CN2559457Y - Parallel robot mechanism with less free-space - Google Patents

Parallel robot mechanism with less free-space Download PDF

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Publication number
CN2559457Y
CN2559457Y CN 02247621 CN02247621U CN2559457Y CN 2559457 Y CN2559457 Y CN 2559457Y CN 02247621 CN02247621 CN 02247621 CN 02247621 U CN02247621 U CN 02247621U CN 2559457 Y CN2559457 Y CN 2559457Y
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CN
China
Prior art keywords
platform
robot
freedom
parallel robot
degree
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CN 02247621
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Chinese (zh)
Inventor
姜广文
汪滨琪
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哈尔滨工程大学
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Priority to CN 02247621 priority Critical patent/CN2559457Y/en
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Publication of CN2559457Y publication Critical patent/CN2559457Y/en

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Abstract

A lower workspace degree-of-freedom parallel robot structure belongs to the field of robot and experimental facility, which comprises an upper platform, a lower platform and three groups of branch mechanisms connected with these two platforms. Wherein, a kinematical pair of these two platforms is arranged on a vertex of congruent right-angled triangle, thus realizing three or four degree-of-freedom spatial moving. A revolute pair on the lower platform is rotated or a telescopic moving pair is arranged on a branch mechanism to drive the robot structure. The utility model separates spatial rotation from spatial moving of the three or four degree-of-freedom parallel robot mechanism. Thus, the utility model has the advantages of convenient drive, simple structure, great rigidity, high precision, quick response, simple normal and inverse solution, easy online control, practical application, etc.

Description

Space lower-mobility parallel robot mechanism
Technical field
The utility model relates to a kind of space lower-mobility parallel robot mechanism, belongs to robot and experimental provision field.It comprises upper and lower 2 platforms and 3 branches, and plane figure by changing kinematic pair and type realize the spatial movement of three (2 rotations, 1 move) or four (2 rotation, 2 the mobile) free degree.
Background technology
Robot can be divided into tandem and parallel on structure.Both each have their own pluses and minuses, performance complement.Parallel robot is big because of its rigidity, bearing capacity is strong, error free accumulation, inertia are little, counter separates easy and advantage such as easy On-line Control, more and more comes into one's own in industries such as virtual lathe, micromotion mechanism and motion simulators.According to the document statistics, the parallel robot that is less than six-freedom degree accounts for 60% of disclosed parallel robot, and wherein the three degree of freedom parallel robot accounts for 40%, four DOF parallel robot and accounts for 6%.In the three degree of freedom parallel manipulator people who adopts 3 telescopic branches to constitute, kinematic pair is arranged on 3 summits of equilateral triangle mostly.3-RPS (R is that revolute pair, P are that moving sets, S the are spherical pair) mechanism that proposes as nineteen eighty-three is exactly that a end with 3 identical scalable (moving sets) poles is connected with the spherical pair of upper mounting plate equilateral triangle layout, the other end also is that 3 revolute pairs by the equilateral triangle layout are connected with lower platform, thereby can realize the three-dimensional space motion of upper mounting plate with respect to lower platform.But when this mechanism's upper mounting plate rotates,, cause some undesirable additional movements, therefore be difficult to use in practice because the moment coupling produces coordinate translation.
In accounting for 6% four-freedom parallel device people,, realizes 2 mobile, 2 rotations seldom to realize that 1 rotation, 3 move in the majorityly.Four-freedom parallel connection robot mechanism is few, and do not mean that and do not need in the reality or few needs, just the opposite, four-freedom parallel connection robot mechanism also has a wide range of applications in industry, and just people are much to seek a kind of handle and move and rotate the effective way of decomposing four frees degree motions of realization of coming fully.
In experimental provision, in the majority with the series connection form at present, and parallel form adopts six-freedom degree mostly.But many experiments do not need the experimental provision of six-freedom degree, and three or four frees degree are enough.Therefore, the exploitation of lower-mobility parallel institution rational in infrastructure is necessary.
Summary of the invention
The purpose of this utility model is to disclose a kind of space lower-mobility parallel robot mechanism.By the equilateral triangle layout that changes kinematic pair is that the method for right angled triangle layout is eliminated the coordinate translation phenomenon that produces when the 3-dof parallel robot upper mounting plate rotates, and very easily its number of degrees of freedom, being extended for four by the kinematic pair type that changes summit, right angle on the lower platform, type of drive is also simple.
Three-freedom parallel robot mechanism comprises that upper mounting plate, lower platform, 3 groups of identical telescopic support struts, 5 kinematic pairs and 1 are fixedly connected.5 kinematic pairs and 1 are fixedly connected as the tie point of telescopic support struts and upper and lower platform, are in respectively on the right angled triangle summit of 2 congruences.Wherein 3 kinematic pairs on the upper mounting plate are spherical pair, and 1 is revolute pair in 2 kinematic pairs on the lower platform, and 1 is two degrees of freedom universal joint (also claiming Hooke's hinge) in addition, and place, summit, right angled triangle right angle is for being fixedly connected.So upper mounting plate can pass through the mobile realization of 3 telescopic support struts respectively around the rotation of two right-angle sides of upper mounting plate right angled triangle and moving along vertical.
Being fixedly connected of place, summit, right angle of the right angled triangle on the lower platform of above-mentioned three-freedom parallel robot mechanism changed into revolute pair, then the number of degrees of freedom, of this parallel robot mechanism can increase to four, upper mounting plate can be realized respectively rotation around two right-angle sides of upper mounting plate right angled triangle by the axial stretching of 3 groups of telescopic support struts with around the rotation of place, summit, lower platform right angle revolute pair, the spatial movement of four frees degree that move along one of them right-angle side and vertical.
Place, summit, above-mentioned lower platform right angle revolute pair can be realized by swing type hydraulic motor that installs additional at this place or similar unit head around the rotation of a right-angle side, or on the telescopic support struts that connects place, summit, upper and lower platform right angle, install a telescopic support struts that two ends are hinged again additional, and realize by stretching of it.
Above-mentioned three or four-freedom parallel connection robot mechanism drive conveniently, simple in structure, rigidity is big, the precision height, reaction speed is fast, positive and negatively separates simply, is easy to On-line Control and practical application.
Description of drawings
Fig. 1 three-freedom parallel robot mechanism schematic diagram
Fig. 2 four-freedom parallel connection robot mechanism and a kind of type of drive schematic diagram
The another kind of type of drive schematic diagram of Fig. 3 four-freedom parallel connection robot mechanism
The specific embodiment
Provide the preferred version that the utility model is implemented below, and be illustrated in conjunction with the accompanying drawings.
A kind of three-freedom parallel robot mechanism as shown in Figure 1, it comprises upper mounting plate (9), lower platform (1), 3 groups of identical telescopic support struts (3), (4), (5), 5 kinematic pairs (6), (7), (8), (2), (10) and 1 be fixedly connected (11).5 kinematic pairs (6), (7), (8), (2), (10) and 1 be fixedly connected (11) are in respectively on the right angled triangle summit of 2 congruences with the tie point of upper mounting plate (9) and lower platform (1) as telescopic support struts (3), (4), (5).Wherein 3 kinematic pairs (6), (7), (8) on the upper mounting plate (9) are the three-degree-of-freedom spherical pair, 2 kinematic pairs (2) on the lower platform (1) are the two degrees of freedom universal joint, (10) be the single-degree-of-freedom revolute pair, place, summit, right angled triangle right angle is be fixedly connected (11).Flexible by telescopic support struts (3), (4), (5), the upper mounting plate of parallel robot mechanism (9) can be done around two right-angle side, i.e. the rotation of x axle and y axle and along vertical, promptly the z axle moves.Be fixedly connected (11) at place, lower platform (1) summit, right angle in the above-mentioned three-freedom parallel robot mechanism are changed into single-degree-of-freedom revolute pair (11 '), as shown in Figure 2, be four-freedom parallel connection robot mechanism.By the rotation of flexible and telescopic support struts (3) the lower end revolute pair (11 ') of telescopic support struts (3), (4), (5) around bearing pin, as installing the swing type hydraulic motor herein additional or similarly power is first-class, can realize the four-degree-of-freedom spatial movement that upper mounting plate (9) rotates and moves along x axle, z axle around x axle, y axle.Certainly also can be as shown in Figure 3, on the telescopic support struts (3) that connects upper mounting plate (9) and lower platform (1) summit, right angle, install a tilting telescopic support struts (13) that is connected with revolute pair (12), (14) with itself and lower platform (1) again additional, then by the flexible realization upper mounting plate (9) of 4 groups of telescopic support struts (3), (4), (5) and (13) around x axle, the rotation of y axle and the four-degree-of-freedom spatial movement of moving along x axle, z axle.
The utility model with three or the spatial rotational of four-freedom parallel connection robot mechanism organically combine, it is had drives conveniently, simple in structure, rigidity is big, the precision height, reaction speed is fast, positive and negatively separates simply, is easy to On-line Control and practical application.

Claims (2)

1. space lower-mobility parallel robot mechanism, it comprises upper mounting plate (9), lower platform (1), 3 groups of identical telescopic support struts (3), (4), (5), 5 kinematic pairs (6), (7), (8), (2), (10) and 1 be fixedly connected (11), 5 kinematic pairs (6) that it is characterized in that three-freedom parallel robot mechanism, (7), (8), (2), (10) and 1 be fixedly connected (11) lay respectively on the summit of two congruent right angled triangles of upper mounting plate (9) and lower platform (1), 3 kinematic pairs (6) that link to each other with upper mounting plate (9) wherein, (7), (8) be the three-degree-of-freedom spherical pair, 2 kinematic pairs that link to each other with lower platform (1) are respectively universal joint (2) and revolute pair (10), and place, summit, right angled triangle right angle is be fixedly connected (11).
2. space as claimed in claim 1 lower-mobility parallel robot mechanism is characterized in that four-freedom parallel connection robot mechanism is that be fixedly connected (11) at place, summit, the lower platform in the three-freedom parallel robot mechanism described in the claim 1 (1) right angled triangle right angle are changed into revolute pair (11 ').
CN 02247621 2002-08-09 2002-08-09 Parallel robot mechanism with less free-space CN2559457Y (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100363151C (en) * 2005-01-04 2008-01-23 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN100372657C (en) * 2006-04-18 2008-03-05 燕山大学 3-degree-of-freedom 6-UPS tri-translational parallel robot
CN100377847C (en) * 2006-04-30 2008-04-02 天津大学 Parallel mechanism having two rotational and one translational motion freedom
CN102126216A (en) * 2011-04-12 2011-07-20 浙江理工大学 Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom
CN102126217A (en) * 2011-04-12 2011-07-20 浙江理工大学 Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom
CN102211329A (en) * 2011-06-02 2011-10-12 常州大学 Five-degree-of-freedom spatial series-parallel operating platform
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN104440921A (en) * 2014-11-07 2015-03-25 韩方元 Multi-translational-degree-of-freedom parallelogram complex kinematic pair
CN104440832A (en) * 2014-09-30 2015-03-25 中国运载火箭技术研究院 Double-layer support for flight vehicle assembling, transporting and docking
CN104827463A (en) * 2015-05-07 2015-08-12 上海交通大学 Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair
CN107665848A (en) * 2016-07-29 2018-02-06 上海微电子装备(集团)股份有限公司 One kind solution bonding levelling device and solution bonding method
CN109333510A (en) * 2018-11-08 2019-02-15 天津大学 One translation of one kind, two rotation spherical coordinates type zero couples parallel institution

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100363151C (en) * 2005-01-04 2008-01-23 浙江理工大学 Tri-freedom degree parallel connection posture controlling mechanism for spherical surface with circular guide
CN100372657C (en) * 2006-04-18 2008-03-05 燕山大学 3-degree-of-freedom 6-UPS tri-translational parallel robot
CN100377847C (en) * 2006-04-30 2008-04-02 天津大学 Parallel mechanism having two rotational and one translational motion freedom
CN102126216A (en) * 2011-04-12 2011-07-20 浙江理工大学 Symmetrical-structure parallel mechanism having two-turn-one-shift three degrees of freedom
CN102126217A (en) * 2011-04-12 2011-07-20 浙江理工大学 Asymmetrical structure parallel mechanism with two rotational degrees of freedom and one translational degree of freedom
CN102211329A (en) * 2011-06-02 2011-10-12 常州大学 Five-degree-of-freedom spatial series-parallel operating platform
CN103042521A (en) * 2012-12-26 2013-04-17 燕山大学 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning
CN104440832B (en) * 2014-09-30 2016-06-29 中国运载火箭技术研究院 A kind of aircraft assembling, transport, docking double-layer scaffold
CN104440832A (en) * 2014-09-30 2015-03-25 中国运载火箭技术研究院 Double-layer support for flight vehicle assembling, transporting and docking
CN104440921A (en) * 2014-11-07 2015-03-25 韩方元 Multi-translational-degree-of-freedom parallelogram complex kinematic pair
CN104440921B (en) * 2014-11-07 2016-09-07 韩方元 A kind of many translation freedoms parallelogram compound movement is secondary
CN104827463A (en) * 2015-05-07 2015-08-12 上海交通大学 Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair
CN107665848A (en) * 2016-07-29 2018-02-06 上海微电子装备(集团)股份有限公司 One kind solution bonding levelling device and solution bonding method
CN107665848B (en) * 2016-07-29 2020-08-25 上海微电子装备(集团)股份有限公司 Debonding and leveling device and debonding method
US10971380B2 (en) 2016-07-29 2021-04-06 Shanghai Micro Electronics Equipment (Group) Co., Ltd. De-bonding leveling device and de-bonding method
CN109333510A (en) * 2018-11-08 2019-02-15 天津大学 One translation of one kind, two rotation spherical coordinates type zero couples parallel institution

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