CN102501243B - Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom - Google Patents
Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom Download PDFInfo
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- CN102501243B CN102501243B CN201110334466.1A CN201110334466A CN102501243B CN 102501243 B CN102501243 B CN 102501243B CN 201110334466 A CN201110334466 A CN 201110334466A CN 102501243 B CN102501243 B CN 102501243B
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Abstract
一种一转动两移动解耦并联机器人机构，主要包括固定基座、动平台和连接它们的三个分支。其中，二个结构完全相同的分支中的两个连杆的一端均通过移动副与固定基座相连，其另一端通过移动副分别与另两个连杆的一端相连，该两连杆的另一端均通过转动副与动平台相连；另一个分支中的第一个连杆的一端通过移动副与固定基座相连，其另一端也通过移动副与第二个连杆的一端相连，该连杆的另一端通过转动副与第三个连杆的一端相连，该连杆又通过转动副与动平台相连。本发明具有运动解耦、机构运动控制系统易于开发、标定更为简便等优点。
A one-rotation two-movement decoupling parallel robot mechanism mainly includes a fixed base, a moving platform and three branches connecting them. Among them, one end of the two connecting rods in the two branches with the same structure is connected to the fixed base through a moving pair, and the other end is connected to one end of the other two connecting rods through a moving pair respectively, and the other ends of the two connecting rods One end is connected to the moving platform through a rotating pair; one end of the first connecting rod in the other branch is connected to the fixed base through a moving pair, and the other end is also connected to one end of the second connecting rod through a moving pair. The other end of the rod is connected to one end of a third connecting rod through a swivel joint, which in turn is connected to the moving platform through a swivel joint. The invention has the advantages of motion decoupling, easy development of mechanism motion control system, simpler calibration and the like.
Description
Technical field
The present invention relates to robot field, particularly a kind of parallel robot mechanism.
Background technology
Parallel robot mechanism is that space multiple degrees of freedom encircles closed chain form more.Since last century the eighties, parallel institution has the features such as rigidity is high, bearing capacity is large, accumulated error is little, dynamic characteristic is good, compact conformation and obtains extensive use at virtual-shaft machine tool, fine motion operating desk, motion simulator and wind tunnel sensor industry field because of it.
Parallel institution has 2,3,4,5 or 6 frees degree.At present, comparatively comprehensively with deep, in industry, also apply more extensively to the research of 6DOF parallel institution.But the minimizing of mechanism freedom will make mechanism structure more simple, manufacture and control cost relatively lowly, therefore meeting expection job requirement in the situation that, Limited-DOF Parallel Robot has its unique advantage.
With respect to serial machine robot mechanism, parallel robot mechanism working space is less, has strong coupling between motion, controls difficulty larger, and this has limited parallel institution further applying in industry.And if winding machine mobile decoupling, its working space will expand, and control easily, can reach higher kinematic accuracy, motion control, trajectory planning and demarcation etc. to mechanism are all significant.
The patent of invention " twin-translation-rotation partial decoupling parallel mechanism " that the application number that State Intellectual Property Office announces on July 7th, 2010 is 200910231054.8, there are two translation one rotational freedoms, but in mechanism, comprise universal hinge and ball pair, structure is more complicated, manufacturing cost is high, and between mechanism's translation and rotation, be only partly decoupled, not full decoupled, therefore the control of mechanism is still more difficult with demarcation.
Summary of the invention
The object of the present invention is to provide a kind of rotation two moved decoupling parallel robot mechanisms that motion is full decoupled, composition is simple and be easy to control that have.The present invention mainly comprises fixed pedestal, moving platform and three branches that are connected and fixed pedestal and moving platform, wherein two branched structures are identical, by two connecting rods, two moving sets and a revolute pair composition, one end of two connecting rods in these two identical branches is all connected with fixed pedestal by moving sets, its other end is connected with one end of another two connecting rods respectively by moving sets, the other end of this two connecting rod is all connected with moving platform by revolute pair, the revolute pair axis connected with moving platform is parallel with the moving sets direction of motion being connected with fixed pedestal, and vertical with the moving sets direction of motion that is connected two connecting rods, in addition, the revolute pair axis that Zhe Liang branch is connected with moving platform overlaps, the moving sets direction of motion that connects two connecting rods is parallel, the moving sets direction of motion connected with fixed pedestal is identical, another branch is by three connecting rods, two moving sets and two revolute pair compositions, wherein, one end of first connecting rod is connected with fixed pedestal by moving sets, its other end is also connected with one end of second connecting rod by moving sets, the other end of this connecting rod is connected with one end of the 3rd connecting rod by revolute pair, this connecting rod is connected with moving platform by revolute pair again, in this branch, the two moving sets directions of motion are mutually vertical, two revolute pair axis are parallel to each other, and parallel with the moving sets direction of motion being connected with fixed pedestal, and with the turns auxiliary shaft line parallel being connected with moving platform in above-mentioned two same branches, the moving sets direction of motion that above-mentioned two same branches moving sets connected with fixed pedestal is connected with fixed pedestal with another branch is parallel, and the direction of motion of moving sets that connects two connecting rods in above-mentioned two same branches is mutually vertical with the direction of motion of moving sets that is connected two connecting rods in another branch.
The present invention compared with prior art tool has the following advantages: there are a rotation and two one-movement-freedom-degrees, and mobile decoupling, mechanism kinematic control system is easy to exploitation, demarcates more easy.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Detailed description of the invention
Rotate in the three-dimensional simplified schematic diagram of two moved decoupling parallel robot mechanisms in the one one shown in Fig. 1, fixed pedestal 1 is connected with moving platform 2 by three branches, wherein, first, two connecting rods 4 in the second two identical branches, one end of 9 is respectively by moving sets 3, 8 are connected with fixed pedestal, its other end is respectively by moving sets 5, 10 with another two connecting rods 6, one end of 11 is connected, the other end of this two connecting rod is respectively by revolute pair 7, 12 are connected with moving platform, the revolute pair axis connected with moving platform is parallel with the moving sets direction of motion being connected with fixed pedestal, and vertical with the moving sets direction of motion that is connected two connecting rods, in addition, the revolute pair axis that above-mentioned two branches are connected with moving platform overlaps, the moving sets direction of motion connected with fixed pedestal is identical, connecting rod 14 one end of the 3rd branch are connected with fixed pedestal by moving sets 13, its other end is connected with one end of connecting rod 16 by moving sets 15, the other end of this connecting rod is connected with one end of connecting rod 18 by revolute pair 17, the other end of this connecting rod is connected with moving platform by revolute pair 19, in above-mentioned branch, the axis of two revolute pairs is parallel to each other, and parallel with the direction of motion of the moving sets being connected with fixed pedestal, the direction of motion of moving sets 13 and moving sets 15 is mutually vertical, two revolute pair axis that above-mentioned two same branches are connected with moving platform overlap, and the turns auxiliary shaft line parallel being connected with moving platform with above-mentioned the 3rd branch, above-mentioned two same branches moving sets connected with fixed pedestal is parallel with the moving sets direction of motion that above-mentioned the 3rd branch is connected with fixed pedestal, and with three turns auxiliary shaft line parallels that are connected with moving platform, the direction of motion of moving sets 5, moving sets 10 that connects two connecting rods in above-mentioned two same branches is parallel, and vertical with the direction of motion of moving sets 15 in the 3rd branch.
Claims (1)
1. one rotate two moved decoupling parallel robot mechanisms, comprise fixed pedestal, moving platform and three branches that are connected and fixed pedestal (1) and moving platform (2), is characterized in that: in these three branches, and two connecting rods (4) in two identical branches of structure, (9) one end is all by moving sets (3), (8) be connected with fixed pedestal, its other end is by moving sets (5), (10) respectively with another two connecting rods (6), (11) one end is connected, and the other end of this two connecting rod is all by revolute pair (7), (12) be connected with moving platform, the revolute pair (7) being connected with moving platform, (12) axis and the moving sets (3) being connected with fixed pedestal, (8) direction of motion is parallel, and with the moving sets (5) that is connected two connecting rods, (10) direction of motion is vertical, the revolute pair (7) that above-mentioned Liang Ge branch is connected with moving platform, (12) dead in line, the moving sets (5) of connection two connecting rods, (10) direction of motion is parallel to each other, two moving sets (3) that are connected with fixed pedestal, (8) direction of motion is identical, one end of first connecting rod (14) in another branch is connected with fixed pedestal by moving sets (13), its other end is connected with one end of second connecting rod (16) by moving sets (15), the other end of this second connecting rod is connected with one end of the 3rd connecting rod (18) by revolute pair (17), the 3rd connecting rod is connected with moving platform by revolute pair (19) again, two moving sets (13) in this another branch, (15) direction of motion is mutually vertical, two revolute pairs (17), (19) axis is parallel to each other, and parallel with moving sets (13) direction of motion being connected with fixed pedestal, and with the revolute pair (7) being connected with moving platform in above-mentioned two same branches, (12) axis is parallel, above-mentioned two same branches moving sets (3) connected with fixed pedestal, moving sets (13) direction of motion that (8) are connected with fixed pedestal with another branch are parallel, and the direction of motion of moving sets (5), (10) that connects two connecting rods in above-mentioned two same branches is mutually vertical with the direction of motion of moving sets (15) that is connected two connecting rods in another branch.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110334466.1A CN102501243B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110334466.1A CN102501243B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with one rotational degree of freedom and two translational degrees of freedom |
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| Publication Number | Publication Date |
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| CN102501243A CN102501243A (en) | 2012-06-20 |
| CN102501243B true CN102501243B (en) | 2014-07-23 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949957B (en) * | 2014-04-21 | 2017-01-18 | 清华大学 | Six-axis linkage hybrid connection device based on three-freedom-degree parallel mechanism |
| CN104002298B (en) * | 2014-05-12 | 2016-01-27 | 燕山大学 | A kind of two move a rotating decoupling parallel robot mechanism |
| CN105881498A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (2T)&(1T1R)&1R |
| CN105563460A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | 1T & (1T1R) & 2R five-degree-of-freedom decoupling hybrid mechanism |
| CN107856758A (en) * | 2017-12-26 | 2018-03-30 | 燕山大学 | A kind of quadruped robot leg based on multistage coupling parallel institution |
| CN109571444B (en) * | 2019-01-17 | 2020-06-23 | 燕山大学 | A Partially Decoupled Parallel Mechanism with Two Translations and One Rotation |
| CN109925167B (en) * | 2019-04-03 | 2020-03-13 | 燕山大学 | Three-rotation one-movement decoupling ankle joint rehabilitation robot |
| JP6921454B2 (en) * | 2019-04-01 | 2021-08-18 | 東莞理工学院 | Decoupling ankle care robot and complete decoupling parallel connection mechanism |
| CN112344139B (en) * | 2020-10-27 | 2021-09-14 | 燕山大学 | Two-rotation two-movement vibration isolation platform |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008019725A1 (en) * | 2008-04-18 | 2009-10-29 | Elau Gmbh | Delta robot has stationary base plate and three servo drives mounted on base plate, where swivel arm is mounted at output shaft of servo drives, and two torsion supports have triangular profiles with parallel surfaces in unloaded condition |
| EP2133181A2 (en) * | 2008-06-10 | 2009-12-16 | Murata Machinery, Ltd. | Parallel mechanism |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | A Three-translation Space Parallel Robot Mechanism |
| CN101927491A (en) * | 2010-08-11 | 2010-12-29 | 河南科技大学 | A completely isotropic three-degree-of-freedom space parallel robot mechanism |
| CN102166749A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism |
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2011
- 2011-10-30 CN CN201110334466.1A patent/CN102501243B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008019725A1 (en) * | 2008-04-18 | 2009-10-29 | Elau Gmbh | Delta robot has stationary base plate and three servo drives mounted on base plate, where swivel arm is mounted at output shaft of servo drives, and two torsion supports have triangular profiles with parallel surfaces in unloaded condition |
| EP2133181A2 (en) * | 2008-06-10 | 2009-12-16 | Murata Machinery, Ltd. | Parallel mechanism |
| CN101905458A (en) * | 2010-07-14 | 2010-12-08 | 天津理工大学 | A Three-translation Space Parallel Robot Mechanism |
| CN101927491A (en) * | 2010-08-11 | 2010-12-29 | 河南科技大学 | A completely isotropic three-degree-of-freedom space parallel robot mechanism |
| CN102166749A (en) * | 2011-03-16 | 2011-08-31 | 安徽理工大学 | 2-PRR&PPRR three-degree-of-freedom spatial parallel robot mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 史巧硕.并联机器人机构构型方法研究.《中国博士学位论文全文数据库，信息科技辑》.2009,(第11期), * |
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