-06-20 | 江苏大学 | Double universal joint consisting flexible knuckles |
-
2002
- 2002-12-04 CN CNB021537453A patent/CN1189288C/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1293989C (en) * | 2003-10-08 | 2007-01-10 | 杨廷力 | Zero-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN100406209C (en) * | 2004-09-02 | 2008-07-30 | 中国科学院数学与系统科学研究院 | Parallel connection mechanism constituted of circular pair, circular pair and spherical pair |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | Three-translation spatial parallel robotic mechanism |
| CN102120299A (en) * | 2011-03-30 | 2011-07-13 | 东华大学 | Decoupled three-rotation parallel mechanism |
| CN102275163A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Spherical parallel movement mechanism |
| CN102275161A (en) * | 2011-07-08 | 2011-12-14 | 常州大学 | Three-rotation spherical motion mechanism |
| CN102275163B (en) * | 2011-07-08 | 2013-07-17 | 常州大学 | Spherical parallel movement mechanism |
| CN102513999A (en) * | 2011-12-28 | 2012-06-27 | 广西大学 | Hybrid assembling robot |
| CN102962836A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Symmetric two-rotation one-movement parallel mechanism |
| CN103009380B (en) * | 2012-12-31 | 2014-11-05 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN103009380A (en) * | 2012-12-31 | 2013-04-03 | 北京交通大学 | Parallel mechanism with movement bifurcation characteristic |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN103831818B (en) * | 2014-02-26 | 2016-01-20 | 南京航空航天大学 | The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates |
| CN103878766A (en) * | 2014-04-04 | 2014-06-25 | 苏州大学 | Three-PRS type micro-motion parallel robot |
| CN104227710A (en) * | 2014-09-28 | 2014-12-24 | 天津理工大学 | Spatial three-degree-of-freedom parallel mechanism |
| CN105082172A (en) * | 2015-06-17 | 2015-11-25 | 北京交通大学 | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators |
| CN105109573A (en) * | 2015-06-25 | 2015-12-02 | 北京交通大学 | Transformable triangular prism robot |
| CN109434813A (en) * | 2019-01-08 | 2019-03-08 | 北华航天工业学院 | A kind of freedom degree parallel connection planar robot |
| CN110861071A (en) * | 2019-10-30 | 2020-03-06 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN110861071B (en) * | 2019-10-30 | 2021-01-08 | 北京交通大学 | Two-rotation parallel mechanism with virtual rotation center |
| CN111409059A (en) * | 2020-03-27 | 2020-07-14 | 北京交通大学 | Four-degree-of-freedom parallel mechanism with closed-loop branched chain |
| CN111409059B (en) * | 2020-03-27 | 2022-02-11 | 北京交通大学 | Four-degree-of-freedom parallel mechanism with closed-loop branched chain |
| CN113476270A (en) * | 2021-06-24 | 2021-10-08 | 燕山大学 | Foldable wrist joint parallel rehabilitation device |
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