CN1472046A - Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism - Google Patents
Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism Download PDFInfo
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- CN1472046A CN1472046A CNA031495478A CN03149547A CN1472046A CN 1472046 A CN1472046 A CN 1472046A CN A031495478 A CNA031495478 A CN A031495478A CN 03149547 A CN03149547 A CN 03149547A CN 1472046 A CN1472046 A CN 1472046A
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Abstract
A connecting branch structure for the parallel robot is composed of the sequentially connected multi-freedom hinge, parallelogram mechanism and moving set. A six-freedom parallel robot using said connecting branch structure consisting of movable platform, fixed platform and three said connecting branch structures. Its advantages are high flexibility and high rigidity.
Description
Technical field
The present invention relates to the industrial machine robot mechanism, relate in particular to the connection branched structure in a kind of parallel robot mechanism, and a kind of by moving platform, fixed platform be connected the six-degree-of-freedom parallel robot mechanism that branched structure is formed.
Background technology
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 (branch) and fixed platform link by at least two.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 as the mechanism of industrial robot.At present, parallel institution firmly with in the industries such as torque sensor, flight simulator more and more obtains paying attention in lathe, fine motion operating desk, robot.
Parallel institution just occurred in 1949, was that a people who is high husband (Gough) designs and detects tire, and in the sixties, this mechanism is excavated again, and reason is because this mechanism is more practical on flight simulator.In nineteen sixty-five, Stewart (Stewart) utilizes the realization mechanism of the parallel institution of 6DOF as a kind of 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.
Present parallel institution has 2,3,4,5 and 6 frees degree.The 6DOF parallel institution has considerable status in this family because the free degree of the free rigid body in space is exactly 6, so the 6DOF parallel institution be study morely, also be the mechanism comparatively widely that in industry, uses.Each kinematic chain of this class mechanism often contains a multifreedom motion hinge at least, as spherical hinge or hook hinge.But, for the existing non-redundant space parallel mechanism that drives, owing to the limited pendulum angle of multifreedom motion hinge wherein and connect the reason that multifreedom motion hinge rod member attitude changes at any time, often have a common shortcoming, promptly motion platform flexibility ratio (or claiming turning power) is limited.
Shown in Figure 1 is a kind of existing mechanism, motion platform 1 links by two identical branches and fixed platform 6, each branch is made up of the moving sets that spherical hinge 2, connecting rod 3, revolute pair 4, slide block 5 and slide block and fixed platform 6 are hinged, and two slide blocks can make moving platform realize rotating along moving of X-axis.The flexibility ratio of this rotational freedom (corner size) depends on the pendulum angle scope of two spherical hinges to a great extent.Suppose that this spherical hinge can be around the swing ability of ± 45 ° of oscillation center line α realizations, still because the attitude of this center line α is to change at any time along with moving of moving sets, this just greatly reduces the flexibility ratio of moving platform.For example, when moving platform will rotate 15 ° of angles, but the rotation of spherical hinge has exceeded its predetermined hunting range ± 45 ° as seen from Figure 1, promptly 54.2 °＞45 °, this shows that this mechanism can not make moving platform realize ± 15 ° flexibility ratio.Flexibility ratio has critical role in commercial Application, because limited flexibility ratio, a lot of parallel institutions are difficult in and obtain further extensive use in the industry.
Summary of the invention
In view of this, the technical problem to be solved in the present invention provides the connection branched structure in a kind of parallel robot mechanism, and oscillation center line attitude in motion process of multifreedom motion hinge is wherein remained unchanged.
In order to solve the problems of the technologies described above, the invention provides the connection branched structure in a kind of parallel robot mechanism, at least comprise the multifreedom motion hinge, bindiny mechanism and the kinematic pair that link to each other successively, described bindiny mechanism is by the input rod member, connects rod member, output rod member, connects the parallel-crank mechanism that the rod member head and the tail are formed by connecting by revolute pair successively, described motion hinge is connected with the input rod member with the output rod member respectively with kinematic pair, and described kinematic pair has one degree of freedom at least and can not change the attitude of described input rod member.
Because the input and output rod member attitude of parallel-crank mechanism is constant in motion process, the oscillation center line of the multifreedom motion hinge that described and the output rod member of parallel-crank mechanism are connected mutually keeps attitude constant, thereby can make coupled motion platform have maximum turning power.
Another technical problem that the present invention will solve provides a kind of six-degree-of-freedom parallel robot mechanism, and this parallel robot mechanism has high flexibility ratio and rigidity.
In order to solve the problems of the technologies described above, the invention provides a kind of six-degree-of-freedom parallel robot mechanism, comprise a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform, described each branch all comprises: one by the input rod member, connect rod member, the output rod member, connect the parallel-crank mechanism that the rod member head and the tail are formed by connecting by revolute pair successively, the multifreedom motion hinge that is connected with described output rod member, and be connected between described input rod member and the fixed platform, do not change the kinematic pair of described input rod member attitude, described kinematic pair has two frees degree and drives, and the position on described each plane, parallel-crank mechanism place and fixed platform plane relation remains unchanged.
In the such scheme, described kinematic pair can be a two-freedom planar kinematic pair, or two compound motion pairs that moving sets is formed.
As mentioned above, for parallel robot mechanism provided by the invention, because the input and output rod member attitude of parallel-crank mechanism is constant in motion process, the oscillation center line of the multifreedom motion hinge that described and the output rod member of parallel-crank mechanism are connected mutually keeps attitude constant, thereby can relatively increase the flexibility ratio (or claiming turning power) of the motion platform that is connected with described multifreedom motion hinge, owing to adopt parallel-crank mechanism to replace original connecting rod, improved the rigidity of mechanism simultaneously.
Description of drawings
Fig. 1 is the schematic diagram that the moving platform of prior art parallel institution rotates;
Fig. 2 is the schematic diagram of the connection branched structure in the embodiment of the invention parallel robot mechanism;
After Fig. 3 is the connection branched structure that adopts among Fig. 2, the schematic diagram that the moving platform of parallel institution rotates;
Fig. 4 is the structural representation of six-degree-of-freedom parallel robot first embodiment of mechanism of the present invention;
Fig. 5 is the structural representation of six-degree-of-freedom parallel robot second embodiment of mechanism of the present invention; And
Fig. 6 is the structural representation of six-degree-of-freedom parallel robot the 3rd embodiment of mechanism of the present invention.
The specific embodiment
Fig. 2 is the schematic diagram of the connection branched structure in the embodiment of the invention parallel robot mechanism.As shown in the figure, this connection branched structure is by spherical hinge 32, by the output parallel-crank mechanism 34 that links to each other with spherical hinge 32 of rod member 33 and be connected in the moving sets that parallel-crank mechanism imports between rod member 35 and the fixed platform 36 and form, between the output input rod member that is parallel to each other, be two connecting rods that also are parallel to each other.Here said " parallel-crank mechanism ", be meant the mechanism that input rod member, connecting rod, output rod member, the connecting rod head and the tail of four-bar linkage are linked and form by revolute pair successively, the length of disjunct two rod members in four rod members (promptly import rod member and output rod member, reach two connecting rods) equates.
The connection branched structure of the foregoing description can be done multiple conversion in actual applications.For example, moving sets wherein can be made into the kinematic pair of a kind of two-freedom planar kinematic pair or other combining form,, just can improve the flexibility ratio of coupled moving platform as long as it does not change the attitude of parallel-crank mechanism input rod member.In some application scenario, the input rod member directly can also be fixed on the fixed platform, also can play same effect.
Below will be by the parallel institution of forming by above-mentioned connection branched structure among Fig. 3, the employing that specifies this connection branched structure is to the effect of the flexibility ratio that improves coupled moving platform.
As shown in Figure 3, in this mechanism, moving platform 7 links by two identical branches and fixed platform 11, and each branch comprises a spherical hinge 8, parallel-crank mechanism 9 and parallel-crank mechanism input rod member 10 and forms with the moving sets that fixed platform 11 is hinged.
The input rod member 10 has here played the effect of slide block 5 among Fig. 1 simultaneously.Comparison diagram 3 and Fig. 1, as can be seen, from the kinematics angle, among Fig. 2 among the function of parallel-crank mechanism and Fig. 1 the function of connecting rod 3, revolute pair 4 and slide block 5 be equivalent.But in Fig. 2 mechanism, the employing decapacitation of parallel-crank mechanism increases outside the rigidity of branch, and the effect that the moving platform flexibility ratio is produced also is very different.Because parallel-crank mechanism is in motion process, the attitude of output rod member is constant, thereby the attitude of the oscillation center line a of feasible connection spherical hinge 8 thereon is constant, has so just increased the flexibility ratio of moving platform greatly.As shown in Figure 3, same, allow moving platform rotate 15 ° angle, the swing of spherical hinge only needs 15 ° as can be seen, does not exceed slewing area ± 45 ° of spherical hinge itself, and 30 ° remaining in addition.Like this, the rotational angle of moving platform can substantially exceed 15 °, and traditional mechanism shown in Figure 1 even do not reach 15 °.
Therefore, can understand, adopt connection branched structure of the present invention can improve the flexibility ratio of moving platform in the parallel institution greatly.
Fig. 4, Fig. 5 and Fig. 6 connect three embodiment that branched structure is applied to six-degree-of-freedom parallel robot mechanism with the present invention.
First embodiment of six-degree-of-freedom parallel robot of the present invention mechanism as shown in Figure 4, the moving platform 12 of this mechanism is connected with fixed platform 16 by three identical branches, an end that wherein connects moving platform is a spherical hinge 13, this hinge is fixedly attached on the output rod member 18 of parallel-crank mechanism 14, the input rod member 15 of this parallel-crank mechanism links to each other with slide block 17 by a moving sets, and this slide block links to each other with fixed platform 16 by the another one moving sets.Realize the spatial movement of motion platform 12 six degree of freedoms by driving two moving sets in each branch, promptly 3 are moved and 3 rotations.
Second embodiment of six-degree-of-freedom parallel robot of the present invention mechanism as shown in Figure 5, this motion of mechanism platform 19 is connected with fixed platform 24 by three identical branches, an end that wherein connects moving platform is a spherical hinge 20, on the output rod member 23 that is connected parallel-crank mechanism 21 that this hinge is fixed, the input rod member 22 of this parallel-crank mechanism links to each other with fixed platform 24 by a two-freedom planar kinematic pair.Realize the spatial movement of motion platform 19 six degree of freedoms by driving planar kinematic pair in each branch, promptly 3 are moved and 3 rotations.As can be seen from the figure, when moving platform was parallel with fixed platform, the plane at each parallel-crank mechanism place was all perpendicular to moving platform and the center by moving platform.
The 3rd embodiment of six-degree-of-freedom parallel robot of the present invention mechanism as shown in Figure 6, this motion of mechanism platform 25 is connected with fixed platform 30 by three identical branches, an end that wherein connects moving platform is a spherical hinge 26, on the output rod member 27 that is connected parallel-crank mechanism 28 that this hinge is fixed, the input rod member 29 of this parallel-crank mechanism links to each other with fixed platform 30 by a two-freedom planar kinematic pair.Motion platform 19 is realized the spatial movement of six degree of freedom by driving planar kinematic pair in each branch, and promptly 3 are moved and 3 rotations.When moving platform was parallel with fixed platform, each plane, parallel-crank mechanism place was also perpendicular to moving platform, and different with Fig. 5 is, the plane at described parallel-crank mechanism place is the center by moving platform not, and was perpendicular to the line of moving platform center and spherical hinge.
In fact, when moving platform is parallel with fixed platform, must guarantee that the oscillation center of spherical hinge is vertical with moving platform, make moving platform on each rotation direction, all have maximum flexibility ratio.This requires the position relation on each plane, parallel-crank mechanism place and fixed platform plane in the motion process to remain unchanged, be that will keep with the angle on fixed platform plane is vertical relation in the above-described embodiments, putting before this, the angle of putting of this parallel-crank mechanism can be arbitrarily.Because fixed platform complete plane not necessarily in the reality, " fixed platform plane " described here can be a complete plane, also can be as among Fig. 4 by virtual plane that a plurality of fixed platform determined.
From the foregoing description as can be seen, adopt connection branched structure provided by the invention to improve the flexibility ratio and the rigidity of six-degree-of-freedom parallel robot mechanism significantly, six-degree-of-freedom parallel robot of the present invention mechanism is in industrial robot, motion simulator, manufacturing industry, sensor field and need have a wide range of applications in the field of high flexibility ratio.
Be with being readily appreciated that, in other parallel robot mechanism, as 2,3,4 or the 5DOF parallel robot mechanism, adopt connection branched structure of the present invention after, can improve the flexibility ratio of parallel robot mechanism motion platform equally.
In addition, in above-mentioned each embodiment, the spherical hinge in the branch can be directly to link to each other with the output rod member of parallel four shape mechanisms, also can be to link to each other indirectly, should do the understanding of broad sense.Said indirect connection refers to that promptly spherical hinge passes through other kinematic pair and is connected with the output rod member with rod member, such as, spherical hinge can be connected with moving sets by rod member earlier, and moving sets is connected with the output rod member of parallel-crank mechanism again.Because parallel-crank mechanism and moving sets do not change attitude in motion process, fix so guaranteed the attitude of spherical hinge rotary centerline yet, can improve the flexibility ratio of moving platform yet.
In addition, the spherical hinge (or hook hinge) that connects on the above-mentioned output rod member also is not limited to one.
Claims (5)
1, the connection branched structure in a kind of parallel robot mechanism, at least comprise the multifreedom motion hinge, bindiny mechanism and the kinematic pair that link to each other successively, it is characterized in that, described bindiny mechanism is by the input rod member, connects rod member, output rod member, connects the parallel-crank mechanism that the rod member head and the tail are formed by connecting by revolute pair successively, described motion hinge is connected with the input rod member with the output rod member respectively with kinematic pair, and described kinematic pair has one degree of freedom at least and can not change the attitude of described input rod member.
2, connection branched structure as claimed in claim 1 is characterized in that, described multifreedom motion hinge is hook hinge or spherical hinge.
3, a kind of six-degree-of-freedom parallel robot mechanism, comprise a moving platform, a fixed platform, and three identical branches that connect described moving platform and fixed platform, it is characterized in that, described each branch all comprises: one by the input rod member, connect rod member, the output rod member, connect the parallel-crank mechanism that the rod member head and the tail are formed by connecting by revolute pair successively, the multifreedom motion hinge that is connected with described output rod member, and be connected between described input rod member and the fixed platform, do not change the kinematic pair of described input rod member attitude, described kinematic pair has two frees degree and drives, and the position on described each plane, parallel-crank mechanism place and fixed platform plane relation remains unchanged.
4, six-degree-of-freedom parallel robot as claimed in claim 3 mechanism is characterized in that described kinematic pair is a two-freedom planar kinematic pair, or two compound motion pairs that moving sets is formed.
5, parallel robot mechanism as claimed in claim 3 is characterized in that, described multifreedom motion hinge is spherical hinge or hook hinge.
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| CNB031495478A CN1326671C (en) | 2003-07-16 | 2003-07-16 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
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| CNB031495478A CN1326671C (en) | 2003-07-16 | 2003-07-16 | Linkage branch mechanism of parallel robot and six freedom parallel robot mechanism |
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| CN109605330A (en) * | 2018-12-24 | 2019-04-12 | 北京卫星环境工程研究所 | Platypelloid type six degree of freedom platform structure |
| CN110561392A (en) * | 2019-09-26 | 2019-12-13 | 中国民航大学 | Three-translation parallel mechanism with reconfigurable characteristic |
| WO2021179210A1 (en) * | 2020-03-11 | 2021-09-16 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism and parallel mechanism assembly |
| WO2022198587A1 (en) * | 2021-03-25 | 2022-09-29 | 苏州迈澜医疗科技有限公司 | Six-degree-of-freedom motion mechanism |
| CN115351768A (en) * | 2022-07-20 | 2022-11-18 | 福州大学 | Branched chain assembly, six-degree-of-freedom parallel mechanism and industrial robot |
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