CN115648184B - Few-drive multi-layer coupling hybrid mechanism - Google Patents
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Abstract
本发明涉及一类少驱动多层耦合混联机构，其包括n(3‑R(SSS(R)))+3‑RSR型混联机构、n(3‑R(RRS(S)))+3‑RSR型混联机构、n(3‑R(RSR(S)))+3‑RRS型混联机构、n(3‑R(SSR(S)))+3‑RRS型混联机构。少驱动多层耦合混联机构包括能进行多层叠加的模块化并联机构以及与之耦合连接的末端并联机构，模块化并联机构包括定平台、动平台和三条结构相同的分支，分支所包含的闭环支链可实现相邻两层并联机构间的耦合，从而达到减少驱动、传递运动的效果。末端并联机构包括末端动平台和三条结构相同的分支，且分支不含闭环支链。本发明具有结构紧凑、驱动简单等优点。
The present invention relates to a type of multi-layer coupled hybrid mechanism with few drives, which includes n(3‑R(SSS(R)))+3‑RSR hybrid mechanism, n(3‑R(RRS(S)))+3‑RSR hybrid mechanism, n(3‑R(RSR(S)))+3‑RRS hybrid mechanism, and n(3‑R(SSR(S)))+3‑RRS hybrid mechanism. The multi-layer coupled hybrid mechanism with few drives includes a modular parallel mechanism capable of multi-layer superposition and a terminal parallel mechanism coupled thereto, wherein the modular parallel mechanism includes a fixed platform, a moving platform and three branches with the same structure, and the closed-loop branch chain contained in the branch can realize the coupling between two adjacent layers of parallel mechanisms, thereby achieving the effect of reducing driving and transmitting motion. The terminal parallel mechanism includes a terminal moving platform and three branches with the same structure, and the branch does not contain a closed-loop branch chain. The present invention has the advantages of compact structure and simple driving.
Description
Technical Field
The invention belongs to the technical field of parallel mechanisms, and particularly relates to a series-parallel mechanism with a large working space and a few-drive multi-layer coupling.
Background
The serial mechanism has the characteristics of small bearing capacity, poor precision, large working space, good flexibility and the like due to the structure. The parallel mechanism is complementary with the serial mechanism in performance, and has the characteristics of large bearing capacity, high rigidity precision, small working space and the like. The parallel-serial mechanism formed by connecting a plurality of parallel mechanisms in series has the advantages of the parallel mechanism and the series mechanism, and is widely paid attention to and studied by students. However, at present, each layer of parallel mechanism in the mechanism needs to be provided with a driving element, so that the whole parallel mechanism is heavy and complex to drive. Therefore, reduction of the driving element and the overall weight by structural design is an important research direction.
The patent CN202110116056.3 proposes a few-drive multi-degree-of-freedom output redundant parallel mechanism and a control method, and the invention reduces driving components by controlling a motion branched chain through a redundant branched chain, reduces control difficulty, has large bearing capacity, and relatively reduces working space. Patent CN202120075105.9 proposes to connect a slider mechanism to a driven rod and a driving rod of two parallel mechanisms of the same structure, and quantitatively transfer the output of the previous stage to the next stage as input, increasing the working space of the mechanism, but the rigidity of the mechanism is relatively low. Patent CN201020569030.1 proposes a series-parallel robot for spraying an automobile, which is formed by connecting a three-degree-of-freedom parallel mechanism and a four-degree-of-freedom parallel mechanism in series, and the invention has compact structure, high rigidity and easy realization of high-speed movement, but the whole structure of the invention is relatively complex and is not easy to be widely used.
In order to effectively improve the problems, the invention provides a few-drive multilayer coupling series-parallel mechanism, which aims to reduce the use of driving elements through structural design, so that the series-parallel mechanism has a compact structure, is light and flexible, is convenient to operate, and is more suitable for the requirements of actual engineering.
Disclosure of Invention
The invention provides a few-drive multistage coupling series-parallel mechanism, which realizes the coupling between adjacent layers of parallel mechanisms by constructing closed-loop branched chains, achieves the aim of reducing driving elements, and ensures that the series-parallel mechanism is more portable and flexible, convenient to operate and easy to realize modularization.
The invention adopts the technical scheme that the multi-layer coupling parallel mechanism comprises a 3-R (SSS (R)) type modular parallel mechanism capable of being overlapped in multiple layers and a 3-RSR type tail end parallel mechanism which is in coupling connection, wherein the 3-R (SSS (R)) type modular parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (SSS (R)) serial branches which are uniformly distributed along the circumferential direction, the R (SSS (R)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (SSS (R)) serial branch comprises a first revolute pair, a first connecting rod, a first spherical hinge, a second connecting rod, a second spherical hinge, a third connecting rod and a first compound kinematic pair, the lower end of a first connecting rod in the first layer 3-R (SSS (R)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the first connecting rod through the first spherical hinge and the lower end of the first connecting rod through the second spherical hinge, the upper end of the first connecting rod is connected with the lower spherical hinge through the third spherical hinge in the first spherical hinge, the upper end of the third connecting rod is connected with the lower connecting part close to the lower end of the first connecting rod and the movable platform in the adjacent 3-R (SSS (R)) parallel mechanism through the first compound kinematic pair, the third spherical hinge in the first layer is formed by a rotating pair which is intersected at one point by three axes and performs independent relative rotation, the first compound kinematic pair is formed by two coaxial rotating pairs, the first connecting rod and the movable platform are shared between the 3-R (SSS (R)) parallel mechanisms of the adjacent two layers, the upper connecting part close to the upper end of the first connecting rod in the last layer 3-R (SSS (R)) parallel mechanism is connected with the lower end of the second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod in the 3-RSR parallel mechanism through the second spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the third spherical hinge, the upper end of the fourth connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR parallel mechanism through the third spherical hinge, the upper connecting part of the fourth connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR (R) parallel mechanism through the fourth spherical hinge and the lower connecting part in the four spherical hinge and the four connecting parts in the parallel mechanism, the four connecting parts are connected in series respectively, the upper end of the fifth connecting rod is connected with the tail end movable platform through the second revolute pair, and the multi-layer 3-R (SSS (R)) parallel mechanism and the 3-RSR parallel mechanism are coupled and connected to form a three-degree-of-freedom n (3-R (SSS (R)) +3-RSR type few-drive multi-layer coupling series-parallel mechanism.
Further, the first connecting rod, the second connecting rod, the third connecting rod and the first connecting rod in the adjacent 3-R (SSS (R)) parallel mechanism jointly form a closed-loop branched chain, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in the adjacent 3-RSR parallel mechanism jointly form a closed-loop branched chain.
The technical scheme adopted by the second aspect of the invention is that the low-driving multi-layer coupling parallel mechanism comprises a 3-R (RRS (S)) type modular parallel mechanism capable of being overlapped in a multi-layer mode and a 3-RSR type tail end parallel mechanism which is in coupling connection, wherein the 3-R (RRS (S)) type modular parallel mechanism capable of being overlapped in a multi-layer mode comprises a fixed platform, a plurality of movable platforms and R (RRS (S)) serial branches which are uniformly distributed along the circumferential direction, the R (RRS (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (RRS) serial branch comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, a third revolute pair, a third connecting rod, a first spherical hinge and a second composite kinematic pair, the lower end of the first connecting rod in the first layer 3-R (RRS) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the first connecting rod through the second revolute pair and the lower end of the second connecting rod in the first connecting rod through the third revolute pair, the upper end of the third connecting rod is connected with the lower connecting part close to the lower end of the first connecting rod and the movable platform in the adjacent 3-R (RRS) parallel mechanism through the second compound kinematic pair, the first spherical hinge in the first layer is formed by a revolute pair which is intersected at one point by three axes and performs independent relative rotation, the second compound kinematic pair is formed by a revolute pair and a spherical hinge, the first connecting rod and the movable platform are shared between the 3-R (RRS) parallel mechanisms of the adjacent two layers, the upper connecting part close to the upper end of the first connecting rod in the last layer 3-R (RRS) parallel mechanism is connected with the lower end of the second connecting rod through the second revolute pair, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod in the 3-RSR parallel mechanism through the third revolute pair, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the first spherical hinge, the upper end of the third connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR parallel mechanism through the fourth spherical hinge, the upper connecting part close to the lower end of the fourth connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR parallel mechanism through the fourth spherical hinge, the upper connecting part of the fourth connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR parallel mechanism through the fourth spherical hinge, the upper connecting rod is connected with the lower end of the fourth connecting rod in the 3-RSR parallel mechanism through the fourth connecting rod parallel mechanism, the upper connecting part of the fourth connecting rod and the lower connecting rod is connected with the lower end of the third connecting rod in the 3-RSS parallel mechanism through the third spherical hinge respectively, the upper end of the fifth connecting rod is connected with the tail end movable platform through the fourth revolute pair, and the multi-layer 3-R (RRS (S)) parallel mechanism and the 3-RSR parallel mechanism are coupled and connected together to form the three-degree-of-freedom n (3-R (RRS (S)) +3-RSR type few-drive multi-layer coupling series-parallel mechanism.
Further, the first connecting rod, the second connecting rod, the third connecting rod and the first connecting rod in the adjacent 3-R (RRS) parallel mechanism jointly form a closed loop branched chain, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in the adjacent 3-RSR parallel mechanism jointly form a closed loop branched chain.
According to the technical scheme adopted by the third aspect of the invention, the low-driving multi-layer coupling series-parallel mechanism comprises a 3-R (RSR (S)) type modular parallel mechanism capable of being overlapped in multiple layers and a 3-RRS type tail end parallel mechanism which is in coupling connection, wherein the 3-R (RSR (S)) type modular parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (RSR (S)) serial branches which are uniformly distributed along the circumferential direction, the R (RSR (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (RSR (S)) serial branch comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, a first spherical hinge, a third connecting rod, a third revolute pair and a third compound kinematic pair, the lower end of a first layer 3-R (RSR (S)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the first connecting rod (RSR (S)) and the lower end of the second connecting rod (S)) and the lower end of the third compound kinematic pair is connected with the lower end of the third connecting rod (S) through the second revolute pair and the lower end of the third connecting rod (S)) in the parallel mechanism, the third compound kinematic pair consists of a revolute pair and a spherical hinge, wherein the first connecting rod and a movable platform are shared between the adjacent two layers of 3-R (RSR (S)) parallel mechanisms, an upper connecting part close to the upper end of a first connecting rod in the last layer of 3-R (RSR (S)) parallel mechanism is connected with the lower end of a second connecting rod through the second revolute pair, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod in the 3-RRS parallel mechanism through the first spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the third revolute pair, the upper end of the third connecting rod is connected with the lower connecting part close to the lower end of the fourth connecting rod in the 3-RRS parallel mechanism through the third compound kinematic pair and the movable platform, the 3-RRS parallel mechanism is arranged at the tail end of the multi-layer 3-R (RSR (S)) parallel mechanism, the 3-RRS parallel mechanism comprises a circumferential branch, the fourth connecting rod and a fifth spherical hinge are connected with the upper end of the fourth connecting rod in series along the circumferential direction, the fifth spherical hinge and the fifth spherical hinge, each spherical hinge is connected with the upper end of the fifth connecting rod in series, and the multi-layer 3-R (RSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled and connected together to form the three-degree-of-freedom n (3-R (RSR (S))) +3-RRS type few-drive multi-layer coupling series-parallel mechanism.
Further, the first connecting rod, the second connecting rod, the third connecting rod and the first connecting rod in the adjacent 3-R (RSR (S)) parallel mechanism jointly form a closed-loop branched chain, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in the adjacent 3-RRS parallel mechanism jointly form a closed-loop branched chain.
The technical scheme adopted by the fourth aspect of the invention is that the low-driving multilayer coupling hybrid mechanism comprises a 3-R (SSR (S)) type modularized parallel mechanism capable of being overlapped in a multilayer manner and a 3-RRS type tail end parallel mechanism which is in coupling connection, wherein the 3-R (SSR (S)) type modularized parallel mechanism capable of being overlapped in a multilayer manner comprises a fixed platform, a plurality of movable platforms and R (SSR (S)) serial branches which are uniformly distributed along the circumferential direction, the R (SSR (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (SSR (S)) serial branch comprises a first revolute pair, a first connecting rod, a first spherical hinge, a second connecting rod, a second spherical hinge, a third connecting rod, a second revolute pair and a fourth compound kinematic pair, the lower end of a first connecting rod in the first layer 3-R (SSR (S)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the first connecting rod through the first spherical hinge and the lower end of the second connecting rod is connected with the lower end of the first spherical hinge through the second connecting rod (3), the upper end of the third connecting rod is connected with a lower connecting part close to the lower end of the first connecting rod in the adjacent 3-R (SSR (S)) parallel mechanism through the fourth compound kinematic pair; the fourth compound kinematic pair consists of a revolute pair and a spherical hinge, the first connecting rod and the movable platform are shared between the adjacent two layers of 3-R (SSR (S)) parallel mechanisms, an upper connecting part close to the upper end of a first connecting rod in the last layer of 3-R (SSR (S)) parallel mechanism is connected with the lower end of a second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod in the 3-RRS parallel mechanism through the second spherical hinge, the upper end of the first connecting rod is connected with the lower end of a third connecting rod through the second revolute pair, the upper end of the third connecting rod is connected with the lower connecting part close to the lower end of the fourth connecting rod in the 3-RRS parallel mechanism and the movable platform through the fourth compound kinematic pair, the 3-RRS parallel mechanism is arranged at the tail end of the multi-layer 3-R (SSR (S)) parallel mechanism, the 3-RRS parallel mechanism comprises a fifth connecting rod, the fifth connecting rod and the fifth connecting rod are connected with the upper end of the fourth connecting rod in series along the circumferential direction through the fourth revolute pair and the fifth spherical hinge, and the multi-layer 3-R (SSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled and connected together to form the three-degree-of-freedom n (3-R (SSR (S))) +3-RRS type few-drive multi-layer coupling series-parallel mechanism.
Further, the first connecting rod, the second connecting rod, the third connecting rod and the first connecting rod in the adjacent 3-R (SSR (S)) parallel mechanism jointly form a closed-loop branched chain, and the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod in the adjacent 3-RRS parallel mechanism jointly form a closed-loop branched chain.
The invention has the characteristics and beneficial effects that:
1. The multi-layer parallel mechanism with less driving and multi-layer coupling can realize the motion transmission of the multi-layer parallel mechanism by constructing the closed-loop branched chain to generate coupling motion, thereby reducing the use of driving elements.
2. The few-drive multi-layer coupling series-parallel mechanism provided by the invention has the advantages of compact structure, good mechanism symmetry, small drive number, easiness in control, capability of being arranged in a multi-layer mode, easiness in realizing modularization, further increasing the working space of the mechanism and the like, and is suitable for carrying, packaging and sorting materials.
Drawings
FIG. 1 is a schematic structural diagram of an n (3-R (SSS (R)) +3-RSR type few-drive multilayer coupling series-parallel mechanism in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the structure of the RRS (S) closed-loop branched chain in the n (3-R (RRS (S)) +3-RSR type few-drive multilayer coupling series-parallel mechanism in embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of the structure of the closed loop branch of the RSR (S) in the n (3-R (RSR (S)) +3-RRS type few-drive multilayer coupling series-parallel mechanism in embodiment 3 of the present invention;
fig. 4 is a schematic structural diagram of an SSR (S) closed loop branched chain in an n (3-R (SSR (S))) +3-RRS type few-drive multilayer coupling series-parallel mechanism in embodiment 4 of the present invention.
The main reference numerals:
a fixed platform M0, a movable platform M1, a terminal movable platform M2, a connecting rod L, a spherical hinge S and a revolute pair R.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
Example 1
The invention provides a few-drive multilayer coupling parallel-serial mechanism, which comprises a two-layer overlapped 3-R (SSS (R)) type modular parallel mechanism and a 3-RSR type end parallel mechanism which are in coupling connection, wherein the two-layer overlapped 3-R (SSS (R)) type modular parallel mechanism comprises a fixed platform M0, a plurality of movable platforms M1, three R (SSS (R)) serial branches which are arranged between the fixed platform M0 and the movable platform M1 and between two adjacent movable platforms M1 and have the same structure and are uniformly distributed along the circumferential direction, each R (SSS (R)) serial branch comprises a first revolute pair R1, a first connecting rod L1, a first spherical hinge S1, a second connecting rod L2, a second spherical hinge S2, a third spherical hinge S3, a third connecting rod L3 and a first compound kinematic pair RR1, wherein the lower end of a first connecting rod L1 in the first layer 3-R (SSS (R)) parallel mechanism is connected with a fixed platform M0 through a first rotating pair R1, a motor is arranged on the fixed platform M0, the axis of an output shaft of the motor is collinear with the axis of the first rotating pair R1, an upper connecting part close to the upper end of the first connecting rod L1 is connected with the lower end of a second connecting rod L2 through a first spherical hinge S1, the upper end of the second connecting rod L2 is connected with the lower end of the first connecting rod L1 in the second layer 3-R (SSS (R)) parallel mechanism through a second spherical hinge S2, the upper end of the first connecting rod L1 is connected with the lower end of a third connecting rod L3 through a third spherical hinge S3, the third spherical hinge S3 is composed of rotating pairs R31, R32 and R33 with three axes intersecting at one point and rotating independently and relatively, the upper end of the third connecting rod L3 is connected with a lower connecting part close to the lower end of the first connecting rod L1 and the movable platform M1 in the parallel mechanism of the first compound kinematic pair RR1 and the second layer 3-R (SSS (R)), and the first compound kinematic pair RR1 consists of two coaxial revolute pairs.
The first connecting rod L1 and the movable platform M1 are shared between the first layer 3-R (SSS (R)) parallel mechanism and the second layer 3-R (SSS (R)) parallel mechanism, an upper connecting part close to the upper end of the first connecting rod L1 is connected with the lower end of the second connecting rod L2 through a first spherical hinge S1, the upper end of the second connecting rod L2 is connected with the lower end of a fourth connecting rod L4 in the 3-RSR parallel mechanism through a second spherical hinge S2, the upper end of the first connecting rod L1 is connected with the lower end of a third connecting rod L3 through a third spherical hinge S3, and the upper end of the third connecting rod L3 is connected with the lower connecting part close to the lower end of the fourth connecting rod L4 in the 3-RSR parallel mechanism through a first composite kinematic pair RR1 and the movable platform M1. The first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the fourth connecting rod L4 in the third layer 3-RSR parallel mechanism in the second layer 3-R (SSS (R)) parallel mechanism form a closed loop branched chain.
The 3-RSR parallel mechanism is arranged at the tail ends of two layers of 3-R (SSS (R)) parallel mechanisms, the 3-RSR parallel mechanism comprises three RSR serial branches which are identical in structure and uniformly distributed along the circumferential direction and a tail end moving platform M2, each RSR serial branch comprises a fourth connecting rod L4, a fourth spherical hinge S4, a fifth connecting rod L5 and a second revolute pair R2, the upper end of the fourth connecting rod L4 is connected with the lower end of the fifth connecting rod L5 through the fourth spherical hinge S4, the upper end of the fifth connecting rod L5 is connected with the tail end moving platform M2 through the second revolute pair R2, and the multi-layer 3-R (SSS (R)) parallel mechanism and the 3-RSR parallel mechanism are coupled together to form the n (3-R (SSS (R)) +3-RSR type few-drive multi-layer coupling parallel mechanism with two rotations and three degrees of freedom.
Example 2
The invention provides a few-drive multilayer coupling series-parallel mechanism, which is shown in fig. 2 and comprises a 3-R (RRS) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RSR type tail end parallel mechanism which is in coupling connection. Referring to embodiment 1, the 3-R (RRS (S)) type modular parallel mechanism capable of multi-layer superposition includes a fixed platform M0, a plurality of movable platforms M1, and three R (RRS (S)) serial branches which are identical in structure and uniformly distributed along the circumferential direction and are arranged between the fixed platform M0 and the movable platform M1 and between two adjacent movable platforms M1, each R (RRS (S)) serial branch includes a first revolute pair R1, a first link L1, a second revolute pair R2, a second link L2, a third revolute pair R3, a third link L3, a first spherical hinge S1 and a second composite kinematic pair RS1, wherein the lower end of the first link L1 in the first layer 3-R (RRS (S)) parallel mechanism is connected with the fixed platform M0 through the first revolute pair R1, and a motor is arranged on the fixed platform M0, the axis of the output shaft of the motor is collinear with the axis of the first revolute pair R1, the upper connecting part close to the upper end of the first connecting rod L1 is connected with the lower end of the second connecting rod L2 through the second revolute pair R2, the upper end of the second connecting rod L2 is connected with the lower end of the first connecting rod L1 in the adjacent 3-R (RRS (S)) parallel mechanism through the third revolute pair R3, the upper end of the first connecting rod L1 is connected with the lower end of the third connecting rod L3 through the first spherical hinge S1, wherein the first spherical hinge S1 is formed by revolute pairs R11, R12 and R12 with three axes intersecting at one point and performing independent relative rotation, the upper end of the third connecting rod L3 is connected with the lower connecting part close to the lower end of the first connecting rod L1 and the movable platform M1 in the adjacent 3-R (RRS (S)) parallel mechanism through the second compound revolute pair RS1, the second compound kinematic pair RS1 is composed of a revolute pair R and a spherical hinge S.
The first connecting rod L1 and the movable platform M1 are shared between two adjacent layers of 3-R (RRS (S)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod L1, of the last layer of 3-R (RRS) parallel mechanisms is connected with the lower end of the second connecting rod L2 through a second revolute pair R2, the upper end of the second connecting rod L2 is connected with the lower end of a fourth connecting rod L4 in the 3-RSR parallel mechanism through a third revolute pair R3, the upper end of the first connecting rod L1 is connected with the lower end of the third connecting rod L3 through a first spherical hinge S1, and the upper end of the third connecting rod L3 is connected with the lower connecting part, close to the lower end of the fourth connecting rod L4, of the 3-RSR parallel mechanism through a second composite revolute pair RS1 and the movable platform M1. The first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the first connecting rod L1 in the first-layer 3-R (RRS (S)) parallel mechanism and the second connecting rod L1 in the second-layer 3-R (RRS)) parallel mechanism jointly form a closed loop branched chain, and the first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the fourth connecting rod L4 in the third-layer 3-R (RRS (S)) parallel mechanism in the second-layer 3-R (RRS)) parallel mechanism jointly form a closed loop branched chain.
The 3-RSR parallel mechanism is arranged at the tail end of the multilayer 3-R (RRS (S)) parallel mechanism, the 3-RSR parallel mechanism comprises three RSR serial branches which are identical in structure and uniformly distributed along the circumferential direction and a tail end movable platform M2, each RSR serial branch comprises a fourth connecting rod L4, a second spherical hinge S2, a fifth connecting rod L5 and a fourth revolute pair, the upper end of the fourth connecting rod L4 is connected with the lower end of the fifth connecting rod L5 through the second spherical hinge S2, the upper end of the fifth connecting rod L5 is connected with the tail end movable platform M2 through the fourth revolute pair, the connection relation of rod pieces is identical with that of the 3-RSR parallel mechanism in the embodiment 1, and the multilayer 3-R (RRS) parallel mechanism and the 3-RSR parallel mechanism are connected in a coupling mode to form the n (3-R (RRS (S)) +3-RSR type few-drive multilayer coupling parallel mechanism with two rotations and three degrees of freedom.
Example 3
The invention provides a few-drive multilayer coupling series-parallel mechanism, which is shown in fig. 3 and comprises a 3-R (RSR (S)) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RRS type tail end parallel mechanism which is in coupling connection. Referring to embodiment 1, a 3-R (RSR (S)) type modular parallel mechanism capable of being stacked in multiple layers includes a fixed platform M0, a plurality of movable platforms M1, and three R (RSR (S)) serial branches which are identical in structure and uniformly distributed along the circumferential direction and are provided between the fixed platform M0 and the movable platform M1 and between two adjacent movable platforms M1, each R (RSR (S)) serial branch includes a first revolute pair R1, a first link L1, a second revolute pair R2, a second link L2, a first spherical hinge S1, a third link L3, a third revolute pair R3 and a third composite kinematic pair RS1, wherein the lower end of the first link L1 in the first layer 3-R (RSR (S)) parallel mechanism is connected with the fixed platform M0 through the first revolute pair R1, and the upper connecting part on the first link L1 is connected with the lower end of the second link L2 through the second revolute pair R2, the upper end of the second L2 is connected with the lower end of the adjacent third link L3 (RSR (S)) in the first link L1 and the lower end of the third link 3-RS (RSR 3) parallel mechanism is formed by the upper end of the first link L1 and the lower end of the third link 3-3 and the third composite kinematic pair RS 1.
The first connecting rod L1 and the movable platform M1 are shared between two adjacent layers of 3-R (RSR (S)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod L1, of the last layer of 3-R (RSR (S)) parallel mechanisms is connected with the lower end of the second connecting rod L2 through a second revolute pair R2, the upper end of the second connecting rod L2 is connected with the lower end of a fourth connecting rod L4 in the 3-RRS parallel mechanism through a first spherical hinge S1, the upper end of the first connecting rod L1 is connected with the lower end of a third connecting rod L3 through a third revolute pair R3, and the upper end of the third connecting rod L3 is connected with the lower connecting part, close to the lower end of the fourth connecting rod L4, of the 3-RRS parallel mechanism through a third compound revolute pair RS1 and the movable platform M1. The first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the first connecting rod L1 in the first-layer 3-R (RSR (S)) parallel mechanism and the second connecting rod L1 in the second-layer 3-R (RSR (S)) parallel mechanism jointly form a closed loop branched chain, and the first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the fourth connecting rod L4 in the third-layer 3-R (RSR (S)) parallel mechanism in the second-layer 3-R (RSR (S)) parallel mechanism jointly form a closed loop branched chain.
The 3-RRS parallel mechanism is provided at the end of the multilayer 3-R (RSR (S)) parallel mechanism, and the 3-RSR parallel mechanism in example 1 is referred to as shown in FIG. 1. The 3-RRS parallel mechanism comprises three RRS serial branches and a tail end movable platform M2 which are identical in structure and uniformly distributed along the circumferential direction, each RRS serial branch comprises a fourth connecting rod L4, a fourth revolute pair, a fifth connecting rod L5 and a second spherical hinge S2, the upper end of the fourth connecting rod L4 is connected with the lower end of the fifth connecting rod L5 through the fourth revolute pair, the upper end of the fifth connecting rod L5 is connected with the tail end movable platform M2 through the second spherical hinge S2, and the multi-layer 3-R (RSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled to form an n (3-R (RSR (S)) +3-RRS type few-drive multi-layer coupling parallel mechanism with two rotation and one movement three degrees of freedom.
Example 4
The invention provides a few-drive multilayer coupling series-parallel mechanism, which is shown in fig. 4 and comprises a 3-R (SSR (S)) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RRS type tail end parallel mechanism which is in coupling connection. Referring to embodiment 1, a 3-R (SSR (S)) type modular parallel mechanism capable of being stacked in multiple layers includes a fixed platform M0, a plurality of movable platforms M1, and three R (SSR (S)) serial branches which are identical in structure and uniformly distributed along the circumferential direction and are arranged between the fixed platform M0 and the movable platform M1 and between two adjacent movable platforms M1, each R (SSR (S)) serial branch includes a first revolute pair R1, a first link L1, a first spherical hinge S1, a second link L2, a second spherical hinge S2, a third link L3, a second revolute pair R2 and a fourth compound kinematic pair RS1, wherein the lower end of the first link L1 in the first layer 3-R (SSR (S)) parallel mechanism is connected with the fixed platform M0 through the first revolute pair R1, and the upper connecting part close to the upper end of the first link L1 is connected with the lower end of the second link L2 through the first spherical hinge S1, the upper end of the second link L2 is connected with the lower end of the second link L3-R (S) in the adjacent 3-R (S) parallel mechanism is connected with the lower end of the first link 3-3 and the lower end of the first compound kinematic pair RS1 through the first revolute pair R1, and the lower end of the first link 3-R (S) is connected with the lower end of the first compound kinematic pair 3 in the first layer 3-R (S) parallel mechanism.
The first connecting rod L1 and the movable platform M1 are shared between two adjacent layers of 3-R (SSR (S)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod L1, of the last layer of 3-R (SSR (S)) parallel mechanisms is connected with the lower end of the second connecting rod L2 through a first spherical hinge S1, the upper end of the second connecting rod L2 is connected with the lower end of a fourth connecting rod L4 of the 3-RRS parallel mechanism through a second spherical hinge S2, the upper end of the first connecting rod L1 is connected with the lower end of a third connecting rod L3 through a second revolute pair R2, and the upper end of the third connecting rod L3 is connected with the lower connecting part, close to the lower end of the fourth connecting rod L4, of the 3-RRS parallel mechanism through a fourth composite revolute pair RS1 and the movable platform M1. The first connecting rod L1, the second connecting rod L2, the third connecting rod L3 and the fourth connecting rod L4 in the third layer 3-R (SSR (S)) parallel mechanism in the second layer 3-R (SSR (S)) parallel mechanism form a closed loop branched chain together.
The 3-RRS parallel mechanism is arranged at the tail end of the multi-layer 3-R (SSR (S)) parallel mechanism, and the 3-RSR parallel mechanism in the embodiment 1 is referred to as shown in figure 1. The 3-RRS parallel mechanism comprises three RRS serial branches and a terminal moving platform M2 which are identical in structure and uniformly distributed along the circumferential direction, each RRS serial branch comprises a fourth connecting rod L4, a third revolute pair R3, a fifth connecting rod L5 and a third spherical hinge S3, the upper end of the fourth connecting rod L4 is connected with the lower end of the fifth connecting rod L5 through the third revolute pair R3, the upper end of the fifth connecting rod L5 is connected with the terminal moving platform M2 through the third spherical hinge S3, and the multi-layer 3-R (SSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled to form an n (3-R (SSR (S))) +3-RRS type few-drive multi-layer coupling parallel mechanism with three degrees of freedom of rotation and movement.
According to the low-driving multilayer coupling series-parallel mechanism, coupling motion is realized between two adjacent layers of parallel mechanisms through the constructed closed-loop branched chains, the motion of the upper layer is transferred to the lower layer of mechanism, the same coupling relation is added between the multilayer series-parallel mechanisms according to the method, so that the motion between the mechanisms is transmitted layer by layer, the working space of the mechanism is further increased, the use of a driving unit is reduced, and the motion control of the series-parallel mechanism can be realized by driving the revolute pair in the first layer by the multilayer series-parallel mechanism. The series-parallel mechanism can be stacked in multiple layers, is easy to realize modularization, and has the advantages of compact structure, good mechanism symmetry, small driving number, light and flexible structure, easy control and the like.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. A few-drive multilayer coupling series-parallel mechanism is characterized by comprising a 3-R (SSS (R)) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RSR type tail end parallel mechanism which is in coupling connection,
The 3-R (SSS (R)) type modular parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (SSS (R)) serial branches uniformly distributed along the circumferential direction, wherein the R (SSS (R)) serial branches are arranged between the fixed platform and the movable platforms and between the two adjacent movable platforms, each R (SSS (R)) serial branch comprises a first revolute pair, a first connecting rod, a first spherical hinge, a second connecting rod, a second spherical hinge, a third connecting rod and a first compound kinematic pair, the lower end of a first connecting rod in the first layer 3-R (SSS (R)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a first connecting rod in the adjacent 3-R (SSS (R)) parallel mechanism through the second spherical hinge, and the upper connecting part of the first connecting rod is connected with the lower end of the first connecting rod in the adjacent 3-R (SSS (R)) parallel mechanism through the first spherical hinge; the third spherical hinge in the first layer is composed of a revolute pair with three axes intersecting at one point and performing independent relative rotation, and the first composite kinematic pair is composed of two coaxial revolute pairs;
The first connecting rod and the movable platform are shared between the two adjacent layers of 3-R (SSS (R)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod, of the last layer of 3-R (SSS (R)) parallel mechanism is connected with the lower end of the second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod of the 3-RSR parallel mechanism through the second spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the third spherical hinge, and the upper end of the third connecting rod is connected with the lower connecting part, close to the lower end of the fourth connecting rod, of the 3-RSR parallel mechanism through the first composite kinematic pair and the movable platform;
The 3-RSR parallel mechanism is arranged at the tail end of the multilayer 3-R (SSS (R)) parallel mechanism, the 3-RSR parallel mechanism comprises RSR serial branches and a tail end moving platform which are uniformly distributed along the circumferential direction, each RSR serial branch comprises a fourth connecting rod, a fourth spherical hinge, a fifth connecting rod and a second revolute pair, the upper end of the fourth connecting rod is connected with the lower end of the fifth connecting rod through the fourth spherical hinge, the upper end of the fifth connecting rod is connected with the tail end moving platform through the second revolute pair, and the multilayer 3-R (SSS (R)) parallel mechanism and the 3-RSR parallel mechanism are coupled to form a three-degree-of-freedom n (3-R (SSS (R)) +3-RSR type few-drive multilayer coupling parallel mechanism.
2. The less-driven multi-layer coupling series-parallel mechanism of claim 1, wherein the first link, the second link, the third link, and the first link in the adjacent 3-R (SSS (R)) parallel mechanism together form a closed-loop branch, and wherein the first link, the second link, the third link, and the fourth link in the adjacent 3-RSR parallel mechanism together form a closed-loop branch.
3. A few-drive multilayer coupling series-parallel mechanism is characterized by comprising a 3-R (RRS) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RSR type tail end parallel mechanism which is in coupling connection,
The 3-R (RRS) type modular parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (RRS (S)) serial branches which are uniformly distributed along the circumferential direction, wherein the R (RRS (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (RRS)) serial branch comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, a third revolute pair, a third connecting rod, a first spherical hinge and a second composite kinematic pair, the lower end of a first connecting rod in the first layer 3-R (RRS) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the second connecting rod through the third revolute pair, the upper end of the second connecting rod is connected with the lower end of the first connecting rod in the adjacent 3-R (S) parallel mechanism through the third revolute pair, the upper end of the first connecting rod is connected with the lower end of the first connecting rod in the adjacent 3-R (S) parallel mechanism through the third revolute pair, and the upper end of the first connecting rod is connected with the lower end of the first connecting rod is connected with the first spherical hinge through the first revolute pair through the third revolute pair;
The first connecting rod and the movable platform are shared between the two adjacent layers of 3-R (RRS) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod, of the last layer of 3-R (RRS) parallel mechanisms is connected with the lower end of the second connecting rod through the second revolute pair, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod of the 3-RSR parallel mechanisms through the third revolute pair, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the first spherical hinge, and the upper end of the third connecting rod is connected with the lower connecting part, close to the lower end of the fourth connecting rod, of the 3-RSR parallel mechanisms through the second compound kinematic pair and the movable platform;
The 3-RSR parallel mechanism is arranged at the tail end of the multilayer 3-R (RRS (S)) parallel mechanism, the 3-RSR parallel mechanism comprises RSR serial branches and a tail end moving platform which are uniformly distributed along the circumferential direction, each RSR serial branch comprises a fourth connecting rod, a second spherical hinge, a fifth connecting rod and a fourth revolute pair, the upper end of the fourth connecting rod is connected with the lower end of the fifth connecting rod through the second spherical hinge, the upper end of the fifth connecting rod is connected with the tail end moving platform through the fourth revolute pair, and the multilayer 3-R (RRS (S)) parallel mechanism and the 3-RSR parallel mechanism are coupled to form a three-degree-of-freedom n (3-R (RRS)) +3-RSR type few-drive multilayer coupling parallel mechanism.
4. The less-driven multi-layer coupling series-parallel mechanism of claim 3, wherein the first link, the second link, the third link, and the first link in the adjacent 3-R (RRS (S)) parallel mechanism together form a closed-loop branch, and wherein the first link, the second link, the third link, and the fourth link in the adjacent 3-RSR parallel mechanism together form a closed-loop branch.
5. A few-drive multilayer coupling series-parallel mechanism is characterized by comprising a 3-R (RSR (S)) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RRS type tail end parallel mechanism which is in coupling connection,
The 3-R (RSR (S)) type modular parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (RSR (S)) serial branches uniformly distributed along the circumferential direction, wherein the R (RSR (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (RSR (S)) serial branch comprises a first revolute pair, a first connecting rod, a second revolute pair, a second connecting rod, a first spherical hinge, a third connecting rod, a third revolute pair and a third compound kinematic pair, the lower end of a first connecting rod in the first layer 3-R (RSR (S)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the second connecting rod through the first revolute pair, the upper end of the second connecting rod is connected with the lower end of a first connecting rod in the adjacent 3-R (RSR (S)) parallel mechanism through the first spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod in the adjacent 3-R (S)) parallel mechanism, and the lower end of the first connecting rod is connected with the third connecting rod through the lower end of the first revolute pair is connected with the third connecting rod through the first revolute pair;
The first connecting rod and the movable platform are shared between the two adjacent layers of 3-R (RSR (S)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod, of the last layer of 3-R (RSR (S)) parallel mechanism is connected with the lower end of the second connecting rod through the second revolute pair, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod of the 3-RRS parallel mechanism through the first spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the third revolute pair, and the upper end of the third connecting rod is connected with the lower connecting part, close to the lower end of the fourth connecting rod, of the 3-RRS parallel mechanism and the movable platform through the third compound kinematic pair;
The 3-RRS parallel mechanism is arranged at the tail end of the multilayer 3-R (RSR (S)) parallel mechanism, the 3-RRS parallel mechanism comprises RRS serial branches and a tail end moving platform which are uniformly distributed along the circumferential direction, each RRS serial branch comprises a fourth connecting rod, a fourth revolute pair, a fifth connecting rod and a second spherical hinge, the upper end of the fourth connecting rod is connected with the lower end of the fifth connecting rod through the fourth revolute pair, the upper end of the fifth connecting rod is connected with the tail end moving platform through the second spherical hinge, and the multilayer 3-R (RSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled to form a three-degree-of-freedom n (3-R (RSR (S))) +3-RRS type few-drive multilayer coupling parallel mechanism.
6. The less-driven multi-layer coupled parallel-serial mechanism of claim 5, wherein the first link, the second link, the third link, and the first link in the adjacent 3-R (RSR (S)) parallel mechanism together form a closed-loop branch, and wherein the first link, the second link, the third link, and the fourth link in the adjacent 3-RRS parallel mechanism together form a closed-loop branch.
7. A few-drive multilayer coupling series-parallel mechanism is characterized by comprising a 3-R (SSR (S)) type modular parallel mechanism capable of being overlapped in a multilayer manner and a 3-RRS type tail end parallel mechanism which is in coupling connection,
The 3-R (SSR (S)) type modularized parallel mechanism capable of being overlapped in multiple layers comprises a fixed platform, a plurality of movable platforms and R (SSR (S)) serial branches uniformly distributed along the circumferential direction, wherein the R (SSR (S)) serial branches are arranged between the fixed platform and the movable platform and between the two adjacent movable platforms, each R (SSR (S)) serial branch comprises a first revolute pair, a first connecting rod, a first spherical hinge, a second connecting rod, a second spherical hinge, a third connecting rod, a second revolute pair and a fourth compound kinematic pair, the lower end of a first connecting rod in the first layer 3-R (SSR (S)) parallel mechanism is connected with the fixed platform through the first revolute pair, the upper connecting part close to the upper end of the first connecting rod is connected with the lower end of the second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a first connecting rod in the adjacent 3-R (SSR (S)) parallel mechanism through the second spherical hinge, and the upper connecting part of the first connecting rod is connected with the lower end of the third connecting rod in the first layer 3-R (S)) parallel mechanism through the first revolute pair;
The first connecting rod and the movable platform are shared between the two adjacent layers of 3-R (SSR (S)) parallel mechanisms, an upper connecting part, close to the upper end of the first connecting rod, of the last layer of 3-R (SSR (S)) parallel mechanism is connected with the lower end of the second connecting rod through the first spherical hinge, the upper end of the second connecting rod is connected with the lower end of a fourth connecting rod of the 3-RRS parallel mechanism through the second spherical hinge, the upper end of the first connecting rod is connected with the lower end of the third connecting rod through the second revolute pair, and the upper end of the third connecting rod is connected with the lower connecting part, close to the lower end of the fourth connecting rod, of the 3-RRS parallel mechanism through the fourth compound kinematic pair and the movable platform;
the 3-RRS parallel mechanism is arranged at the tail end of the multilayer 3-R (SSR (S)) parallel mechanism, the 3-RRS parallel mechanism comprises RRS serial branches and a tail end moving platform which are uniformly distributed along the circumferential direction, each RRS serial branch comprises a fourth connecting rod, a third revolute pair, a fifth connecting rod and a third spherical hinge, the upper end of the fourth connecting rod is connected with the lower end of the fifth connecting rod through the third revolute pair, the upper end of the fifth connecting rod is connected with the tail end moving platform through the third spherical hinge, and the multilayer 3-R (SSR (S)) parallel mechanism and the 3-RRS parallel mechanism are coupled and connected together to form the three-degree-of-freedom n (3-R (SSR (S)) +3-RRS type few-drive multilayer coupling parallel mechanism.
8. The less-driven multilayer coupling series-parallel mechanism of claim 7, wherein the first link, the second link, the third link, and the first link in the adjacent 3-R (SSR (S)) parallel mechanism together form a closed-loop branch, and wherein the first link, the second link, the third link, and the fourth link in the adjacent 3-RRS parallel mechanism together form a closed-loop branch.
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