CN112008698B - Two-rotation-one-movement asymmetric fully decoupled parallel robot - Google Patents
Two-rotation-one-movement asymmetric fully decoupled parallel robot Download PDFInfo
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- CN112008698B CN112008698B CN202010987438.9A CN202010987438A CN112008698B CN 112008698 B CN112008698 B CN 112008698B CN 202010987438 A CN202010987438 A CN 202010987438A CN 112008698 B CN112008698 B CN 112008698B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
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Abstract
本发明提供一种两转动一移动非对称完全解耦并联机器人，包括静平台、动平台和三条分支运动链，本发明中，当第一分支运动链中的第一转动副作为主动副单独输入时，使动平台具有一个转动自由度，当第二分支运动链中的第二移动副作为主动副单独输入时，使动平台具有另一个转动自由度，当第三分支运动链中的第一圆柱副的线性位移与第一分支运动链中的第一转动副同时作为主动副输入，且满足第一万向铰在竖直方向的位移与第一圆柱副的位移相同时，使动平台具有一个移动自由度。从而使得本发明具有两个方向的转动和一个方向的移动即三个自由度，控制简单，实用性强，解决了普通并联机构耦合性强，运动学计算复杂，路径规划困难等问题，具有广阔的应用前景。
The present invention provides a two-rotation and one-movement asymmetric fully decoupled parallel robot, comprising a static platform, a moving platform and three branch kinematic chains. In the present invention, when the first rotating pair in the first branch kinematic chain is inputted as an active pair alone, the moving platform has one rotational degree of freedom, when the second moving pair in the second branch kinematic chain is inputted as an active pair alone, the moving platform has another rotational degree of freedom, and when the linear displacement of the first cylindrical pair in the third branch kinematic chain and the first rotating pair in the first branch kinematic chain are simultaneously inputted as active pairs, and the displacement of the first universal joint in the vertical direction is the same as the displacement of the first cylindrical pair, the moving platform has one degree of freedom of movement. Thus, the present invention has three degrees of freedom, namely, rotation in two directions and movement in one direction, is simple to control, and has strong practicality. It solves the problems of strong coupling of ordinary parallel mechanisms, complex kinematic calculations, and difficult path planning, and has broad application prospects.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a two-rotation one-movement asymmetric complete decoupling parallel robot.
Background
The parallel mechanism is formed by connecting a movable platform and a fixed platform through a plurality of branch motion chains, and has the advantages of compact structure, high rigidity, strong bearing capacity and the like compared with a serial mechanism. Has been widely used in the fields of medical instruments, aerospace, motion simulators and the like.
Compared with the parallel mechanism with 6 degrees of freedom, the parallel mechanism with less degrees of freedom has the advantages of fewer driving parts, fewer components, easy control, easy manufacture, low cost and the like. Particularly, the parallel mechanism with the form of two rotation and one movement and three degrees of freedom becomes a focus of attention in the field due to wide application prospect. At present, some scholars in China have a certain research progress in the aspect of a two-rotation one-movement three-degree-of-freedom parallel mechanism, but most of the existing parallel robot mechanisms have the problems of strong motion coupling, small working space, complex control, poor motion precision and the like.
Disclosure of Invention
The invention aims to provide a two-rotation one-movement asymmetric complete decoupling parallel robot so as to solve the problems of strong motion coupling, poor decoupling, small working space and the like of a parallel mechanism in the prior art.
In order to achieve the aim, the technical scheme adopted by the invention is that the asymmetric complete decoupling parallel mechanism with two rotation and one movement comprises a fixed platform, a movable platform and three branch moving chains, wherein one side of the top end of the fixed platform is provided with a connecting column, the three branch moving chains are respectively a first branch moving chain, a second branch moving chain and a third branch moving chain,
The first branch moving chain comprises a first rotating pair, a first universal hinge, a first moving pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to a connecting column and a moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge is parallel to the inner axis of the second universal hinge and is perpendicular to the moving direction of the first moving pair;
The second branch kinematic chain comprises a second moving pair, a second revolute pair, a third moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the ball pair are respectively connected to the fixed platform and the movable platform, and the axis of the second revolute pair is perpendicular to the moving direction of the third moving pair;
The third branch kinematic chain comprises a first cylindrical pair and a third revolute pair which are connected through a connecting rod, the free ends of the first cylindrical pair and the third revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the first cylindrical pair and the third revolute pair are positioned in the same plane and are mutually perpendicular;
The first rotating pair, the first cylindrical pair and the second moving pair are all power input ends and are respectively connected with a driving motor.
Further, the axis of the second revolute pair, the axis of the third revolute pair and the outer axis of the second universal hinge are arranged in parallel.
Further, an arc-shaped track matched with the second movable pair is arranged on the fixed platform, and the axis of the first cylindrical pair is perpendicular to the plane where the arc-shaped track is located and passes through the circle center of the arc-shaped track.
Further, the third revolute pair is located at the center of the movable platform, and the second universal hinge, the third revolute pair and the ball pair are sequentially arranged along the length direction of the movable platform and distributed on the same straight line.
Further, two ends of the first universal hinge are connected with the first rotating pair and the first moving pair through a first connecting rod and a second connecting rod respectively, and the free end of the first moving pair is connected to the second universal hinge through a third connecting rod.
Further, two ends of the second revolute pair are connected with the second movable pair and the third movable pair through a fourth connecting rod and a fifth connecting rod respectively, and the free end of the third movable pair is connected to the ball pair through a sixth connecting rod.
Further, the first cylindrical pair is connected with the third revolute pair through a seventh connecting rod.
Compared with the prior art, the invention has the beneficial effects that when the first rotating pair in the first branch moving chain is singly input as the driving pair, the moving platform has one rotation degree of freedom, when the second rotating pair in the second branch moving chain is singly input as the driving pair, the moving platform has another rotation degree of freedom, and when the linear displacement of the first cylindrical pair in the third branch moving chain and the first rotating pair in the first branch moving chain are simultaneously input as the driving pair, the displacement of the first universal hinge in the vertical direction and the displacement of the first cylindrical pair are simultaneously met, and the moving platform has one movement degree of freedom. Therefore, the invention has three degrees of freedom, namely two-direction rotation and one-direction movement, at the moment, the speed jacobian matrix of the mechanism is a diagonal matrix, has completely decoupled kinematic characteristics, is simple to control and high in practicability, solves the problems of high coupling performance, complex kinematic calculation, difficult path planning and the like of the common parallel mechanism, and has wide application prospect.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a two-turn one-move asymmetric fully decoupled parallel mechanism of the present invention;
fig. 2 is a schematic diagram of the distribution of the second universal joint, the ball pair and the third revolute pair on the movable platform.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1, the two-rotation-one-movement asymmetric fully decoupled parallel robot of the present invention comprises a fixed platform 10 and a movable platform 20, L1, L2, L3 representing a first, a second and a third branched motion chain, respectively.
The first branch moving chain L1 comprises a first rotating pair R11, a first universal hinge U12, a first moving pair P13 and a second universal hinge U14, one ends of the first rotating pair R11 and the second universal hinge U14 are respectively and directly connected with the fixed platform 10 and the movable platform 20, a connecting column for connecting the first rotating pair R11 is arranged on one side of the top end of the fixed platform, the first universal hinge U12 is respectively connected with the first rotating pair R11 and the first moving pair P13 through a first connecting rod 1-1 and a second connecting rod 1-2, and the first moving pair P13 is connected with the second universal hinge U14 through a third connecting rod 1-3. The axis of the first revolute pair R11 is parallel to the axis connected to the first link 1-1 in the first universal joint U12, i.e., the inner axis, the axis connected to the second link 1-2 in the first universal joint U12, i.e., the outer axis, and the axis connected to the third link 1-3 in the second universal joint U14, i.e., the inner axis, and the outer axis of the first universal joint U12 is perpendicular to the moving direction of the first movable pair P13.
The second branched kinematic chain L2 includes a second kinematic pair P21, a second revolute pair R22, a third kinematic pair P23 and a ball pair S24. The second moving pair P21 and the ball pair S24 are respectively and directly connected with the fixed platform 10 and the movable platform 20, the second rotating pair R22 is respectively connected with the second moving pair P21 and the third moving pair P23 through a fourth connecting rod 2-1 and a fifth connecting rod 2-2, and the third moving pair P23 is connected with the ball pair S24 through a sixth connecting rod 2-3. Wherein, the axis of the second revolute pair R22 is perpendicular to the moving direction of the third movable pair P23.
The third branched moving chain L3 includes a first cylindrical pair C31 and a third revolute pair R32. One end of the first cylindrical pair C31 and one end of the third revolute pair R32 are directly connected to the fixed platform 10 and the movable platform 20, respectively, and the third revolute pair R32 is connected to the first cylindrical pair C31 through a seventh link 3-1. Wherein, the axis of the first cylindrical pair C31 and the axis of the third revolute pair R32 are in the same plane and are mutually perpendicular.
In this embodiment, the axis of the second revolute pair R22 in the second branch moving chain L2, the axis of the third revolute pair R32 in the third branch moving chain L3, and the axis of the universal hinge U13 connected to the moving platform 20, that is, the outer axis, are parallel to each other.
Further optimizing the solution, the axis of the first universal joint U12 of the first branch kinematic chain L1 connected to the second link 1-2 is parallel to the axis of the first cylindrical pair C31 of the third branch kinematic chain L3 and at the same time perpendicular to the axis of the third revolute pair R32 of the third branch kinematic chain L3. The second moving pair P21 of the second branch moving chain L2 moves along the circular arc track, and the axis of the first cylinder pair C31 in the third branch moving chain L3 is perpendicular to the plane of the circular arc track and passes through the center of the circular arc track.
Further optimizing this scheme, as shown in fig. 2, the second universal hinge U14 in the first branch moving chain L1 and the ball pair S24 in the second branch moving chain L2 are located at two sides of the moving platform 20, and the third revolute pair R32 in the third branch moving chain L3 is located at the center of the moving platform 20, and the three are distributed on the same straight line.
In the parallel mechanism, the kinematic pair connected with the fixed platform 10 in the three branch kinematic chains is selected as an active pair, wherein the first cylindrical pair C31 in the third branch kinematic chain L3 takes linear displacement as active input.
The control principle of the invention is that the invention drives the driving pair through the servo motor and provides power for the moving platform 20 through three branch moving chains. The first driving motor drives the first rotating pair R11 in the first branch moving chain L1 to enable the movable platform 20 to rotate around the axis direction of the third rotating pair R32 in the third branch moving chain L3, the second driving motor drives the second moving pair P21 in the second branch moving chain L2 to enable the movable platform 20 to rotate around the axis direction of the first cylindrical pair C31 in the third branch moving chain L3, and the first driving motor and the third driving motor respectively drive the first rotating pair R11 in the first branch moving chain L1 and the first cylindrical pair C31 in the third branch moving chain L3 to enable the movable platform 20 to move along the axis direction of the first cylindrical pair C31 in the third branch moving chain L3, so that two rotations and one movement of the parallel mechanism in space are achieved.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. The two-rotation one-movement asymmetric complete decoupling parallel robot comprises a fixed platform, a movable platform and three branch moving chains, wherein a connecting column is arranged at one side of the top end of the fixed platform, the robot is characterized in that the three branch moving chains are a first branch moving chain, a second branch moving chain and a third branch moving chain respectively,
The first branch moving chain comprises a first rotating pair, a first universal hinge, a first moving pair and a second universal hinge which are sequentially connected through a connecting rod, the free ends of the first rotating pair and the second universal hinge are respectively connected to a connecting column and a moving platform, the axis of the first rotating pair is parallel to the inner axis of the first universal hinge, and the outer axis of the first universal hinge is parallel to the inner axis of the second universal hinge and is perpendicular to the moving direction of the first moving pair;
The second branch kinematic chain comprises a second moving pair, a second revolute pair, a third moving pair and a ball pair which are sequentially connected through a connecting rod, the free ends of the second moving pair and the ball pair are respectively connected to the fixed platform and the movable platform, and the axis of the second revolute pair is perpendicular to the moving direction of the third moving pair;
The third branch kinematic chain comprises a first cylindrical pair and a third revolute pair which are connected through a connecting rod, the free ends of the first cylindrical pair and the third revolute pair are respectively connected to the fixed platform and the movable platform, and the axes of the first cylindrical pair and the third revolute pair are positioned in the same plane and are mutually perpendicular;
The first rotating pair, the first cylindrical pair and the second rotating pair are power input ends and are respectively connected with a driving motor, the axis of the second rotating pair, the axis of the third rotating pair and the outer axis of the second universal hinge are arranged in parallel, a circular arc-shaped track matched with the second rotating pair is arranged on the fixed platform, the axis of the first cylindrical pair is perpendicular to the plane where the circular arc-shaped track is located and passes through the circle center of the circular arc-shaped track, the third rotating pair is located at the center of the moving platform, the second universal hinge, the third rotating pair and the ball pair are sequentially arranged along the length direction of the moving platform and are distributed on the same straight line, two ends of the first universal hinge are connected with the first rotating pair and the first universal hinge through a first connecting rod and a second connecting rod, and the free end of the first universal hinge is connected to the second universal hinge through a third connecting rod.
2. The two-rotation-one-movement asymmetric fully decoupled parallel robot of claim 1, wherein two ends of the second revolute pair are connected with the second revolute pair and the third revolute pair through a fourth connecting rod and a fifth connecting rod respectively, and the free end of the third revolute pair is connected with the ball pair through a sixth connecting rod.
3. The two-turn-to-move asymmetric fully decoupled parallel robot of claim 1 wherein the first cylindrical pair is coupled to the third revolute pair by a seventh link.
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| CN112757266B (en) * | 2021-01-28 | 2024-01-12 | 河南科技大学 | Completely-decoupled two-degree-of-freedom rotary parallel mechanism |
| CN113246099B (en) * | 2021-05-14 | 2024-05-03 | 江南大学 | Three-degree-of-freedom parallel mechanism with continuous rotating shaft |
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| CN201625978U (en) * | 2009-12-10 | 2010-11-10 | 西安理工大学 | A completely decoupled one-moving, two-rotating three-degree-of-freedom space parallel mechanism |
| CN101767335A (en) * | 2009-12-20 | 2010-07-07 | 山东大学威海分校 | Twin-translation-rotation partial decoupling parallel mechanism |
| RU2455146C2 (en) * | 2010-02-25 | 2012-07-10 | Российская академия наук Учреждение Российской академии наук Институт машиноведения им. А.А. Благонравова РАН | Spatial mechanism having four degrees of freedom and kinematic decoupling |
| WO2014176337A1 (en) * | 2013-04-23 | 2014-10-30 | Northwestern University | Translational parallel manipulators and methods of operating the same |
| CN103624778A (en) * | 2013-08-21 | 2014-03-12 | 河南科技大学 | Asymmetric full-decoupling four-freedom-degree parallel mechanism |
| CN205033197U (en) * | 2015-09-30 | 2016-02-17 | 河南科技大学 | Asymmetric parallel mechanism with two change one moves three degrees of freedom |
| CN105215975B (en) * | 2015-09-30 | 2017-11-03 | 河南科技大学 | Asymmetric parallel institution with two turn of one shift three degrees of freedom |
| CN105522560B (en) * | 2016-01-11 | 2017-07-21 | 河南科技大学 | The asymmetric completely isotropic parallel robot mechanism of Three Degree Of Freedom |
| CN106426096B (en) * | 2016-10-25 | 2018-11-20 | 浙江理工大学 | A kind of one mobile parallel connection mechanism of rotation of big corner two |
| CN109531552B (en) * | 2019-01-23 | 2024-03-22 | 河南科技大学 | Two-degree-of-freedom pure rotation parallel mechanism |
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