CN202241271U - Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism - Google Patents

Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism Download PDF

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Publication number
CN202241271U
CN202241271U CN2011202975898U CN201120297589U CN202241271U CN 202241271 U CN202241271 U CN 202241271U CN 2011202975898 U CN2011202975898 U CN 2011202975898U CN 201120297589 U CN201120297589 U CN 201120297589U CN 202241271 U CN202241271 U CN 202241271U
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revolute pair
pair
revolute
moving
sub
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CN2011202975898U
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张彦斌
吴鑫
张树乾
侯中华
刘宗发
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Henan University of Science and Technology
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Henan University of Science and Technology
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Abstract

The utility model relates to an asymmetric full isotropy three degree-of-freedom space parallel robot mechanism, which comprises a moving platform, a static platform and three different branched kinematic chains for connecting the static platform with the moving platform. The first branched kinematic chain comprises a first cylindrical pair, a first revolute pair, a second revolute pair and a third revolute pair, wherein a revolute axis of the first revolute pair and a revolute axis of the second revolute pair are parallel to an aixs of the first cylindrical pair and are vertical to a revolute axis of the third revolute pair; the second branched kinematic chain comprises a first sliding pair, a second sliding pair and a fourth revolute pair, wherein an axis of the first sliding pair is vertical to an axis of the second sliding pair and is parallel to a revolute axis of the fourth revolute pair; and the third branched kinematic chain comprises a fifth revolute pair, a first hook joint, a third sliding pair and a second hook joint, wherein an axis of the first sliding pair is vertical to a revolute axis of the first cylindrical pair and is parallel to an axis of a fifth cylindrical pair. The problems of poor kinematics decoupling performance and low revolute performance of the existing robot mechanism are solved.

Description

Asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism
Technical field
The utility model relates to the robot field, especially a kind of asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism.
Background technology
Parallel robot mechanism is made up of moving platform, fixed platform and some (two) sub-chains connecting two platforms.Generally speaking, the motion of mechanism branches equals its number of degrees of freedom,, and driver is installed in fixed platform or approach on the member of moving platform, with the movement inertia of reducing mechanism.With respect to serial mechanism, parallel institution has that bearing capacity is strong, precision is high, rigidity is big, speed responsive is fast and advantage such as the deadweight duty ratio is little.Therefore, parallel robot mechanism has wide potential application foreground in fields such as industrial robot, parallel machine, medical robot, micro-manipulating robot, flight simulators.Steward mechanism is typical six-degree-of-freedom parallel connection mechanism, and this mechanism has advantages of high bearing capacity, and each sub-chain structure is also comparatively simple, so such mechanism is usually used in requirement and has the occasion than high bearing capacity and complicated movement.
Though six-degree-of-freedom parallel connection mechanism has the advantage of himself, its kinematics coupling is very strong, so the effective working space of mechanism is less relatively.And a lot of fields do not need mechanism to have six-freedom degree, so lower-mobility parallel robot mechanism (DOF=2 ~ 5) has obtained more concern in the last few years.Simple in structure, characteristics such as control is more or less freely, low cost of manufacture that the lower-mobility parallel robot mechanism has; Existing in the world multiple novel lower-mobility parallel robot mechanism interview also is applied to go in the production, like Delta mechanism, Star mechanism, Agile Eye mechanism etc.
China also has many scholars of mechanism to design many novel parallel robot mechanisms, and has applied for china national practical new-type patent.Like application number be: 200410069388.7,02104919.X, 02137928.9,200710057179.4,201010225502.6 Chinese patent.For general parallel robot mechanism, its kinematics coupling is all stronger, cause kinematics to separate many groups, and its working space also reduces thereupon, and makes mechanism path planning and precision control difficulty.And for the parallel robot mechanism with rotational freedom, because structural limitations, the rotational angle of its moving platform is generally all little, and the parallel robot mechanism that therefore how the design movement decoupling is good, rotating property is high has become the new problem of this area research.
Summary of the invention
The purpose of the utility model is to provide a kind of asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism, to solve existing robots motion of mechanism decoupling difference and the not high problem of rotating property.
In order to address the above problem; The asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model adopts following technical scheme: asymmetric three-freedom degree spatial parallel robot mechanism; Comprise moving platform, fixed platform; And connecting three different sub-chains between said moving, the fixed platform, said three different sub-chains are first sub-chain, second sub-chain and the 3rd sub-chain; Said first sub-chain comprises first cylindrical pair, first revolute pair, second revolute pair and the 3rd revolute pair of connecting successively from said fixed platform to moving platform, the pivot center of said first revolute pair and second revolute pair and the parallel axes of said first cylindrical pair and vertical with the pivot center of said the 3rd revolute pair; Between first cylindrical pair and first revolute pair, between first revolute pair and second revolute pair, correspondingly between second revolute pair and the 3rd revolute pair be connected through first transmission arm, second transmission arm, the 3rd transmission arm; Said second sub-chain comprises first moving sets, second moving sets and the 4th revolute pair of connecting successively from said fixed platform to moving platform; Between the axis normal of the axis of said first moving sets and said second moving sets and parallel, said first moving sets and second moving sets with the pivot center of said the 4th revolute pair, correspondingly between second moving sets and the 4th revolute pair be connected through the 4th transmission arm, the 5th transmission arm; Said the 3rd sub-chain comprises the 5th revolute pair, first Hooke's hinge, three moving sets and second Hooke's hinge of connecting successively from said fixed platform to moving platform, between said the 5th revolute pair and first Hooke's hinge, between first Hooke's hinge and the three moving sets, correspondingly between three moving sets and second Hooke's hinge be connected through the 6th transmission arm, the 7th transmission arm, the 8th transmission arm; Described first cylindrical pair, first moving sets and the 5th revolute pair are driving pair, the axis normal of the axis of first moving sets and first cylindrical pair and with the parallel axes of said the 5th revolute pair; The pivot center conllinear of the pivot center of said the 3rd revolute pair and said the 4th revolute pair and with said second Hooke's hinge in be fixed on the axis normal of the rotating shaft on the said moving platform.
Described moving platform deteriorates to end-effector, and said end-effector has power transmission shaft, and said the 3rd, the 4th revolute pair is arranged on the described power transmission shaft, and the motion output of said second Hooke's hinge is connected with an end of said power transmission shaft.
Said first, second sub-chain is divided into the radially both sides of said end-effector.
Described the 3rd, the 4th revolute pair is fixedly connected.
Said the 3rd, the 4th revolute pair is made as one, promptly merges into a revolute pair, the Mobility Center line conllinear of the pivot center of second revolute pair and said second moving sets.
Because the moving platform of the asymmetric three-freedom degree spatial parallel robot mechanism of the utility model has described first, second and third sub-chain; Described first cylindrical pair, first moving sets and the 5th revolute pair are driving pair, the axis normal of the axis of first moving sets and first cylindrical pair and with the parallel axes of said the 5th revolute pair; The pivot center conllinear of the pivot center of said the 3rd revolute pair and said the 4th revolute pair and with said second Hooke's hinge in be fixed on the axis normal of the rotating shaft on the said moving platform; Therefore can realize that two dimension moves one dimension and rotates output, non-desired output motion is constant; Mechanism's Jacobian matrix is 3 * 3 unit matrix; The value of its conditional number and determinant is constantly equal to 1; Thereby make this mechanism in whole working space, show as completely isotropic, promptly mechanism's kinematics along any direction in whole working space is all identical with mechanical property; In addition; Can realize man-to-man control relation between the input and output of this motion of mechanism; A motion output that is moving platform only needs a driver control, has reduced influencing each other between each sub-chain widely, has solved the problem of existing robots motion of mechanism decoupling difference.
Description of drawings
Fig. 1 is the structural representation of embodiment 1 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model;
Fig. 2 is the structural representation of embodiment 2 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model;
Fig. 3 is the structural representation of embodiment 3 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model.
The specific embodiment
The embodiment 1 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model; As shown in Figure 1; Three sub-chains by fixed platform 1, moving platform 10 and connection fixed platform and moving platform are formed; Moving platform 10 adopts deck plates, and described three sub-chains are first sub-chain 51, second sub-chain 52 and the 3rd sub-chain 53.
First sub-chain 51 is in series by the first cylindrical pair C1, the first revolute pair R1, the second revolute pair R2, the 3rd revolute pair R3 in proper order; Linked to each other by first transmission arm 2, second transmission arm 3, the 3rd transmission arm 4 successively between each kinematic pair, the center line of the first cylindrical pair C1 is parallel and vertical with the pivot center of the 3rd revolute pair R3 with the pivot center of the first revolute pair R1, the second revolute pair R2; Wherein the first cylindrical pair C1 is a driving pair; Its way of output is linear; Be used to control moving platform along the moving of directions X (like Fig. 1), the first cylindrical pair C1 drives through servomotor-ball screw framework (also can be linear servo-actuator in other embodiments certainly).
Second sub-chain 52 is in series by the first moving sets P1, the second moving sets P2 and the 4th revolute pair R3 in proper order; Link to each other by the 4th transmission arm 5, the 5th transmission arm 6 successively between each kinematic pair; Wherein the second moving sets P2 slideway is assemblied on the 5th transmission arm 6; The first moving sets P1 is a driving pair; It drives through servomotor-ball screw framework (certainly, also can be linear servo-actuator in other embodiments), is used to control moving platform 10 moving along the Y direction; The axis of the axis of the first moving sets P1 and the second moving sets P2 and the center line of the first cylindrical pair C1 are vertical and parallel with the pivot center of the 4th revolute pair R4, the pivot center conllinear of the pivot center of the 3rd revolute pair R3 and the 4th revolute pair R4.
The 3rd branch's driving-chain is in series by the 5th revolute pair R5, the first Hooke's hinge U1, three moving sets P3, the second Hooke's hinge U2 in proper order; Be in transmission connection by the 6th transmission arm 7, the 7th transmission arm 8, the 8th transmission arm 9 successively between each kinematic pair; Wherein flexible cooperation of the 7th, the 8th transmission arm forms three moving sets P3; The part that links to each other with the 6th transmission arm 7 among the first Hooke's hinge U1 has the first power transmission shaft U1-1, and another part has the second power transmission shaft U1-2; The part that the second Hooke's hinge U2 is connected on the 8th transmission arm 9 has the 3rd power transmission shaft U2-1, has the 4th power transmission shaft U2-2 on another part, and two power transmission shafts that are positioned on the same Hooke's hinge are orthogonal; The axis normal of the pivot center of the 5th revolute pair R5 and the first power transmission shaft U1-1, the parallel axes of the axis of the second power transmission shaft U1-2 and the 3rd power transmission shaft U2-1 and perpendicular to the Mobility Center line of three moving sets P3; The Mobility Center line of the pivot center of the 5th revolute pair R5 and the first moving sets P1 is parallel to each other; The pivot center of the axis of the 4th power transmission shaft U2-2 and the 3rd, the 4th revolute pair is vertical; The 5th revolute pair R5 is a driving pair, and its drive unit adopts servomotor+reducer structure, exports in order to rotating around the y axle of control moving platform 10.
The asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model in the course of the work; When the said moving platform of needs when directions X moves back and forth; Can drive said moving platform through driving said first cylindrical pair; In this process, described second moving sets and the 3rd sub-chain are done adaptive motion; When the said moving platform of needs when the Y direction moves reciprocatingly, can drive said moving platform through said first moving sets, in this process, said the first, the 3rd sub-chain is done adaptive motion; When the said moving platform of needs when the Y axle rotates, drive moving platform through the 5th revolute pair, meanwhile, said the 3rd, the 4th revolute pair is done adaptive motion; Final " two move a rotation " of realizing the asymmetric three-freedom degree spatial parallel robot mechanism of the utility model.Because the moving platform of the asymmetric three-freedom degree spatial parallel robot mechanism of the utility model has described first, second and third sub-chain; Described first cylindrical pair, first moving sets and the 5th revolute pair are driving pair, the pivot center of the axis of first moving sets and first cylindrical pair vertical and with the parallel axes of said the 5th cylindrical pair; The pivot center conllinear of the pivot center of said the 3rd revolute pair and said the 4th revolute pair and with said second Hooke's hinge in be fixed on the axis normal of the rotating shaft on the said moving platform; Therefore can realize that two dimension moves one dimension and rotates output, non-desired output motion is constant; Mechanism's Jacobian matrix is 3 * 3 unit matrix; The value of its conditional number and determinant is constantly equal to 1; Thereby make this mechanism in whole working space, show as completely isotropic, promptly mechanism's kinematics along any direction in whole working space is all identical with mechanical property; In addition; Can realize man-to-man control relation between the input and output of this motion of mechanism; A motion output that is moving platform only needs a driver control, has reduced influencing each other between each sub-chain widely, has solved the problem of existing robots motion of mechanism decoupling difference.Said mechanism can be used as the terminal executing agency of industrial robot, medical robot and micro-manipulating robot, realizes that two dimension moves the operational motion that rotates with one dimension.
The embodiment 2 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model; As shown in Figure 2; The difference of present embodiment and embodiment 1 only is; Described moving platform deteriorates to end-effector 61, and the rear end of end-effector 61 has power transmission shaft 61-1, and first, second sub-chain is divided into the radially both sides of the power transmission shaft of end-effector 61; Three, the 4th revolute pair is arranged on the described power transmission shaft 61-1, and the motion output of the said second Hooke's hinge U2 is connected with the end of said power transmission shaft 61-1; Thereby make to distribute clockwise to fixed platform first, second, third sub-chain of looking that in the present embodiment, said end-effector 61 can realize that 360 degree rotate output from end-effector.
The embodiment 3 of the asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism of the utility model; As shown in Figure 3; The difference of present embodiment and embodiment 2 only is; Said the 3rd, the 4th revolute pair is made as one, and promptly the 3rd, the 4th revolute pair is merged into a revolute pair (or with kinematic pair replacement in the 3rd, the 4th revolute pair), merges the pivot center of back revolute pair and the centerline collineation of the 5th transmission arm 6; Among this embodiment, described first, second sub-chain forms the hybrid motion chain.
Also can described the 3rd, the 4th revolute pair be connected in the foregoing description 2; Thereby make described first, second sub-chain form the hybrid motion chain; Among embodiment 2 and the embodiment 3, also can described first, second sub-chain be arranged at the radially homonymy of the power transmission shaft of end-effector.

Claims (5)

1. asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism; Three different sub-chains that comprise moving platform, fixed platform and connect said moving, fixed platform, it is characterized in that: said three different sub-chains are first sub-chain, second sub-chain and the 3rd sub-chain;
Said first sub-chain comprises first cylindrical pair, first revolute pair, second revolute pair and the 3rd revolute pair of connecting successively from said fixed platform to moving platform, the pivot center of said first revolute pair and second revolute pair and the parallel axes of said first cylindrical pair and vertical with the pivot center of said the 3rd revolute pair; Between first cylindrical pair and first revolute pair, between first revolute pair and second revolute pair, correspondingly between second revolute pair and the 3rd revolute pair be connected through first transmission arm, second transmission arm, the 3rd transmission arm;
Said second sub-chain comprises first moving sets, second moving sets and the 4th revolute pair of connecting successively from said fixed platform to moving platform; Between the axis normal of the axis of said first moving sets and said second moving sets and parallel, said first moving sets and second moving sets with the pivot center of said the 4th revolute pair, correspondingly between second moving sets and the 4th revolute pair be connected through the 4th transmission arm, the 5th transmission arm;
Said the 3rd sub-chain comprises the 5th revolute pair, first Hooke's hinge, three moving sets and second Hooke's hinge of connecting successively from said fixed platform to moving platform, between said the 5th revolute pair and first Hooke's hinge, between first Hooke's hinge and the three moving sets, correspondingly between three moving sets and second Hooke's hinge be connected through the 6th transmission arm, the 7th transmission arm, the 8th transmission arm;
Described first cylindrical pair, first moving sets and the 5th revolute pair are driving pair, the axis normal of the axis of first moving sets and first cylindrical pair and with the parallel axes of said the 5th revolute pair; The pivot center conllinear of the pivot center of said the 3rd revolute pair and said the 4th revolute pair and with said second Hooke's hinge in be fixed on the axis normal of the rotating shaft on the said moving platform.
2. asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism according to claim 1; It is characterized in that: described moving platform deteriorates to end-effector; Said end-effector has power transmission shaft; Said the 3rd, the 4th revolute pair is arranged on the described power transmission shaft, and the motion output of said second Hooke's hinge links to each other with the power intake of said power transmission shaft.
3. asymmetric completely isotropic three-freedom degree spatial parallel robot mechanism according to claim 2 is characterized in that: said first, second sub-chain is divided into the radially both sides of said end-effector.
4. according to claim 2 or 3 described asymmetric completely isotropic three-freedom degree spatial parallel robot mechanisms, it is characterized in that: described the 3rd, the 4th revolute pair is fixedly connected.
5. according to claim 2 or 3 described asymmetric three-freedom degree spatial parallel robot mechanisms, it is characterized in that: said the 3rd, the 4th revolute pair is made as one, the Mobility Center line conllinear of the pivot center of second revolute pair and said second moving sets.
CN2011202975898U 2011-08-16 2011-08-16 Asymmetric full isotropy three degree-of-freedom space parallel robot mechanism Withdrawn - After Issue CN202241271U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102303313A (en) * 2011-08-16 2012-01-04 河南科技大学 Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism
CN105215975A (en) * 2015-09-30 2016-01-06 河南科技大学 There is the asymmetric parallel institution of two turn of one shift three degrees of freedom
CN109290189A (en) * 2018-10-30 2019-02-01 江苏大学 A kind of feed classification vibrating screen in parallel

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102303313A (en) * 2011-08-16 2012-01-04 河南科技大学 Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism
CN102303313B (en) * 2011-08-16 2013-12-18 河南科技大学 Asymmetrical completely-isotropic three-degree-of-freedom parallel connection robot mechanism
CN105215975A (en) * 2015-09-30 2016-01-06 河南科技大学 There is the asymmetric parallel institution of two turn of one shift three degrees of freedom
CN105215975B (en) * 2015-09-30 2017-11-03 河南科技大学 Asymmetric parallel institution with two turn of one shift three degrees of freedom
CN109290189A (en) * 2018-10-30 2019-02-01 江苏大学 A kind of feed classification vibrating screen in parallel

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