CN105881497A - Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) - Google Patents
Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) Download PDFInfo
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- CN105881497A CN105881497A CN201410625135.7A CN201410625135A CN105881497A CN 105881497 A CN105881497 A CN 105881497A CN 201410625135 A CN201410625135 A CN 201410625135A CN 105881497 A CN105881497 A CN 105881497A
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Abstract
The invention belongs to the field of robots, and particularly relates to a space decoupling hybrid mechanism. The hybrid mechanism mainly comprises a three-branch parallel mechanism (1T2R) and a two-branch parallel mechanism (2T). The three-branch parallel mechanism is composed of a base, a movable platform and three branches connecting the base and the movable platform. The first branch is composed of a moving pair, four rotating pairs and four connecting rods connecting the moving pair and the four rotating pairs. The second branch is composed of a moving pair, a universal hinge and a connecting rod connecting the moving pair and the universal hinge. The third branch is composed of a cylindrical pair, four rotating pairs and four connecting rods connecting the cylindrical pair and the four rotating pairs. The two-branch parallel mechanism is composed of a movable platform, a mechanism tail end and two branches connecting the movable platform and the tail end. The fourth branch is composed of two moving pairs and a rotating pair. The fifth branch is composed of a moving pair and three rotating pairs. The hybrid mechanism achieves three-dimensional moving and two-dimensional rotating functions and motion decoupling, and is stable in structure, good in rigidity, high in bearing capacity and easy to control.
Description
Art
The invention belongs to robot field, particularly to a kind of spatially decoupled hybrid mechanism.
Background technology
It is big, easy to control that series-parallel robot has serial manipulator work space concurrently simultaneously, parallel device people's Stability Analysis of Structures, rigidity is big, the accumulation of error is few, dynamic property is good, easily try to achieve the respective advantages such as inverse kinematic, it is avoided that again simple series and parallel configuration shortcoming simultaneously, modern manufacturing industry has more practicality.
Topaz U.S. of domestic Xi'an University of Technology etc. have developed six axle CNC Series-Parallel Machine Tool, and its parallel institution 3-RPS realizes the function of a shifting two turns, X-axis and Y-axis feeding and another is asked that transhipment is dynamic and is realized by tandem drive.Owing to series-parallel robot forgives parallel-connection structure, there is the problem that motion coupling is strong in parallel institution.The existence of series-parallel robot coupling makes mechanism there are problems at aspects such as mechanism's design, computational analysis and motor controles.Therefore, for simplifying the control process of series-parallel robot, the decoupling improving hybrid mechanism has become as the hot issue of theory of mechanisms research field.
In 3-freedom parallel mechanism decoupling research, Chinese patent literature CN 103358303 A proposes a kind of two rotations one and moves full decoupled parallel institution.In series parallel robot in five degrees of freedom is studied, it is modularized design that Chinese patent literature CN1524662A proposes its advantage of Non-symmetric space 5-DOF hybrid robot, can realize plug and play.Decoupling research for five degree of freedom hybrid mechanism obtains some progress, and such as, Chinese patent literature CN102120205A proposes a kind of single spray gun spraying five axle series-parallel robot, and this mechanism not only programs easily, manufactures and control accuracy the most easily improves.Chinese patent literature CN102133560A spray gun cooperating type more than a kind sprays five axle series-parallel robots, and this kind five axle series-parallel connection spray robot can realize high-quality, high efficiency spraying improves spray efficiency.Although it is dynamic that mechanism of foregoing invention mechanism moving platform can realize three shifting two transhipments, but such mechanism is the most rare, and the decoupling of major part mechanism solves the most very well.
Summary of the invention
It is an object of the invention to provide a kind of Stability Analysis of Structures, three two turns of five degree of freedom series-parallel connection machines of shifting easily controllable, mobile decoupling reach.It is mainly formed (1T2R) (2T) five degree of freedom decoupling hybrid mechanism by three branch's parallel institutions (1T2R) and Ge Liang branch parallel institution (2T).Three branch's parallel institutions are by pedestal, moving platform and connect pedestal and three branches of moving platform.Branch one is by a moving sets and four revolute pairs and connects their four connecting rods and forms；Branch two by a moving sets and universal hinge with and connect their connecting rod and form；Branch three is by a cylindrical pair and four revolute pairs and connects their four connecting rods and forms；Two branch's parallel institutions are made up of the Liang Ge branch of moving platform, mechanism end and connection moving platform and end；Branch four is made up of two moving sets and a revolute pair；Branch five is made up of a moving sets and three revolute pairs.
In branch one, one end of first connecting rod is connected with fixed platform by revolute pair, and the first two revolute pair axis is parallel to each other and is perpendicular to the face that allocates and moving sets centrage, and is perpendicular to the revolute pair parallel with latter two axis；Branch two by a moving sets and universal hinge with and connect their connecting rod and form, two axis of universal hinge are vertical with moving sets moving direction；Branch three is by a cylindrical pair and four revolute pairs and connects their four connecting rods and forms, one end of connecting rod is connected with pedestal by cylindrical pair, it is parallel to fixed platform with pedestal connecting cylinder secondary axis, and vertical with latter two revolute pair axis, the revolute pair axis that connects with moving platform is parallel to dynamic plane and is parallel to the revolute pair axis of next-door neighbour and is perpendicular to the moving sets that the first two axis is parallel.Branch four is made up of two moving sets and a revolute pair, one end of first connecting rod is connected with moving platform by moving sets and direction is perpendicular to fixed platform, the other end of this first connecting rod is connected by moving sets and second connecting rod, the other end of this second connecting rod is connected with robot end by revolute pair, and two moving directions are mutually perpendicular to；Branch five is made up of a moving sets and three revolute pairs, one end of first connecting rod is connected with moving platform by moving sets and is oriented parallel to three revolute pair axis directions, the other end of this connecting rod is by revolute pair and second connecting rod, the other end of second connecting rod and the 3rd connecting rod connect, and the 3rd the connecting rod other end is connected with robot end by revolute pair.
The present invention compared with prior art has the advantage that
1, simple in construction, kinematic pair has lower pair also to have compound motion secondary, and assembling is simple, can reduce manufacturing cost；
2, three, space one-movement-freedom-degree and two rotational freedom decouplings are achieved；
3, all inputs drive and are all connected with platform, which reduce the load of rod member, have good mobility and stability and response speed faster.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention；
Fig. 2 entirety schematic construction sketch；
Fig. 3 entirety schematic construction sketch.
Detailed description of the invention
In the one three shown in Fig. 2 moves two turns of five degree of freedom decoupling spatial series-parallel structural scheme of mechanism, fixed platform 1 is rectangle structure, one end of first connecting rod in branch one is connected with fixed platform by revolute pair 2, the other end of this connecting rod 3 is connected with one end of connecting rod 5 by moving sets 4, and the other end of this connecting rod is connected with connecting rod 7 by revolute pair 6；The other end of this connecting rod is connected with moving platform 11 by revolute pair 10 by revolute pair 8 and connecting rod 9, connecting rod 9 other end；First connecting rod 14 in branch two is connected with fixed platform guide rail by moving sets 15, and the other end of this first connecting rod is connected with moving platform by universal hinge 13；One end of first connecting rod 18 in branch three is connected with fixed platform by cylindrical pair 17, the other end of this first connecting rod 18 is connected with one end of second connecting rod 20 by revolute pair 19, the other end of this second connecting rod is connected with one end of third connecting rod 22 by revolute pair 21, and the other end of this third connecting rod is connected with connecting rod 24 by revolute pair 23.The other end of this fourth link is connected with moving platform by revolute pair 25；One end of branch four side chain first connecting rod 27 is connected with moving platform by moving sets 26, and the other end of first connecting rod is connected with connecting rod by moving sets 28, and the connecting rod other end is connected with series-parallel robot end 35 by revolute pair 29.One end of branch five side chain first connecting rod 31 is connected with moving platform upper rail by moving sets 30, the other end of first connecting rod is connected with second connecting rod by revolute pair 32, second connecting rod other end is connected with the 3rd connecting rod by revolute pair 34, and the connecting rod other end is connected with series-parallel robot end 35 by revolute pair 34.
The axis direction of the revolute pair 2 in branch one and the axis direction of revolute pair 6 are parallel and perpendicular to allocating face 1 and revolute pair 8,10 axis direction, and axis 6,8 revolute pair is parallel to each other.In branch one, revolute pair 2 is parallel with the axis direction of revolute pair in branch two 19,20.Moving sets 4 centerline parallel is in fixed platform 1；In branch two, the centerline direction of moving sets 15 is parallel with fixed platform 1, is parallel to revolute pair 29 axis direction in branch four, is perpendicular in branch one, two, three rotate secondary axis direction, is perpendicular to moving platform upper rail centerline direction.In universal hinge in the nearest revolute pair axis direction of moving platform with branch one, three cylindrical pair 17 revolute pair 8,10,23,25, in the parallel universal hinge of axis direction, another axis direction is perpendicular to the face that allocates 1；Revolute pair 17,23,25 in branch three, axis direction is parallel to each other and is parallel to allocate face, is perpendicular to revolute pair 19,21 axis；In branch four, moving sets 26 central axis in dynamic plane and is perpendicular to moving sets 28 and revolute pair 29；In branch five, moving sets 30 is oriented parallel to moving sets 28 and is parallel to revolute pair 32,33,34 axis.
Claims (1)
1. (1T2R) (2T) five degree of freedom decoupling hybrid mechanism, it mainly includes three branch's parallel institutions (1T2R) and one
Two branch's parallel institutions (2T), three branch's parallel institutions are by pedestal, moving platform and connect pedestal and three branches of moving platform,
Two branch's parallel institutions are made up of the Liang Ge branch of moving platform, mechanism end and connection moving platform and end.It is characterized in that:
Branch one is by a moving sets and four revolute pairs and connects their four connecting rods and forms, and one end of first connecting rod is by turning
Dynamic pair is connected with fixed platform, and the first two revolute pair axis is parallel to each other and is perpendicular to the face that allocates and moving sets centrage, and is perpendicular to
With the revolute pair that latter two axis is parallel；Branch two by a moving sets and universal hinge with and connect their connecting rod and form,
Two axis of universal hinge are vertical with moving sets moving direction；Branch three is by a cylindrical pair and four revolute pairs and connects them
Four connecting rods composition, one end of connecting rod is connected with pedestal by cylindrical pair, is parallel to fixed platform with pedestal connecting cylinder secondary axis,
And vertical with latter two revolute pair axis, the revolute pair axis being connected with moving platform is parallel to dynamic plane and is parallel to turning of next-door neighbour
Dynamic secondary axis is perpendicular to the moving sets that the first two axis is parallel；Branch four is made up of two moving sets and a revolute pair, first
One end of connecting rod is connected with moving platform by moving sets and direction is perpendicular to fixed platform, and the other end of this first connecting rod is by mobile
Pair is connected with second connecting rod, and the other end of this second connecting rod is connected with robot end by revolute pair, two moving direction phases
The most vertical；Branch five is made up of a moving sets and three revolute pairs, and one end of first connecting rod is by moving sets with moving platform even
Connecing and be oriented parallel to three revolute pair axis directions, the other end of this connecting rod is by revolute pair and second connecting rod, second company
The other end of bar and the 3rd connecting rod connect, and the 3rd the connecting rod other end is connected with robot end by revolute pair.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410625135.7A CN105881497A (en) | 2014-11-07 | 2014-11-07 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) |
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| CN201410625135.7A CN105881497A (en) | 2014-11-07 | 2014-11-07 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108992171A (en) * | 2018-08-07 | 2018-12-14 | 浙江理工大学 | A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom |
| CN110206847A (en) * | 2019-06-20 | 2019-09-06 | 上海大学 | A kind of anti-rocking equipment of spacing multi-connecting-rod |
| CN111670349A (en) * | 2018-01-29 | 2020-09-15 | 美蓓亚三美株式会社 | Sensor chip and force sensor device |
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| DE19841243B4 (en) * | 1998-09-09 | 2004-09-30 | Hans Paal Kg Maschinenbau (Gmbh & Co.) | industrial robots |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
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2014
- 2014-11-07 CN CN201410625135.7A patent/CN105881497A/en active Pending
Patent Citations (5)
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| DE19841243B4 (en) * | 1998-09-09 | 2004-09-30 | Hans Paal Kg Maschinenbau (Gmbh & Co.) | industrial robots |
| CN101518898A (en) * | 2009-04-09 | 2009-09-02 | 浙江理工大学 | Parallel mechanism with three freedom degrees of twice rotation and once motion |
| CN201736223U (en) * | 2010-06-07 | 2011-02-09 | 浙江理工大学 | Two-rotation one-movement three-freedom micromotion parallel mechanism |
| CN102431028A (en) * | 2011-10-30 | 2012-05-02 | 燕山大学 | One-movement two-rotation three-freedom-degree decoupling parallel robot mechanism |
| CN102962837A (en) * | 2012-11-09 | 2013-03-13 | 燕山大学 | Easy-to-control symmetric parallel mechanism with two rotating pairs and one moving pair |
Non-Patent Citations (1)
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| 史巧硕: "并联机器人机构构型方法研究", 《中国优秀博士学位论文全文数据库 信息科技辑》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111670349A (en) * | 2018-01-29 | 2020-09-15 | 美蓓亚三美株式会社 | Sensor chip and force sensor device |
| CN108992171A (en) * | 2018-08-07 | 2018-12-14 | 浙江理工大学 | A kind of remote center parallel connection micro-wound operation robot of Three Degree Of Freedom |
| CN108992171B (en) * | 2018-08-07 | 2023-11-21 | 浙江理工大学 | Three-degree-of-freedom far-center parallel minimally invasive surgical robot |
| CN110206847A (en) * | 2019-06-20 | 2019-09-06 | 上海大学 | A kind of anti-rocking equipment of spacing multi-connecting-rod |
| CN110206847B (en) * | 2019-06-20 | 2020-12-29 | 上海大学 | Space multi-connecting-rod anti-swing device |
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