CN102431028B - 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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- CN102431028B CN102431028B CN201110334467.6A CN201110334467A CN102431028B CN 102431028 B CN102431028 B CN 102431028B CN 201110334467 A CN201110334467 A CN 201110334467A CN 102431028 B CN102431028 B CN 102431028B
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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 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, various motion simulator and wind tunnel sensor industry field because of it.
Parallel institution has 2,3,4,5 or 6 frees degree.At present, to the research of 6DOF parallel institution, comparatively comprehensively with deep, in industry, also apply more extensively.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 utility model patent of authorizing in State Intellectual Property Office on November 10th, 2010 " a kind of full decoupled one move two rotation three-freedom degree spatial parallel structures " (CN 201625978 U), this mechanism comprises that silent flatform, moving platform and connection are quiet, three branch roads of moving platform, two revolute pairs that its each branch road is connected with universal hinge, successively by moving sets respectively form with universal hinge and the revolute pair being connected successively, universal hinge and ball pair, structure is more complicated, and manufacturing cost is high; And mechanism's Jacobian matrix is lower triangle battle array, thus mechanism between moving and rotating only for partly decoupled, not truly full decoupled, the control of mechanism with demarcate still more difficult.
Summary of the invention
The object of the present invention is to provide that a kind of to have mobile decoupling, composition simple and be easy to one of the features such as control and move two and turn three freedom decoupling parallel robot mechanism.The present invention mainly comprises fixed pedestal, moving platform and is connected and fixed pedestal and three branches of moving platform, wherein, first branch is comprised of a moving sets, two revolute pairs and two connecting rods, one end of the first connecting rod of the first branch is connected with fixed pedestal by moving sets, one end of the second connecting rod of the first branch is connected with moving platform by revolute pair, the other end of above-mentioned two connecting rods is connected by revolute pair, in this branch, two revolute pair axis are mutually vertical, and the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets; Second branch is comprised of three revolute pairs, a cylindrical pair and three connecting rods, one end of the first connecting rod of the second branch is connected with fixed pedestal by revolute pair, its other end is connected with one end of the second connecting rod of the second branch by cylindrical pair, the other end of this second connecting rod is connected with one end of the third connecting rod of the second branch by revolute pair, this third connecting rod other end is connected with moving platform by revolute pair, in this branch, cylindrical pair axis is vertical with the revolute pair axis being connected with fixed pedestal, and with other two turns auxiliary shaft line parallel; The 3rd branch is comprised of three revolute pairs, a cylindrical pair and three connecting rods, one end of the first connecting rod of the 3rd branch is connected with fixed pedestal by cylindrical pair, its other end is connected with one end of the second connecting rod of the 3rd branch by revolute pair, the other end of this second connecting rod is connected with one end of the third connecting rod of the 3rd branch by revolute pair, this third connecting rod other end is connected with moving platform by revolute pair, in this branch, cylindrical pair axis is vertical with the revolute pair axis being connected with moving platform, and with other two turns auxiliary shaft line parallel; Three revolute pair axis that above-mentioned three branches are connected with moving platform are parallel to each other.
The present invention compared with prior art tool has the following advantages: there are a movement and two rotational freedoms, and mechanism's Jacobian matrix is diagonal matrix, and mobile decoupling, therefore mechanism's moving platform flexibility is high, control system is easy to exploitation, demarcates more easy.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
The specific embodiment
In the one one shown in Fig. 1, move two and turn in the three-dimensional simplified schematic diagram of three freedom decoupling parallel robot mechanism, one end of three branches is all connected with fixed pedestal 1, and its other end is all connected with moving platform 2.Wherein, first branch is comprised of two connecting rods, a moving sets and two revolute pairs, one end of the first connecting rod 4 of the first branch is connected with fixed pedestal by moving sets 3, its other end is connected with one end of the second connecting rod 6 of the first branch by revolute pair 5, the other end of second connecting rod 6 is connected with moving platform by revolute pair 7, in this branch, revolute pair 5 is mutually vertical with revolute pair 7 axis, and the axis of revolute pair 5 is vertical with the direction of motion of moving sets 3; Second branch is comprised of three connecting rods, a cylindrical pair and three revolute pairs, one end of the first connecting rod 9 of the second branch is connected with fixed pedestal by revolute pair 8, its other end is connected with one end of the second connecting rod 11 of the second branch by cylindrical pair 10, the other end of second connecting rod 11 is connected with one end of the third connecting rod 13 of the second branch by revolute pair 12, the other end of third connecting rod 13 is connected with moving platform by revolute pair 14, in this branch, cylindrical pair 10 axis are vertical with revolute pair 8 axis, and parallel with revolute pair 14 axis with revolute pair 12; The 3rd branch is comprised of three connecting rods, a cylindrical pair and three revolute pairs, one end of the first connecting rod 16 of the 3rd branch is connected with fixed pedestal by cylindrical pair 15, its other end is connected with one end of the second connecting rod 18 of the 3rd branch by revolute pair 17, the other end of second connecting rod 18 is connected with one end of the third connecting rod 20 of the 3rd branch by revolute pair 19, the other end of third connecting rod 20 is connected with moving platform by revolute pair 21, in this branch, cylindrical pair 15 axis are vertical with revolute pair 21 axis, and parallel with revolute pair 19 axis with revolute pair 17; The axis of three revolute pairs that above-mentioned three branches are connected with moving platform is respectively parallel to each other.
Claims (1)
1. one kind one is moved two and turns three freedom decoupling parallel robot mechanism, comprise fixed pedestal, moving platform and three branches that are connected and fixed pedestal and moving platform, it is characterized in that: in these three branches, first branch is by a moving sets, two revolute pairs and two connecting rod compositions, one end of the first connecting rod of the first branch is connected with fixed pedestal by moving sets, one end of the second connecting rod of the first branch is connected with moving platform by revolute pair, the other end of above-mentioned two connecting rods is connected by revolute pair, in this branch, two revolute pair axis are mutually vertical, the revolute pair axis that connects two connecting rods is vertical with the direction of motion of moving sets, second branch is comprised of three revolute pairs, a cylindrical pair and three connecting rods, one end of the first connecting rod of the second branch is connected with fixed pedestal by revolute pair, its other end is connected with one end of the second connecting rod of the second branch by cylindrical pair, the other end of this second connecting rod is connected with one end of the third connecting rod of the second branch by revolute pair, this third connecting rod other end is connected with moving platform by revolute pair, in this branch, cylindrical pair axis is vertical with the revolute pair axis being connected with fixed pedestal, and with other two turns auxiliary shaft line parallel, the 3rd branch is comprised of three revolute pairs, a cylindrical pair and three connecting rods, one end of the first connecting rod of the 3rd branch is connected with fixed pedestal by cylindrical pair, its other end is connected with one end of the second connecting rod of the 3rd branch by revolute pair, the other end of this second connecting rod is connected with one end of the third connecting rod of the 3rd branch by revolute pair, this third connecting rod other end is connected with moving platform by revolute pair, in this branch, cylindrical pair axis is vertical with the revolute pair axis being connected with moving platform, and with other two turns auxiliary shaft line parallel, three revolute pair axis that above-mentioned three branches are connected with moving platform are parallel to each other.
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| CN201110334467.6A CN102431028B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
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| CN201110334467.6A CN102431028B (en) | 2011-10-30 | 2011-10-30 | Decoupling parallel robot mechanism with single movement, double rotation and triple degree of freedom |
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| CN102431028A CN102431028A (en) | 2012-05-02 |
| CN102431028B true CN102431028B (en) | 2014-04-16 |
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| CN102626871B (en) * | 2012-05-03 | 2014-03-12 | 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 |
| CN103358303B (en) * | 2013-06-25 | 2015-06-10 | 燕山大学 | Two-rotation one-movement complete decoupling parallel mechanism |
| CN103568004B (en) * | 2013-11-08 | 2015-10-14 | 燕山大学 | Two move a rotation three-dimensional 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 |
| 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 |
| CN105881499A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&2T |
| CN105881496A (en) * | 2014-11-07 | 2016-08-24 | 江南大学 | Decoupling hybrid mechanism with five freedom degrees of (1T2R)&(1T1R) |
| 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 |
| 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 |
| 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 |
| CN105215974B (en) * | 2015-09-30 | 2017-12-19 | 河南科技大学 | A movement three-degree-of-freedom motion decoupling parallel mechanism is rotated with two |
| 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 |
| CN105215973B (en) * | 2015-09-30 | 2017-09-22 | 河南科技大学 | Asymmetric two-dimensional rotary one-dimensional movement parallel institution |
| CN105855921B (en) * | 2016-06-12 | 2019-01-04 | 清华大学 | Parallel institution with space three-freedom |
| CN105855906B (en) * | 2016-06-12 | 2019-01-04 | 清华大学 | A kind of 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 |
| CN109925167B (en) * | 2019-04-03 | 2020-03-13 | 燕山大学 | Three-rotation one-movement decoupling ankle joint rehabilitation robot |
| 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: 20171027 Address after: 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 after: Qinhuangdao Pairuolaier Robot Technology Co Ltd Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |
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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 |