CN103495967B - The submissive joint parallel robot experiment device of a kind of plane five bar - Google Patents

Abstract

The invention relates to an experimental device for a plane five-bar compliant joint parallel robot, which applies the compliant joint to the plane five-bar parallel robot, replaces the traditional kinematic pair for transmission, and further improves the performance of the robot. The robot experimental device consists of a base, a driving pair, an active rod, a compliant joint, a driven rod, a rigid rotating pair, a reducer and a servo motor, which is useful for in-depth research on the kinematics and dynamics of a planar five-bar compliant joint parallel robot. very effective. The present invention uses compliant joints to replace traditional kinematic pairs to realize the movement of parallel robots, which reduces the quality of the robot system; reduces problems such as gaps, friction, wear, impact, and lubrication caused by traditional kinematic pairs; and improves the operating accuracy and performance of the robot system. The utility model has the advantages of simple structure, easy operation, low cost and favorable practical application.

Description

Experimental device for a planar five-bar compliant joint parallel robot

technical field

The invention discloses a plane five-bar device with compliant joints, relates to the technical field of robot experiments, in particular to a plane five-bar compliant joint parallel robot experimental device.

Background technique

Compliant mechanism is a new type of mechanism that uses the deformation of components to realize the transmission and conversion of motion, force and energy. Different from the traditional rigid mechanism, the compliant mechanism has reduced or even no kinematic pairs in structure, and its superiority is mainly reflected in two aspects of cost reduction and performance improvement.

Applying the compliant mechanism theory to the design of the kinematic pair produces a new type of kinematic pair called the compliant joint, which transmits the motion between adjacent components through its own elastic deformation. A new type of robot composed of compliant joints instead of traditional kinematic pairs can fundamentally solve the problems of clearance, friction, wear, impact and lubrication caused by traditional kinematic pairs.

Parallel micro-manipulation robot is an emerging research field formed with the development of parallel robot technology, micro-nano technology and compliant joint technology. This type of robot has the characteristics of compact structure, short kinematic chain, high rigidity, and strong bearing capacity. Because the traditional kinematic pair is replaced by compliant joints, the adverse effects caused by the traditional kinematic pair are eliminated, and the overall performance of the robot system is improved.

The planar five-bar parallel robot is a common parallel robot with few degrees of freedom. The mechanical structure is composed of five connecting rods, one of which is used as the frame, the two rods connected to the frame are used as active rods, and the remaining two rods are driven. pole. Because of its simple structure and easy control, this type of robot has been applied in the industrial field. In traditional designs, five linkages transmit force and motion through rigid kinematic pairs. Based on the above analysis, the present invention proposes an experimental device for a planar five-bar compliant joint parallel robot, which applies compliant joints to a planar five-bar parallel robot, replaces traditional kinematic pairs for transmission, and further improves the performance of the robot.

Contents of the invention

The object of the present invention is to provide a kind of planar five-bar compliant joint parallel robot experimental device, this robot experimental device is made up of base, driving pair, driving rod, compliant joint, driven rod, rigid rotating pair, speed reducer and servo motor, This is very effective for in-depth study of the kinematics and dynamics performance of the planar five-bar compliant joint parallel robot.

In order to achieve the above object, the technical solution adopted by the present invention is a planar five-bar compliant joint parallel robot experimental device, the active rod and the driven rod are rigid rods; The chain and two sets of drive parts with the same structure are connected; in the motion branch chain, one end of the active rod is connected with the drive pair, and the other end is connected with the driven rod through a compliant joint, and the driven rods of the two motion branch chains are connected through a rigid motion pair; Among them, the active rod and the driving pair, the flexible joint and the active rod and the driven rod, and the driven rod and the rigid rotating pair are connected by bolts; in the driving part, one end of the servo motor is fixed on the base through a bolt connection, and the other end is connected to the deceleration rod. The other end of the reducer is connected with the drive pair.

Compared with the prior art, the present invention has the following advantages:

1. Use compliant joints to replace traditional kinematic pairs to realize the movement of parallel robots, which reduces the quality of the robot system;

2. The device of the present invention reduces problems such as clearance, friction, wear, impact and lubrication caused by traditional kinematic pairs;

3. The operation accuracy and reliability of the robot system are improved, and at the same time, the structure is simple, the operation is easy, the cost is low, and it is beneficial to practical application.

4. The planar five-rod compliant parallel robot proposed by the present invention uses a rotating pair to connect two driven rods, which avoids the jitter error of the moving platform, and suppresses the influence of the nonlinear problem of the compliant joint to a certain extent, thus improving the operating accuracy of the robot system .

Description of drawings

Figure 1 is a top view of the mechanical structure of a planar five-bar compliant joint parallel robot.

Fig. 2 is the front view of the mechanical structure of the planar five-bar compliant joint parallel robot.

In the figure: 1, the base 2, the drive pair 3, the active rod 4, the flexible joint 5, the driven rod 6, the rigid rotating pair 7, the reducer 8, and the servo motor.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Figure 1 is a top view of the mechanical structure of the five-bar compliant joint parallel robot, and Figure 2 is a front view of the mechanical structure of the five-bar compliant joint parallel robot. , a driven rod 5, a rigid rotating pair 6, a reducer 7, and a servo motor 8; wherein the base 1 and the rigid rotating pair 6 are connected with two motion branch chains with the same structure and two sets of driving parts with the same structure; In the branch chain, one end of the active rod 3 is connected to the driving pair 2, and the other end is connected to the driven rod 5 through the compliant joint 4, and the driven rod 5 of the two motion branch chains is connected through a rigid rotating pair 6; the active rod 3 is connected to the driving pair 2. The flexible joint 4 is connected with the active rod 3 and the driven rod 5, and the driven rod 5 and the rigid rotating pair 6 are connected by bolts; in the driving part, one end of the servo motor 8 is fixed on the base 1 through a bolt connection, and the other end It is connected with the reducer 7, and the other end of the reducer 7 is connected with the driving pair 2.

When the experimental device is working, the servo motors in the driving parts of each group transmit the control torque to the driving pair through the reducer, the driving pair drives the active rod, the active rod drives the driven rod through the compliant joint, and the rigid rotating pair at the end of the driven rod can Complete the given job tasks.

The material of the active rod and the driven rod is aluminum, and the size is 400mm×23mm×10mm; the material of the flexible joint is spring steel, R=20mm, and the thickness is 0.5mm. The structural parameters are not unique, and the flexible joints with different structural parameters can be replaced. Joints are tested.

The planar five-bar compliant joint parallel robot disclosed in the present invention uses compliant joints instead of traditional kinematic pairs to realize the movement of the robot, which reduces problems such as gaps, friction, wear, impact and lubrication caused by traditional kinematic pairs, and improves the robot system. The operation accuracy and reliability, simple structure, easy operation and low cost provide a guarantee for the performance improvement and practical application of the planar five-bar compliant joint parallel robot.

Claims (3)

1. A kind of planar five-bar compliant joint parallel robot experimental device is characterized in that: the device consists of base (1), driving pair (2), active rod (3), compliant joint (4), driven rod (5 ), a rigid rotating pair (6), a reducer (7), and a servo motor (8); wherein the base (1) and the rigid rotating pair (6) are connected to two kinematic branch chains with the same structure and two sets of The driving parts are connected; in the motion branch chain, one end of the active rod (3) is connected with the driving pair (2), and the other end is connected with the driven rod (5) through the compliant joint (4), and the driven rod ( 5) Connected by a rigid rotating pair (6); wherein the active rod (3) is connected to the drive pair (2), the pliable joint (4) is connected to the active rod (3) and the driven rod (5), and the driven rod (5) is connected to the The rigid rotating pairs (6) are connected by bolts; in the driving part, one end of the servo motor (8) is fixed on the base (1) by bolts, and the other end is connected with the reducer (7). The other end is connected with the driving pair (2). 2. A kind of planar five-bar compliant joint parallel robot experimental device according to claim 1 is characterized in that: when the experimental device works, the servo motors in each group of driving parts transmit the control moment to the drive pair through the reducer, and the driving The pair drives the active rod, and the active rod drives the driven rod through the compliant joint, and the rigid rotating pair at the end of the driven rod can complete the given task. 3. according to claim 1 and 2 described a kind of planar five-bar compliant joint parallel robot experimental device, it is characterized in that: the structural parameter of compliant joint is not unique, can change the compliant joint of different structural parameters to carry out experiment; Active bar and The material and size of the follower rods are the same.