CN1954975A - A kind RUPU running chain and parellel robot mechanism composed or derived - Google Patents
A kind RUPU running chain and parellel robot mechanism composed or derived Download PDFInfo
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- CN1954975A CN1954975A CN 200610122690 CN200610122690A CN1954975A CN 1954975 A CN1954975 A CN 1954975A CN 200610122690 CN200610122690 CN 200610122690 CN 200610122690 A CN200610122690 A CN 200610122690A CN 1954975 A CN1954975 A CN 1954975A
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Abstract
A kind or RUPU movement chain is composed of a group of swinging rod and telescopic rod and a U-shaped set for linking said both rods. The movement set has 4 different forms. The movement sets at terminals of both rods are R set and U set. The axes of adjacent movement sets are parallel or orthogonal. The axis of each movement set and the axis of its linking rod are coincided or orthogonal. A parallel robot mechanism made of or derived from said RUPU movement chains is composed of static platform, movable platform and three movement chains, and has 6 or 4 freedoms.
Description
Technical field
The present invention is under the jurisdiction of advanced manufacturing field, the parallel robot mechanism that relates to a class RUPU kinematic chain and composition thereof or derive.
Background technology
Parallel institution is meant by two or more branches and links to each other that mechanism has two or more frees degree, and the mechanism that drives with parallel way.Parallel robot mechanism is widely used in technical fields such as Digit Control Machine Tool, fine motion operating desk, simulator and spacecraft launching site in recent years owing to have characteristics such as stiffness/weight ratio is big, bearing capacity is strong, error accumulation is little, dynamic property is good, compact conformation.
So far, Three Degree Of Freedom and six-degree-of-freedom parallel connection mechanism can provide the parallel machine mechanism of five degree of freedom also to obtain enough attention, and the research of four-freedom parallel mechanism are also less by extensive studies and application.The parallel institution that is suggested the earliest is to have six Stewart parallel institutions freely, and the same with common six-degree-of-freedom parallel connection mechanism, this mechanism comprises six movement branched chain, and complex structure, volume easily interfere greatly and between the kinematic chain.At present, research for the parallel institution of three branch road six degree of freedoms is also fewer, this kind mechanism structure is simple, can effectively reduce the interference between mechanism's volume and kinematic chain, but because a branch road provides two inputs simultaneously, makes motion of mechanism knowledge topic comparatively complicated.
Summary of the invention
At the deficiencies in the prior art, the parallel robot mechanism that the invention provides a class RUPU kinematic chain and composition thereof or derive, this mechanism can form the realization six-freedom degree by three movement branched chain, make mechanism structure greatly simplify, rod member quantity reduces, and has effectively avoided the generation of interfering, mechanism's volume-diminished, working space increases, response quickening etc.; Such mechanism also can realize the lower-mobility motion in conjunction with the center driven side chain.
Realization of the present invention at first is to the design and the analysis of a class RUPU kinematic chain, it is characterized in that: it is made up of one group of swing arm and expansion link, and swing arm is horizontally disposed, and expansion link stretches to the space; Connected by the U parafacies between two bars, this U pair can be divided into four kinds of forms according to the difference of its pivot center direction configuration, and the secondary different permutation and combination of U makes kinematic chain have 16 kinds of forms up and down; The terminal kinematic pair of two bars is respectively the secondary and U pair of R.Parallel or quadrature arrangement between each kinematic pair axis overlaps or quadrature arrangement between each kinematic pair axis and center line of the bar.
The present invention has further designed the parallel robot mechanism of being formed or being derived by described RUPU kinematic chain.It comprises fixed platform, moving platform and is fixed on identical RUPU movement branched chain of three structures between two platforms or the equivalent movement chain of being derived by the RUPU kinematic chain respectively, it is characterized in that described kinematic chain is each described RUPU kinematic chain of claim 1～3 or its equivalent movement chain of deriving, mechanism can realize three side chain six degrees of freedom of motion when swing arm and expansion link drive simultaneously in the side chain of mechanism; When the central constrained branched chain that adds four-degree-of-freedom in mechanism, and each branch of mechanism is when providing one to drive input, and this mechanism also can realize the corresponding free degree that central side chain has.
Description of drawings
Fig. 1 is by RUPU kinematic chain among the present invention and formed the parallel institution structural representation.
Fig. 2 is 16 kinds of form RUPU kinematic chain structural principle schematic diagrames among the present invention.
Fig. 3 is first kind of example structure schematic diagram among the present invention.
Fig. 4 is first kind of embodiment derived structure schematic diagram among the present invention.
Fig. 5 is second kind of example structure schematic diagram among the present invention.
Fig. 6 is the third example structure schematic diagram among the present invention.
Fig. 7 is the third embodiment derived structure schematic diagram among the present invention.
Fig. 8 is the 4th kind of example structure schematic diagram among the present invention.
Fig. 9 is the 4th kind of embodiment derived structure schematic diagram among the present invention.
Figure 10 is the 5th kind of example structure schematic diagram among the present invention.
Figure 11 is the 5th kind of embodiment derived structure schematic diagram among the present invention.
Among the figure: 1. moving platform, 2. fixed platform, the 3.R pair, 4. swing arm 5. descends the U pair, 6. expansion link, the 7.P pair 8. goes up the U pair, 9.P pair, 10. center linkage, 11.R pair, 12.U pair, 13.R pair, 14. connecting rods, 15.R pair, 16.S pair.
The specific embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof.Because the mechanism form that can form is numerous, can not state to the greatest extent here, will only be introduced with regard to some typical mechanism and improvement mechanism.
Fig. 1 is for RUPU kinematic chain among the present invention and form parallel institution structural principle schematic diagram, it is characterized in that: it comprises fixed platform, moving platform and is fixed on the identical RUPU movement branched chain of three structures between two platforms respectively; Each RUPU kinematic chain is made up of one group of swing arm and expansion link, and swing arm is horizontally disposed, and expansion link stretches to the space; Connected by the U parafacies between two bars, this kinematic pair can be divided into four kinds of forms according to the difference of its pivot center direction configuration, makes kinematic chain have 16 kinds of forms according to the secondary different permutation and combination of U up and down, and Fig. 2 is the structural principle schematic diagram of 16 kinds of form RUPU kinematic chains.Four kinds of forms of U pair are: (a) first pivot center places in the horizontal plane, and with the swing arm dead in line, the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis; (b) the first revolute pair axis places in the horizontal plane, and with the swing arm axis normal, the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis; (c) the first revolute pair axis places in the horizontal plane, and with the swing arm axis normal, the second revolute pair axis simultaneously perpendicular to the first revolute pair axis and with the expansion link dead in line; (d) first pivot center is perpendicular to horizontal plane, and the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis.
Embodiment 1:
Fig. 3 is first example structure sketch of the parallel institution that the RUPU kinematic chain is formed among the present invention.This mechanism comprises fixed platform, moving platform and is fixed between the two three RUPU kinematic chains shown in accompanying drawing 2-aa respectively.When initial, three kinematic chains evenly distribute around two platform centers; In the RUPU kinematic chain, the R pair links to each other with fixed platform, and pivot center is perpendicular to the fixed platform plane; Last U pair links to each other with moving platform, and its two revolute pairs plane that axis is formed and moving platform planes overlapping, and secondary second pivot center of last U intersects at the moving platform center.When this mechanism during simultaneously as driving, can realize three side chain six degrees of freedom of motion with swing arm and expansion link.In the mechanism kinematic process, secondary second pivot center of last U and expansion link reach the permanent coplane of secondary first pivot center of U down, and secondary second pivot center of last U is with respect to the moving platform fixed-site, how much movement relations can be determined corresponding to the swing arm swing position under mechanism's object pose thus, and then determine U sub-center position and length of telescopic bar down.
In this embodiment, (Fig. 2-aa) the displacement stream shape of kinematic chain is equivalent to the RURU kinematic chain to RUPU, and the R secondary axis that wherein substitutes the P pair is parallel to secondary second pivot center of U down; Derive motion as shown in Figure 4.
Embodiment 2:
Fig. 5 is second example structure sketch of RUPU parallel institution that kinematic chain is formed among the present invention.This mechanism comprises fixed platform, moving platform and is connected in three RUPU kinematic chains shown in accompanying drawing 2-aa between fixed platform and the moving platform respectively.When initial, three RUPU kinematic chains evenly distribute around two platform centers; In the RUPU kinematic chain, the R pair links to each other with fixed platform, and pivot center is perpendicular to the fixed platform plane, and last U pair links to each other with moving platform, and its second pivot center is positioned at the moving platform plane, and intersects in twos in the moving platform plane.When this mechanism during simultaneously as driving, can realize three side chain six degrees of freedom of motion with swing arm and expansion link, this mechanism can effectively reduce the unusual of mechanism.In the mechanism kinematic process, secondary second pivot center of last U and expansion link reach the permanent coplane of secondary first pivot center of U down, and secondary second pivot center of last U is with respect to the moving platform fixed-site, how much movement relations can be determined corresponding to the swing arm swing position under mechanism's object pose thus, and then determine U sub-center position and length of telescopic bar down.
Embodiment 3:
Fig. 6 is the 3rd example structure sketch of RUPU parallel institution that kinematic chain is formed among the present invention.This mechanism comprises fixed platform, moving platform and is connected in three RUPU kinematic chains shown in accompanying drawing 2-aa between fixed platform and the moving platform respectively, and the URP central authorities constrained branched chain that is positioned at platform central authorities.When initial, three RUPU kinematic chains evenly distribute around two platform centers; In the RUPU kinematic chain, the R pair links to each other with fixed platform, and pivot center is perpendicular to the fixed platform plane, and last U pair links to each other with moving platform, and its two revolute pairs plane that axis is formed and moving platform planes overlapping, and secondary second pivot center of last U intersects at the moving platform center; URP central authorities side chain is positioned on the two platform lines of centres, its U plane and fixed platform planes overlapping, and the P secondary axis overlaps with the R pair and perpendicular to the moving platform plane.Mechanism can be driven by the moving sets of swing arm and central chain, realize four frees degree that central side chain has, and is mobile decoupling between three rotational freedoms and the one-movement-freedom-degree.
In this embodiment, (Fig. 2-aa) the displacement stream of kinematic chain is equivalent to the RURU kinematic chain just as sample to RUPU, and the R secondary axis that wherein substitutes the P pair is parallel to secondary second pivot center of U down, derives motion as shown in Figure 7.
Embodiment 4:
Fig. 8 is the 4th example structure sketch of RUPU parallel institution that kinematic chain is formed among the present invention.This mechanism comprises fixed platform, moving platform and is connected in three RUPU kinematic chains shown in accompanying drawing 2-ca between fixed platform and the moving platform respectively.When initial, three kinematic chains evenly distribute around two platform centers; In the RUPU kinematic chain, the R pair links to each other with fixed platform, and pivot center is perpendicular to the fixed platform plane, and last U pair links to each other with moving platform, and its two revolute pairs plane that axis is formed and moving platform planes overlapping.When this mechanism during simultaneously as driving, can realize three side chain six degrees of freedom of motion with swing arm and expansion link.This mechanism is because the configuration relation between its side chain kinematic pair, make its kinematic chain have constant geometrical relationship, it is the permanent coplane of swing arm and expansion link, and this plane perseverance is perpendicular to the fixed platform plane, we can draw U sub-center point and are positioned on the swing arm in the fixed platform plane projection thus, thereby determine the position of swing arm, and and then the length of definite expansion link.
In this embodiment, if fixedly swing arm input, residue mechanism is equivalent to the 3-RPS mechanism with Three Degree Of Freedom.Thus, the displacement of RPS kinematic chain stream shape is equivalent to the RRS kinematic chain, and the R secondary axis that wherein substitutes the P pair is parallel to secondary second pivot center of U down; Derive motion as shown in Figure 9.
Embodiment 5:
Figure 10 is the 5th an example structure sketch of the parallel institution that the RUPU kinematic chain is formed among the present invention.This mechanism comprises fixed platform, moving platform and is connected in three RUPU kinematic chains shown in accompanying drawing 2-ca between fixed platform and the moving platform respectively, and the URP central authorities constrained branched chain that is positioned at platform central authorities.When initial, three kinematic chains evenly distribute around two platform centers; In the RUPU kinematic chain, the R pair links to each other with fixed platform, and pivot center is perpendicular to the fixed platform plane, and last U pair links to each other with moving platform, and its two revolute pairs plane that axis is formed and moving platform planes overlapping; URP central authorities side chain is positioned on the two platform lines of centres, its U plane and fixed platform planes overlapping, and the P secondary axis overlaps with the R pair and perpendicular to the moving platform plane.Mechanism can be driven by the moving sets of swing arm and central chain, realize four frees degree that central side chain has, and the motion between three rotational freedoms and the one-movement-freedom-degree is decoupling zero.
With similar among the embodiment 4, (Fig. 2-ca) kinematic chain can equivalence become the RRRS kinematic chain to RUPU among this embodiment equally, and it derives motion as shown in figure 11.
According to claim of the present invention, the included parallel institution of the present invention is not limited to above illustrated embodiment, above only is illustrated with regard to some the typical parallel institutions and the parallel institution of deriving thereof.
Claims (8)
1. a class RUPU kinematic chain, it is characterized in that: it is made up of one group of swing arm and expansion link, and swing arm is horizontally disposed, and expansion link stretches to the space; Connected by the U parafacies between two bars, the terminal kinematic pair of two bars is respectively the secondary and U pair of R; Parallel or quadrature arrangement between the adjacent kinematic pair axis, the coupled center line of the bar of each kinematic pair axis overlaps or quadrature arrangement.
2. RUPU kinematic chain according to claim 1, it is characterized in that: swing arm is horizontally disposed, its terminal kinematic pair (R pair) axis and swing arm axis quadrature, and perpendicular to horizontal plane; Expansion link stretches to the space, and this rod member is formed by two deads in line and by the rod member that the P kinematic pair links to each other.
3. according to claim 1 and 2 described RUPU kinematic chains, it is characterized in that: the U pair in the kinematic chain, the difference of direction configuration can be divided into four kinds of forms when installing according to its pivot center: (a) first pivot center places in the horizontal plane, and with the swing arm dead in line, the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis; (b) the first revolute pair axis places in the horizontal plane, and with the swing arm axis normal, the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis; (c) the first revolute pair axis places in the horizontal plane, and with the swing arm axis normal, the second revolute pair axis simultaneously perpendicular to the first revolute pair axis and with the expansion link dead in line; (d) first pivot center is perpendicular to horizontal plane, and the second revolute pair axis is simultaneously perpendicular to the first revolute pair axis and expansion link axis; According to the various combination of U pair up and down in the kinematic chain, the RUPU kinematic chain has 16 kinds of forms.
4.RUPU the parallel institution that kinematic chain is formed comprises fixed platform, moving platform and is fixed on the identical RUPU kinematic chain of three versions between two platforms respectively that kinematic chain links to each other with fixed platform by the R pair, links to each other with moving platform by the U pair; It is characterized in that described kinematic chain is each described RUPU kinematic chain of claim 1～3.
5.RUPU the parallel institution that kinematic chain is derived comprises fixed platform, moving platform and is fixed on three movement branched chain that version is identical between two platforms respectively that kinematic chain links to each other with moving, fixed platform respectively by its two terminal kinematic pair (U pair, R pair); It is characterized in that described kinematic chain is the equivalent movement chain of each described RUPU kinematic chain of claim 1～3.
6. according to claim 4,5 described parallel institutions, it is characterized in that: there are two drive sources to exist on each side chain, i.e. the stretching motion of the swing of swing arm and expansion link, thus realize of the control of three side chains to the moving platform six-freedom degree; The drive unit that is comprised can add feed screw nut transmission, hydraulic transmission or Linear Moving Module by motor, motor and drive realization.
7. increase central constrained branched chain on the basis of claim 4,5 described parallel institutions, it is characterized in that: be positioned at the constrained branched chain of moving platform central authorities, its version is the kinematic chain of UPR; Secondary two pivot centers of U were positioned at the fixed platform plane when URP kinematic chain was initially installed, and P secondary axis direction is perpendicular to secondary two pivot centers of U and moving platform plane, and the secondary pivot center of R overlaps with the P secondary axis.
8. according to the described parallel institution of claim 7, it is characterized in that: each RUPU side chain provides a driving, be the swing of swing arm or the stretching motion of expansion link, central authorities' side chain provides a driving, by driving, realize the four-degree-of-freedom motion of moving platform based on central side chain perpendicular to the P on moving platform plane is secondary; The drive unit that is comprised can add feed screw nut transmission, hydraulic transmission or Linear Moving Module by motor, motor and drive realization.
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| CN 200610122690 CN1954975A (en) | 2006-10-11 | 2006-10-11 | A kind RUPU running chain and parellel robot mechanism composed or derived |
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| CN 200610122690 CN1954975A (en) | 2006-10-11 | 2006-10-11 | A kind RUPU running chain and parellel robot mechanism composed or derived |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586666C (en) * | 2008-03-28 | 2010-02-03 | 北京工业大学 | Four-DOF parallel mechanism |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
| CN105500341A (en) * | 2016-01-13 | 2016-04-20 | 燕山大学 | Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN107175650A (en) * | 2016-03-07 | 2017-09-19 | 山东大学 | Take turns leg composite sphere parallel institution and the underwater robot with the mechanism |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
| CN114347005A (en) * | 2022-03-18 | 2022-04-15 | 中国科学技术大学 | Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles |
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2006
- 2006-10-11 CN CN 200610122690 patent/CN1954975A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100586666C (en) * | 2008-03-28 | 2010-02-03 | 北京工业大学 | Four-DOF parallel mechanism |
| CN103538062A (en) * | 2013-09-26 | 2014-01-29 | 燕山大学 | Four-freedom-degree three-finger operating parallel mechanism |
| CN103538062B (en) * | 2013-09-26 | 2016-01-06 | 燕山大学 | Four-degree-of-freedom three finger manipulation parallel institution |
| CN105500341A (en) * | 2016-01-13 | 2016-04-20 | 燕山大学 | Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots |
| CN105539786A (en) * | 2016-02-01 | 2016-05-04 | 山东大学（威海） | Wheel-leg composite parallel leg mechanism and underwater robot |
| CN105539786B (en) * | 2016-02-01 | 2017-07-04 | 山东大学（威海） | Wheel leg combined shunt leg mechanism and underwater robot |
| CN107175650A (en) * | 2016-03-07 | 2017-09-19 | 山东大学 | Take turns leg composite sphere parallel institution and the underwater robot with the mechanism |
| CN107175650B (en) * | 2016-03-07 | 2020-09-11 | 山东大学 | Wheel-leg composite spherical parallel mechanism and underwater robot with same |
| CN111331582A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Asymmetric large-swing-angle parallel mechanism formed by Y-shaped branched chains |
| CN114347005A (en) * | 2022-03-18 | 2022-04-15 | 中国科学技术大学 | Rope traction parallel robot continuous reconstruction planning method capable of avoiding obstacles |
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Open date: 20070502 |