CN205521393U - 6 -degree of freedom series -parallel connection robot - Google Patents

6 -degree of freedom series -parallel connection robot Download PDF

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Publication number
CN205521393U
CN205521393U CN201620075494.4U CN201620075494U CN205521393U CN 205521393 U CN205521393 U CN 205521393U CN 201620075494 U CN201620075494 U CN 201620075494U CN 205521393 U CN205521393 U CN 205521393U
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China
Prior art keywords
rod
arc
degree
driving
platform
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Expired - Fee Related
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CN201620075494.4U
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Chinese (zh)
Inventor
陈柏
高踔
吴志恒
寇月阳
缪群华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University Of Aeronautics And Astronautics Jiangyin Xietong Automobile Accessories Co ltd
Nanjing University of Aeronautics and Astronautics
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Nanjing University Of Aeronautics And Astronautics Jiangyin Xietong Automobile Accessories Co ltd
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Priority to CN201620075494.4U priority Critical patent/CN205521393U/en
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Abstract

The utility model relates to a 6 -degree of freedom series -parallel connection robot. The combining form of series -parallel connection mechanism is manifold, and one of them is planted is exactly with two or the form connection of a plurality of few degree of freedom parallel mechanism in order to establish ties, forms the new institutions who has a plurality of degrees of freedom. This type of series -parallel connection mechanism not only has working space great relatively, and mechanism's inertia is less moreover, kinematics simple easily control, and the cluster that has integrateed, parallel mechanism's advantage has compensatied cluster, parallel mechanism's shortcoming simultaneously again. Research series -parallel connection mechanism will further promote the innovation and the development of new industry robot.

Description

A kind of six degree of freedom series-parallel robot
Technical field
The utility model relates to a kind of six degree of freedom series-parallel robot, especially a kind of in parallel by two class lower-mobilities The six-DOF robot of mechanism's series-parallel connection.
Background technology
Six-DOF robot receives much concern because it has versatility in engineer applied, is broadly divided into series connection Formula, parallel and three kinds of patterns of series parallel type.
Typical serial mechanism is six degree of freedom rotary joint mechanism (6R robot), if such mechanism generally by Involvement bar and joint are sequentially connected with and form, thus its kinematical equation is easy to be set up rapidly by D-H parametric method With solve;It addition, be easy to make mechanism end obtain the biggest work by optimizing the parameter designing each connecting rod Space;Along with the progress of technology, the bearing capacity of such mechanism and speed and precision have been lifted to higher Level, Automobile Welding with spray paint, product carrying plays extremely important effect on the production line such as packaging, It it is the industrial robot being most widely used at present.
The typical structure of six-degree-of-freedom parallel connection mechanism is the Stewart platform of six side chains, and this parallel institution is by sound Six identical side chains of platform and connection sound platform are constituted, and moving platform has under the driving of six side chains Six-freedom degree, it is possible to achieve the adjustment of all kinds of complicated poses, and moving platform has higher load capacity, It is mainly used as the motion simulator of automobile and aircraft etc..
Serial mechanism and parallel institution all have the most prominent advantage, but there is again respective shortcoming simultaneously.String Online structure, due to the superposition of connecting rod and driving etc., causes mechanism's ratio of inertias relatively big, limits its speed further Promote;Parallel institution causes working space less due to its configuration feature, becomes and limits its principal element promoted; Secondly, often there is coupling in various degree in parallel institution kinematics and kinetics equation, further increases fortune The design difficulty of movement controller.
Therefore, need a kind of new technical scheme to solve the problems referred to above
Utility model content
The purpose of this utility model is to be to provide a kind of new six-DOF robot, have working space big, The advantage that kinetic model is simple and easily controllable.
The structure composition of the New-type mixed-coupled mechanism of the utility model is as follows:
A kind of six degree of freedom series-parallel robot, three transmissions including transition platform, connection transition platform one side are propped up Chain, three linear drives parts of three transmission branch chain of one_to_one corresponding, connect three of transition platform another side Arc drive connecting rod, three arc follower link of three arc drive connecting rod of connection, driving arc actively connect Three driving means of bar rotation, the moving platform of connection follower link;One end of described each transmission branch chain is divided It is not arranged on line correspondence driver part and moves along a straight line under the driving of linear drives parts, and each The other end of transmission branch chain is connected in transition platform one side;One end of described arc drive connecting rod is arranged on On transition platform, and the other end of each arc drive connecting rod is connected to one to one in arc follower link, The other end of arc follower link is connected to moving platform.
Relative to prior art, two kinds of minority carrier generation lifetime are entered by the utility model by the form of series connection Row is assembled and obtains a kind of series-parallel connection six-DOF robot, according to the free degree of two class minority carrier generation lifetime Character is apparent from, and the parallel institution that the locus of mechanism end is moved by a kind of Three Degree Of Freedom completely independently controls, The parallel institution that spatial attitude is rotated by a kind of Three Degree Of Freedom completely independently controls, i.e. translational degree of freedom and rotation The free degree is independent of each other, and complements each other, and the six-DOF robot working space making this series-parallel connection is big, mechanism is last End position and attitude decoupling, kinetic model are simple and easily controllable, and its operating frequency can meet electronics The requirement of fast repeat action during assembling.
Accompanying drawing explanation
Fig. 1 is the stereogram of the New-type mixed-coupled mechanism of the utility model;
Fig. 2 is the stereogram of the parallel institution that a kind of Three Degree Of Freedom of the present utility model rotates;
Fig. 3 is the wall scroll transmission branch chain schematic diagram of the parallel institution that a kind of Three Degree Of Freedom rotates.
Detailed description of the invention
Refer to shown in Fig. 1 and Fig. 2, the open a kind of six degree of freedom series-parallel robot of the utility model, including Cross platform 1, connect three transmission branch chain 2 of transition platform, three of three transmission branch chain 2 of one_to_one corresponding straight Line driver part 3, three arc drive connecting rod 4 of connection transition platform 1, three arc drive connecting rod of connection Three arc follower link 5 of 4, drive three driving means 6, moving platforms that arc drive connecting rod 4 rotates 7;Described three arc follower link 5 are both connected on this moving platform 7.Wherein, three transmission branch chain 2 and Three linear drives parts 3 are a parallel institution, and 4, three arcs of three arc drive connecting rod are driven 5, three driving means 6 of connecting rod form another parallel institution, and the series-parallel connection of these two parallel institutions is i.e. formed This six degree of freedom series-parallel robot.Described transition platform 1 be positioned at transmission branch chain 2 and arc drive connecting rod 4 it Between position.One end of described each transmission branch chain 2 be separately mounted on line correspondence driver part 3 and Move along a straight line under the driving of linear drives parts 3, and the other end of each transmission branch chain 2 is connected to transition On platform 1.Further, described linear drives parts 3 are provided with the movable block 31 of linear motion.Described Each transmission branch chain 2 comprises a driving link 21 and a driven rod member 22.Described driving link 21 One end be connected on described movable block 31 and and this movable block 31 between form the first revolute pair 23.Described Driving link 21 and driven rod member 22 junction form the second revolute pair 24.Described driven rod member 22 and mistake Cross platform 1 to connect, and between driven rod member 22 and transition platform 1, form the 3rd revolute pair 25.And it is described The axis of the first revolute pair 23, the axis of the second revolute pair 24, the 3rd revolute pair 25 axis the most equal OK.In the present embodiment, described linear drives parts 3 are to be moved with along screw mandrel by motor-driven screw mandrel Dynamic movable block 31 forms, thus forms the movement of movable block 31, and in other embodiments, uses It is straight that the mode of linear drives as conventional in this areas such as rack-and-pinion, hydraulic pressure, pneumatic structures all can become this Line driver part 3, does not repeats them here.Being additionally provided with frame 8 in present embodiment, described three straight lines drive Dynamic component 3 is arranged in frame 8.
Further, described transition platform 1 is provided with support 11, and described three driving means 6 are installed on props up On frame 11, and three driving means 6 and three arc drive connecting rod 4 form three the 4th revolute pairs 41, should Three the 4th revolute pairs 41 lay respectively at same circumference three trisection points.Described three arcs are actively Connecting rod 4 and three arc follower link 5 junctions form three the 5th revolute pairs 51;Three driven companies of arc Bar 5 forms three the 6th revolute pairs 71 with the junction of moving platform 7 respectively;Described three the 6th revolute pairs 71 Lay respectively at three trisection points of same circumference;41, three the 5th revolute pairs of described three the 4th revolute pairs 51 and totally nine articles of axis of three the 6th revolute pairs 71 intersect at a point all the time.In order to avoid interfering, described master Dynamic connecting rod 4 and follower link 5 are arc, and arc drive connecting rod 4 is positioned at what arc follower link 5 was formed In circumference range, and described three driving means 6 are positioned at the inner side of three arc drive connecting rod 4.
Wherein, in the utility model, the movement of described transition platform 1 is straight by three transmission branch chain 2 and three Line driver part 3 realizes, and forms ground floor translational degree of freedom;And moving platform 7 is at ground floor translational degree of freedom On the basis of, then formed second layer rotational freedom by 4, three arc follower link 5 of three arc drive connecting rod.
Free degree character according to two class minority carrier generation lifetime is apparent from, the space of mechanism end (moving platform) The parallel institution that position is moved by a kind of Three Degree Of Freedom completely independently controls, and spatial attitude is completely by a kind of three freely The parallel institution that degree rotates independently controls, i.e. translational degree of freedom is independent of each other with rotational freedom, complements each other, The six-DOF robot that mechanism is a kind of locus and attitude decoupling after the two series-parallel connection.
In order to obtain the inverse kinematics equation of hybrid mechanism, need inverse to two class minority carrier generation lifetime respectively Kinematics is studied.
The parallel institution moved a kind of Three Degree Of Freedom by screw theory carries out Degree of Freedom Analysis, this mechanism Three moving sets independently control the locus of moving platform, the parallel institution that a kind of Three Degree Of Freedom moves Inverse kinematics equation as follows:
d 1 d 2 d 3 = x y z - - - ( 1 )
Wherein, d1、d2、d3Represent the displacement of three moving sets, [x y z] respectivelyTRepresent the position of moving platform Put coordinate.
The parallel institution rotated for a kind of Three Degree Of Freedom, if describing a kind of three with Z-Y-X Eulerian angles spin matrix The pose of the parallel institution that the free degree rotates, it may be assumed that
R z y x ( α , β , γ ) = c α c β c α s β s γ - s α c γ c α s β c γ + s α s γ s α c β s α s β s γ + c α c γ s α s β c γ - c α s γ - s β c β s γ c β c γ
The inverse kinetics solution of the parallel institution that a kind of Three Degree Of Freedom rotates can be tried to achieve by following formula, it may be assumed that
tanθ 1 = c α s γ - s α s β c γ c β c γ
tanθ 2 = s β c α c β - - - ( 2 )
tanθ 3 = s α c γ - c α s β s γ s α s β s γ + c α c γ
Wherein, θ123Represent the corner of three driving motors of parallel institution that a kind of Three Degree Of Freedom rotates respectively.
So far, the driving parameter [d of hybrid mechanism1,d2,d3123]TWith moving platform end pose [x,y,z,α,β,γ]TBetween mapping relations tried to achieve, i.e. inverse kinematics equation has built up.According to formula (1) With formula (2), the control to moving platform pose can be realized by controlling driving parameter.

Claims (7)

1. a six degree of freedom series-parallel robot, it is characterised in that: include transition platform, connect transition platform Three transmission branch chain of one side, three linear drives parts of three transmission branch chain of one_to_one corresponding, connection transition Three driving means, the companies that three arc drive connecting rod of platform another side, driving arc drive connecting rod rotate Connect three arc follower link of three arc drive connecting rod, connect the moving platform of arc follower link;Described Three follower link are both connected on this moving platform;
One end of described each transmission branch chain is separately mounted on line correspondence driver part and in linear drives portion Move along a straight line under the driving of part, and the other end of each transmission branch chain is connected in transition platform one side;Institute The one end of the arc drive connecting rod stated is arranged on transition platform another side, and each arc drive connecting rod is another One end is connected to one to one in arc follower link, and the other end of arc follower link is connected to moving platform.
2. six degree of freedom series-parallel robot as claimed in claim 1, it is characterised in that: described linear drives Parts are provided with the movable block of linear motion;Described each transmission branch chain comprise a driving link and one from Lever part;One end of described driving link be connected on described movable block and and this movable block between form the One revolute pair, described driving link and driven rod member junction form the second revolute pair, described driven rod member with Transition platform connects, and forms the 3rd revolute pair between driven rod member and transition platform, and described first rotates Secondary axis, the axis of the second revolute pair, the 3rd revolute pair axis the most parallel to each other.
3. six degree of freedom series-parallel robot as claimed in claim 1 or 2, it is characterised in that: described transition Platform is provided with support, and described three driving means are installed on support, and three driving means and three arcs Shape drive connecting rod formed three the 4th revolute pairs, these three the 4th revolute pairs lay respectively at same circumference Three trisection points;Described three arc drive connecting rod and three arc follower link junctions form three the Five revolute pairs;Three arc follower link junction with moving platform respectively forms three the 6th revolute pairs;Institute State three the 6th revolute pairs and lay respectively at three trisection points of same circumference;Described three the 4th revolute pairs, Totally nine articles of axis of three the 5th revolute pairs and three the 6th revolute pairs intersect at a point all the time.
4. six degree of freedom series-parallel robot as claimed in claim 1 or 2, it is characterised in that: arc is actively Connecting rod is positioned at the circumference range that arc follower link is formed.
5. six degree of freedom series-parallel robot as claimed in claim 1 or 2, it is characterised in that: described transition Platform position between transmission branch chain and arc drive connecting rod.
6. six degree of freedom series-parallel robot as claimed in claim 1 or 2, it is characterised in that: also include machine Frame, described three linear drives parts are arranged in frame.
7. six degree of freedom series-parallel robot as claimed in claim 1 or 2, it is characterised in that: described three Driving means is positioned at the inner side of three arc drive connecting rod.
CN201620075494.4U 2016-01-26 2016-01-26 6 -degree of freedom series -parallel connection robot Expired - Fee Related CN205521393U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105500365A (en) * 2016-01-26 2016-04-20 南京航空航天大学 Hybrid robot with six degrees of freedom

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105500365A (en) * 2016-01-26 2016-04-20 南京航空航天大学 Hybrid robot with six degrees of freedom

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20160831

Termination date: 20190126