CN102431028A - Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom - Google Patents
Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom Download PDFInfo
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- CN102431028A CN102431028A CN2011103344676A CN201110334467A CN102431028A CN 102431028 A CN102431028 A CN 102431028A CN 2011103344676 A CN2011103344676 A CN 2011103344676A CN 201110334467 A CN201110334467 A CN 201110334467A CN 102431028 A CN102431028 A CN 102431028A
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Abstract
A decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom mainly comprises a fixed pedestal, a movable platform and three branches connected therewith. The first branch comprises two connecting rods which are connected by a reolute pair vertical to axis of a reolute pair connected with the movable platform and to direction of a movable pair connected with the fixed pedestal. The second branch comprises three connecting rods which are connected by a reolute pair and a column pair with parallel axes, axis of the column pair is vertical to axis of a reolute pair connected with the fixed pedestal and parallel to axis of the reolute pair connected with the movable platform. The third branch comprises three connecting rods which are connected by two reolute pairs with parallel axes and connected with the fixed pedestal by the column pair, axis of the column pair is vertical to axis of the reolute pair connected with the movable platform and parallel with axes of the other two reolute pairs. Three branches of the mechanism are parallel with three reolute pairs connected with the movable platform. The invention has movable decoupling, high movable platform flexibility, easily developed control system and more simple and convenient calibration.
Description
Technical field
The present invention relates to the robot field, particularly a kind of parallel robot mechanism.
Background technology
Parallel robot mechanism is that the space multiple degrees of freedom encircles the closed chain form more.Since the last century the eighties, parallel institution obtains extensive use because of characteristics such as it has the rigidity height, bearing capacity is big, accumulated error is little, dynamic characteristic is good, compact conformations at industry fields such as virtual-shaft machine tool, fine motion operating desk, various motion simulator and power and torque sensors.
Parallel institution has 2,3,4,5 or 6 frees degree.At present, comparatively comprehensive and deep to the research of 6DOF parallel institution, in industry, also use more extensively.But the minimizing of mechanism freedom will make mechanism structure more simple, make and control cost relatively low, so under the situation that satisfies the expection job requirement, the lower-mobility parallel robot has its unique advantage.
With respect to the serial machine robot mechanism, the parallel robot mechanism working space is less, has strong coupling between the motion, and the control difficulty is bigger, and this has limited parallel institution further applying in industry.And if mechanism realizes mobile decoupling, then its working space will enlarge, and control is easy, can reach higher kinematic accuracy, and will be all significant to motion of mechanism control, trajectory planning and demarcation etc.
The utility model patent of authorizing in State Intellectual Property Office on November 10th, 2010 " a kind of full decoupled one moves two rotates the three-freedom degree spatial parallel structures " (CN 201625978 U); This mechanism comprises silent flatform, moving platform and is connected three branch roads quiet, moving platform; Its each branch road respectively by moving sets and universal hinge, two revolute pairs that are connected successively with universal hinge and the revolute pair that is connected successively, universal hinge and ball are secondary forms; Structure is complicated, and manufacturing cost is high; And mechanism's Jacobian matrix is following triangle battle array, so mechanism is merely partly decoupled between moving and rotating, is not truly full decoupled, the control of mechanism with demarcate still difficult.
Summary of the invention
The object of the present invention is to provide a kind ofly to have mobile decoupling, form simple and be easy to one of characteristics such as controlling and move two and change three freedom decoupling parallel robot mechanisms.The present invention mainly comprises fixed pedestal, moving platform and is connected fixed pedestal and three branches of moving platform; Wherein, First branch is made up of a moving sets, two revolute pairs and two connecting rods; One end of a connecting rod links to each other with fixed pedestal through moving sets, and an end of another connecting rod links to each other with moving platform through revolute pair, and the other end of above-mentioned two connecting rods links to each other through revolute pair; Two revolute pair axis are vertical each other in this branch, and the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets; Second branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; An end of first connecting rod links to each other with fixed pedestal through revolute pair in the branch; Its other end links to each other with an end of second connecting rod through cylindrical pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with fixed pedestal in this branch, and with other two turns auxiliary shaft line parallel; The 3rd branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; One end of first connecting rod links to each other with fixed pedestal through cylindrical pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with moving platform in this branch, and with other two turns auxiliary shaft line parallel; Three revolute pair axis that above-mentioned three branches link to each other with moving platform are parallel to each other.
The present invention compared with prior art has following advantage: has one and move and two rotational freedoms, and mechanism's Jacobian matrix is diagonal matrix, and mobile decoupling, so mechanism's moving platform flexibility is high, the control system is easy to develop, and demarcates more easy.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
Moving two shown in Figure 1 a kind of one changes in the three-dimensional simplified schematic diagram of three freedom decoupling parallel robot mechanisms, and an end of three branches all is connected with fixed pedestal 1, and its other end all is connected with moving platform 2.Wherein, First branch is made up of two connecting rods, a moving sets and two revolute pairs; One end of connecting rod 4 links to each other with fixed pedestal through moving sets 3, and its other end links to each other with an end of connecting rod 6 through revolute pair 5, and the other end of connecting rod 6 links to each other with moving platform through revolute pair 7; Revolute pair 5 is vertical each other with revolute pair 7 axis in this branch, and the axis of revolute pair 5 is vertical with the direction of motion of moving sets 3; Second branch is made up of three connecting rods, a cylindrical pair and three revolute pairs; One end of connecting rod 9 links to each other with fixed pedestal through revolute pair 8; Its other end links to each other with an end of connecting rod 11 through cylindrical pair 10, and the other end of connecting rod 11 links to each other with an end of connecting rod 13 through revolute pair 12, and the other end of connecting rod 13 links to each other with moving platform through revolute pair 14; Cylindrical pair 10 axis and revolute pair 8 axis normal in this branch, and with revolute pair 12 and revolute pair 14 parallel axes; The 3rd branch is made up of three connecting rods, a cylindrical pair and three revolute pairs; One end of connecting rod 16 links to each other with fixed pedestal through cylindrical pair 15; Its other end links to each other with an end of connecting rod 18 through revolute pair 17, and the other end of connecting rod 18 links to each other with an end of connecting rod 20 through revolute pair 19, and the other end of connecting rod 20 links to each other with moving platform through revolute pair 21; Cylindrical pair 15 axis and revolute pair 21 axis normal in this branch, and with revolute pair 17 and revolute pair 19 parallel axes; The axis of three revolute pairs that above-mentioned three branches link to each other with moving platform respectively is parallel to each other.
Claims (1)
1. one kind one is moved two commentaries on classics three freedom decoupling parallel robot mechanisms; Comprise fixed pedestal, moving platform and be connected fixed pedestal and three branches of moving platform; It is characterized in that: in these three branches, first branch is made up of a moving sets, two revolute pairs and two connecting rods, and an end of a connecting rod links to each other with fixed pedestal through moving sets; One end of another connecting rod links to each other with moving platform through revolute pair; The other end of above-mentioned two connecting rods links to each other through revolute pair, and two revolute pair axis are vertical each other in this branch, and the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets; Second branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; An end of first connecting rod links to each other with fixed pedestal through revolute pair in the branch; Its other end links to each other with an end of second connecting rod through cylindrical pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with fixed pedestal in this branch, and with other two turns auxiliary shaft line parallel; The 3rd branch is made up of three revolute pairs, a cylindrical pair and three connecting rods; One end of first connecting rod links to each other with fixed pedestal through cylindrical pair; Its other end links to each other with an end of second connecting rod through revolute pair; The other end of this second connecting rod links to each other with an end of the 3rd connecting rod through revolute pair; The 3rd connecting rod other end links to each other with moving platform through revolute pair, and the cylindrical pair axis is vertical with the revolute pair axis that links to each other with moving platform in this branch, and with other two turns auxiliary shaft line parallel; Three revolute pair axis that above-mentioned three branches link to each other with moving platform are parallel to each other.
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626871A (en) * | 2012-05-03 | 2012-08-08 | 清华大学 | High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103568004A (en) * | 2013-11-08 | 2014-02-12 | 燕山大学 | Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism |
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN104275691A (en) * | 2014-09-16 | 2015-01-14 | 燕山大学 | Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom) |
| CN104440880A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Two-CPR and PPR spatial parallel robot mechanism |
| CN104626123A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 1R, (1T1R) and 1R decoupling series-parallel robot |
| CN104626117A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN104875193A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
| CN105215977A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism |
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN105215973A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
| CN105563462A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (1T2R) & 1T1R five-degree-of-freedom decoupling hybrid mechanism |
| CN105643593A (en) * | 2014-11-07 | 2016-06-08 | 江南大学 | (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN105881495A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R |
| CN105881496A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R) |
| CN105881497A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) |
| CN105881499A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
| WO2020200231A1 (en) * | 2019-04-01 | 2020-10-08 | 东莞理工学院 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
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| CN102626871A (en) * | 2012-05-03 | 2012-08-08 | 清华大学 | High-flexibility three-DOF (Degree of Freedom) spatial parallel mechanism |
| CN102825595B (en) * | 2012-08-24 | 2015-04-08 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN102825595A (en) * | 2012-08-24 | 2012-12-19 | 燕山大学 | Input-output complete decoupling three-freedom-degree moving parallel robot mechanism |
| CN103358303A (en) * | 2013-06-25 | 2013-10-23 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103568004A (en) * | 2013-11-08 | 2014-02-12 | 燕山大学 | Double-moving one-rotating three-degree-of-freedom space decoupling parallel mechanism |
| CN103624559B (en) * | 2013-11-25 | 2016-05-04 | 燕山大学 | A kind of two rotate full decoupled parallel institution |
| CN103624559A (en) * | 2013-11-25 | 2014-03-12 | 燕山大学 | Two-rotating complete decoupling parallel mechanism |
| CN104275691A (en) * | 2014-09-16 | 2015-01-14 | 燕山大学 | Asymmetric parallel mechanism with 3R (Three-Translation) 2T (Two-Rotation) 5-DoF (Degree of Freedom) |
| CN104275691B (en) * | 2014-09-16 | 2016-08-24 | 燕山大学 | There is the asymmetric parallel institution of three two turns of five degree of freedom of shifting |
| CN105563462A (en) * | 2014-11-07 | 2016-05-11 | 江南大学 | (1T2R) & 1T1R five-degree-of-freedom decoupling hybrid mechanism |
| CN105881499A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T |
| CN105881497A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(2T) |
| CN105881495A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Complete decoupling hybrid mechanism with five freedom degrees of (2T1R)&1T1R |
| CN105643593A (en) * | 2014-11-07 | 2016-06-08 | 江南大学 | (3T)&2R five-degree-of-freedom decoupling parallel-series connection mechanism |
| CN105881496A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R) |
| CN104440880A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Two-CPR and PPR spatial parallel robot mechanism |
| CN104626117A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 2T and (1T1R) four-degree-of-freedom decoupling series-parallel mechanism |
| CN104626123A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | 1R, (1T1R) and 1R decoupling series-parallel robot |
| CN104875193A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | 1T&(1T2R)&1R completely isotropic parallel serial robot mechanism |
| CN105215977B (en) * | 2015-09-30 | 2017-04-12 | 河南科技大学 | Non-coupled one-dimensional movement and two-dimensional rotation three-degree-of-freedom parallel mechanism |
| CN105215973A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
| CN105215974A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | There are two rotations one and move three-degree-of-freedom motion decoupling parallel mechanism |
| CN105215977A (en) * | 2015-09-30 | 2016-01-06 | 河南科技大学 | Without coupling one-dimensional movement two-dimensional rotary 3-freedom parallel mechanism |
| CN105855906A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial degrees of freedom |
| CN105855921A (en) * | 2016-06-12 | 2016-08-17 | 清华大学 | Parallel mechanism with three spatial freedom degrees |
| CN105855921B (en) * | 2016-06-12 | 2019-01-04 | 清华大学 | Parallel institution with space three-freedom |
| WO2020200231A1 (en) * | 2019-04-01 | 2020-10-08 | 东莞理工学院 | Decoupled ankle rehabilitation robot and completely decoupled parallel mechanism |
| CN109925167A (en) * | 2019-04-03 | 2019-06-25 | 燕山大学 | Three turn one is transfered from one place to another under escort coupling robot for rehabilitation of anklebone |
| CN110434840A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of Three Degree Of Freedom broad sense sphere parallel mechanism |
| CN110434840B (en) * | 2019-09-16 | 2024-04-02 | 河北工业大学 | Three-degree-of-freedom generalized spherical parallel mechanism |
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Inventor after: Wang Hongbo Inventor after: Cheng Shuhong Inventor after: Rong Yu Inventor before: Zeng Daxing Inventor before: Hou Yulei Inventor before: Lu Wenjuan |
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Effective date of registration: 20171205 Address after: The number of Valley Road 066004 in Hebei province Qinhuangdao City Economic and Technological Development Zone No. 2 Valley Building Room 904 Patentee after: Qinhuangdao Yan Sheng Intelligent Technology Co., Ltd. Address before: 066004 Hebei city of Qinhuangdao Province Economic and Technological Development Zone of the Yanghe River Road No. 12 e valley G-Net C District 2 floor 156 station Patentee before: Qinhuangdao Pairuolaier Robot Technology Co Ltd |