CN103101049A - Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain - Google Patents
Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain Download PDFInfo
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- CN103101049A CN103101049A CN2013100696742A CN201310069674A CN103101049A CN 103101049 A CN103101049 A CN 103101049A CN 2013100696742 A CN2013100696742 A CN 2013100696742A CN 201310069674 A CN201310069674 A CN 201310069674A CN 103101049 A CN103101049 A CN 103101049A
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- decelerator
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Abstract
The invention discloses a three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chains, which belongs to the technical field of machinery manufacturing. The three-degree-of-freedom plane parallel mechanism comprises a quadrangular movable platform, three identical RRR branched-chains, an extendable branched-chain, an annular guide rail and a sliding block, wherein the movement of the three identical RRR branched-chains, the extendable branched-chain and the sliding block are driven and controlled through a servo motor; and the movable platform of the mechanism has three degrees of freedom, namely two translational degrees of freedom in a plane, and a rotational degree of freedom which is vertical to the plane. Due to the redundant drive branched-chains, the parallel mechanism is high in stiffness, and simultaneously, overcomes some singular configurations in an operational process, so that the working space of the mechanism is expanded. The redundant drive branched-chains of the mechanism can simultaneously control the size and orientation of tension and pressure applied to the movable platform, and can improve the accuracy of the movable platform in an operational process better through optimizing control.
Description
Technical field
The invention belongs to machinery manufacturing technology field, particularly a kind of three-DOF planar parallel mechanism with novel redundant drive side chain.
Background technology
Parallel institution is as the novel mechanism that occurs in recent decades, compare with traditional serial mechanism, have that rigidity is high, bearing capacity is strong, speed responsive is fast, degree of modularity high, caused people's extensive concern, the researcher takes full advantage of the characteristics of parallel institution to expand its range of application, has had in fields such as manufacturing industry, space flight and aviation, sensing measurement, engineer equipment, medical treatment at present widely to use.
The early stage six-degree-of-freedom parallel connection mechanism that occurs, along with going deep into of research and application, its relevant shortcoming also reveals, as relatively limited in working space, operating flexibility is relatively poor, make processing difficulties etc., so people turns to the lower-mobility parallel institution gradually to research emphasis.Plane parallel mechanism is as a class lower-mobility parallel institution, than the other types parallel institution, have simple in structure, working space is large relatively, the characteristics such as easy operating, but also have simultaneously some problems, mainly contain the unusual working space that caused and reduce, the side chain deformation vibration has reduced running precision.In order to address these problems to improve the performance of mechanism, introduced the redundant drive side chain on the basis of original mechanism, by rational ACTIVE CONTROL with reduce mechanism unusual, improve rigidity and the dynamic property of mechanism.
The redundant drive side chain of plane parallel mechanism introducing at present is generally the side chain of employing and existing side chain same structure form, and uses single driving.This redundant drive side chain generally can't directly apply required loading force to motion platform, need to indirectly control loading force by side chain, and this just greatly reduces the precision of loading, has also increased the complexity of controlling simultaneously; The direction of loading force can't change in addition, and this just is difficult to realize optimal control results.
Summary of the invention
In order to address the above problem, the present invention proposes a kind of three-DOF planar parallel mechanism with novel redundant drive side chain, described redundant drive side chain can be controlled redundancy force direction and the size that puts on moving platform simultaneously, can improve better the performance of mechanism.
Three-DOF planar parallel mechanism with novel redundant drive side chain of the present invention is comprised of three identical RRR side chains (the series connection side chain with three revolutes) and a novel redundant drive side chain.Described three identical RRR side chains are on 90 ° of same circumference that are arranged in circular bottom plate 1.
Wherein, the structure of article one side chain is as follows:
Axle head at the first servomotor 2 is connected with the first decelerator 3; Described the first decelerator 3 is fixedly connected on the below of described base plate 1; One end of first connecting rod 4 is connected with the axle head of described the first decelerator 3 by the first shaft coupling 5, and the other end is connected with the hinge form with second connecting rod 6; The other end of described second connecting rod 6 is articulated in the bottom surface of moving platform 17;
The structure of second side chain is as follows:
Axle head at the second servomotor 7 is connected with the second decelerator 8; Described the second decelerator 8 is fixedly connected on the below of described base plate 1; One end of third connecting rod 9 is connected with the axle head of described the second decelerator 8 by the second shaft coupling 10, and the other end is connected with the hinge form with the 4th connecting rod 11; The other end of described the 4th connecting rod 11 is articulated in the bottom surface of moving platform 17;
Article three, the structure of side chain is as follows:
Axle head at the 3rd servomotor 12 is connected with the 3rd decelerator 13; Described the 3rd decelerator 13 is fixedly connected on the below of described base plate 1; One end of the 5th connecting rod 14 is connected with the axle head of described the 3rd decelerator 13 by the 3rd shaft coupling 15, and the other end is connected with the hinge form with the 6th connecting rod 16; The other end of described the 6th connecting rod 16 is articulated in the bottom surface of moving platform 17;
Under the constraint of described three side chains, described moving platform 17 have in the plane two translation freedoms and perpendicular to the rotational freedom on this plane;
The structure of described novel redundant drive side chain is:
Between described article one side chain and the 3rd side chain and hinge point that described base plate 1 is connected, central angle be installed be the ring-shaped guide rail 18 of 150 °; Be mounted with ring slider 19 on described ring-shaped guide rail 18; One end of connecting plate 20 is fixedly connected with the inboard of described ring slider 19, and opposite side and central angle are that the annular rack 21 of 135 ° is fixedly connected with; Gear 22 is meshed with described annular rack 21; Described gear 22 keys are connected in the rotating shaft of the 4th decelerator 23; Described the 4th decelerator 23 is fixed in the below of described base plate 1; The 4th servomotor 24 be connected the input of the 4th decelerator 23 and connect;
Supporting plate 25 is fixed on described ring slider 19, and is connected with gripper shoe 26 by the hinge form; An end in described gripper shoe 26 is fixed with motor supporting base 27; The 5th servomotor 28 is fixed on described motor supporting base 27; Ball-screw 29 is connected by the rotating shaft of tetrad axial organ 30 with described the 5th servomotor 28; Described ball-screw 29 is at the end near described tetrad axial organ 30, carry out support rotating by the ball-screw stiff end 31 that is fixed on described motor supporting base 27, the other end carries out support rotating by the ball-screw support end 32 that is fixed on described gripper shoe 26; Be socketed on described ball-screw 29 without flanged feed screw nut 33; Parallel and equidistantly be furnished with respectively the first line slideway 34 and the second line slideway 35 in the both sides of described ball-screw 29; Be mounted with respectively the first slide block 36 and the second slide block 37 in the same lateral attitude of described the first line slideway 34 and the second line slideway 35; Be fixedly connected with sliding shoe 38 by the key type of attachment on described feed screw nut 33, described sliding shoe 38 is fixed on described the first slide block 36 and the second slide block 37 simultaneously;
One end of seven-link assembly 39 is fixedly connected on described sliding shoe 38, and the other end is fixedly connected with tension-compression sensor 40; One end of the 8th connecting rod 41 be connected tension-compression sensor 40 and connect, the other end by articulated form be connected the top connection of moving platform 17; Described seven-link assembly 39, the 8th connecting rod 41 and tension-compression sensor 40 are on same axis,, apply predetermined pressure for described moving platform 17 by described the 5th servomotor 28 along this axial direction.
Beneficial effect of the present invention is:
Parallel institution provided by the invention has been introduced the redundant drive side chain, has increased the rigidity of mechanism, can overcome some Singularities in running simultaneously, has enlarged the working space of mechanism; The redundant drive side chain is realized by two driving mechanisms, can control simultaneously the pressure size and Orientation that puts on moving platform, can better improve the precision of moving platform in running; Therefore on the redundant drive side chain, tension-compression sensor is installed, can realizes accurate control to the loading force size by closed-loop control; The circumferential movement of redundant drive side chain drives ring slider by rack-and-pinion and realizes in the ring-shaped guide rail motion, compact conformation, and also angle is controlled flexibly.
Description of drawings
Fig. 1 is the overall structure schematic diagram of parallel institution of the present invention;
Fig. 2 is parallel institution side chain drives structure schematic diagram of the present invention;
Fig. 3 is the axial drives structure schematic diagram of redundant drive side chain of the present invention;
Fig. 4 is the circumferential moving structure schematic diagram of redundant drive side chain of the present invention.
The specific embodiment
The present invention will be further described in detail below in conjunction with accompanying drawing and specific embodiment:
Embodiment 1:
Details are as follows for the course of work of the three-DOF planar parallel mechanism with novel redundant drive side chain of the present invention:
As shown in Figure 1, the required control of this parallel institution is position and the corner of moving platform 17.After given its position and corner, according to assembly mode shown in Figure 1, by the inverse position solution of mechanism, can obtain respectively the corner of first connecting rod 4, third connecting rod 9 and the 5th connecting rod 14, utilize corresponding servomotor to control, thereby obtain the pose of required moving platform 17.The redundant drive side chain is in order further to improve the rigidity of mechanism and the dynamic operation precision of moving platform; Put on optimum loading force size and Orientation on moving platform 17 by the dynamic analysis of mechanism being obtained the redundant drive side chain, thereby determine ring slider 19 on ring-shaped guide rail 18 the position and along the required pressure size that applies of the axial direction of seven-link assembly 39, thereby can control by the 4th servomotor 24 and the 5th servomotor 28, to improve the dynamic operation performance of mechanism.
As illustrated in fig. 1 and 2, the corner of first connecting rod 4, third connecting rod 9 and the 5th connecting rod 14 is controlled by corresponding driving mechanism, its course of work is all the same, here the angle with first connecting rod 4 is controlled to be its course of work of example explanation: by the contrary angle that obtains first connecting rod 4 of separating of mechanism position, multiply by the Position Control instruction that obtains the first servomotor 2 after the speed reducing ratio of the first decelerator 3, the first servomotor 2 rotates to required angle according to this command value drive motors axle rotation through the first decelerator 3 and by the first shaft coupling 5 drive first connecting rods 4; The first servomotor 2 can be realized by the encoder of self half-closed loop control of the anglec of rotation, and the rotating angle measurement apparatus that perhaps is connected with first connecting rod 4 by the outside is realized closed-loop control.
As Fig. 2 and shown in Figure 4, the loading direction of redundant drive side chain is controlled and is realized by rack and pinion drive mechanism; After obtaining required loading direction, then in conjunction with the pose of moving platform 17, utilize the inverse position solution of mechanism can obtain the position of ring slider 19 on ring-shaped guide rail 18.Consider tooth bar 21 and the gearratio of gear 22 and the speed reducing ratio of the 4th decelerator 23, this positional value is converted to the Position Control instruction of the 4th servomotor 24, the 4th servomotor 24 is according to this command value drive motors axle rotation, through the 4th decelerator 23 driven gear 22 rotations, by the motion of the engagement between tooth with carry-over bar 21, thereby drive ring slider 19 and move to the position of appointment on ring-shaped guide rail 18, obtained thus required loading direction.
As Fig. 1 and Fig. 3, the redundant drive side chain is controlled by the 5th servomotor 28 the loading force size of moving platform 17; Obtain side chain after the required pressure size that applies of the axial direction of seven-link assembly 39, its axial actuating mechanism need to be controlled the position of sliding shoe 38 on the one hand, also need simultaneously according to the size of this pressure, moving platform 17 to be loaded, therefore the 5th servomotor 28 employing power-position is mixed and control.
The Position Control process of the 5th servomotor 28 is: after the distance of having determined sliding shoe 38 required movements, this displacement is converted to the Position Control instruction of the 5th servomotor 28; The 5th servomotor 28 rotates according to Position Control order-driven motor shaft, drive ball-screw 29 rotations by tetrad axial organ 30, the rotation of ball-screw 29 is converted to moving axially of feed screw nut 33, moves to the desired position thereby drive affixed sliding shoe 38 thereon.
The power control procedure of the 5th servomotor 28 is: after having determined the required pressure value that applies of redundant drive side chain, the 5th servomotor 28 loads moving platform 17 according to this pressure value, pressure sensor 40 feeds back measured pressure value simultaneously, by comparing with the required loading force size that applies, deviate is compensated, thereby formation is to the closed-loop control of loading force.The control of servomotor is flexible, and running precision is high, therefore can apply accurate, controlled pressure load to moving platform according to demand.
Claims (7)
1. the three-DOF planar parallel mechanism with novel redundant drive side chain, is characterized in that, described three-DOF planar parallel mechanism with novel redundant drive side chain is comprised of three identical RRR side chains and a novel redundant drive side chain.
2. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 1, is characterized in that, described three identical RRR side chains are on 90 ° of same circumference that are arranged in circular bottom plate (1).
3. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 1 and 2, is characterized in that, the structure of described three identical RRR side chains is:
Article one, the structure of side chain is:
Axle head at the first servomotor (2) is connected with the first decelerator (3); Described the first decelerator (3) is fixedly connected on the below of described base plate (1); One end of first connecting rod (4) is connected by the axle head of the first shaft coupling (5) with described the first decelerator (3), and the other end is connected with the hinge form with second connecting rod (6); The other end of described second connecting rod (6) is articulated in the bottom surface of moving platform (17);
The structure of second side chain is:
Axle head at the second servomotor (7) is connected with the second decelerator (8); Described the second decelerator (8) is fixedly connected on the below of described base plate (1); One end of third connecting rod (9) is connected by the axle head of the second shaft coupling (10) with described the second decelerator (8), and the other end is connected with the hinge form with the 4th connecting rod (11); The other end of described the 4th connecting rod (11) is articulated in the bottom surface of moving platform (17);
Article three, the structure of side chain is:
Axle head at the 3rd servomotor (12) is connected with the 3rd decelerator (13); Described the 3rd decelerator (13) is fixedly connected on the below of described base plate (1); One end of the 5th connecting rod (14) is connected by the axle head of the 3rd shaft coupling (15) with described the 3rd decelerator (13), and the other end is connected with the hinge form with the 6th connecting rod (16); The other end of described the 6th connecting rod (16) is articulated in the bottom surface of moving platform (17);
Under the constraint of described three side chains, described moving platform (17) have in the plane two translation freedoms and perpendicular to the rotational freedom on this plane.
4. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 3, is characterized in that, described moving platform (17) is square.
5. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 1, is characterized in that, the structure of described novel redundant drive side chain is:
Between described article one side chain and the 3rd side chain and hinge point that described base plate (1) is connected, ring-shaped guide rail (18) is installed; Be mounted with ring slider (19) on described ring-shaped guide rail (18); One end of connecting plate (20) is fixedly connected with the inboard of described ring slider (19), and opposite side is fixedly connected with annular rack (21); Gear (22) is meshed with described annular rack (21); Described gear (22) key is connected in the rotating shaft of the 4th decelerator (23); Described the 4th decelerator (23) is fixed in the below of described base plate (1); The 4th servomotor (24) be connected the input of the 4th decelerator (23) and connect;
Supporting plate (25) is fixed on described ring slider (19), and is connected with gripper shoe (26) by the hinge form; An end in described gripper shoe (26) is fixed with motor supporting base (27); The 5th servomotor (28) is fixed on described motor supporting base (27); Ball-screw (29) is connected by the rotating shaft of tetrad axial organ (30) with described the 5th servomotor (28); Described ball-screw (29) is at the end near described tetrad axial organ (30), carry out support rotating by the ball-screw stiff end (31) that is fixed on described motor supporting base (27), the other end carries out support rotating by the ball-screw support end (32) that is fixed on described gripper shoe (26); Be socketed on described ball-screw (29) without flanged feed screw nut (33); Parallel and equidistantly be furnished with respectively the first line slideway (34) and the second line slideway (35) in the both sides of described ball-screw (29); Be mounted with respectively the first slide block (36) and the second slide block (37) in the same lateral attitude of described the first line slideway (34) and the second line slideway (35); Described feed screw nut (33) is upper has been fixedly connected with sliding shoe (38) by the key type of attachment, and described sliding shoe (38) is fixed on described the first slide block (36) and the second slide block (37) simultaneously;
One end of seven-link assembly (39) is fixedly connected on described sliding shoe (38), and the other end is fixedly connected with tension-compression sensor (40); One end of the 8th connecting rod (41) be connected tension-compression sensor (40) and connect, the other end by articulated form be connected the top connection of moving platform (17); Described seven-link assembly (39), the 8th connecting rod (41) and tension-compression sensor (40) are on same axis, apply predetermined pressure for described moving platform (17) by described the 5th servomotor (28) along this axial direction.
6. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 5, is characterized in that, the central angle of described ring-shaped guide rail (18) is 150 °.
7. the three-DOF planar parallel mechanism with novel redundant drive side chain according to claim 5, is characterized in that, the central angle of described annular rack (21) is 135 °.
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| CN201310069674.2A CN103101049B (en) | 2013-03-05 | 2013-03-05 | Three-degree-of-freedom plane parallel mechanism with novel redundant drive branched-chain |
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| CN103978393A (en) * | 2014-05-07 | 2014-08-13 | 天津大学 | Parallel machine tool capable of realizing five-axis processing |
| CN104269097A (en) * | 2014-08-13 | 2015-01-07 | 天津工程机械研究院 | Redundant drive six-degree-of-freedom motion simulation table |
| CN105835090A (en) * | 2016-06-16 | 2016-08-10 | 湖北工业大学 | Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism |
| CN106109199A (en) * | 2016-06-23 | 2016-11-16 | 安庆市好迈网络信息技术有限公司 | A kind of based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106562730A (en) * | 2016-11-04 | 2017-04-19 | 董昕武 | Floor cleaning machine for building decoration |
| CN106562725A (en) * | 2016-11-04 | 2017-04-19 | 黄辉 | Window-cleaning robot used for municipal buildings |
| CN106926249A (en) * | 2017-02-04 | 2017-07-07 | 仲贤辉 | A kind of construction and decoration mopping robot |
| CN107520836A (en) * | 2017-09-08 | 2017-12-29 | 燕山大学 | A kind of big plane of rotation Three-degree-of-freedom motion platform |
| CN109030225A (en) * | 2018-06-29 | 2018-12-18 | 中国电建集团中南勘测设计研究院有限公司 | A kind of equipment for observing Rockmass fractures in the test of hydraulic fracturing crustal stress in real time |
| CN109812287A (en) * | 2019-03-08 | 2019-05-28 | 安徽理工大学 | A kind of freedom degree parallel connection hydraulic support of redundant drive |
| CN111331580A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Six-degree-of-freedom parallel mechanism with turnable moving platform |
| CN115592653A (en) * | 2022-12-16 | 2023-01-13 | 太原理工大学（Cn） | Planar three-degree-of-freedom redundant drive parallel mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105835090A (en) * | 2016-06-16 | 2016-08-10 | 湖北工业大学 | Recognition method for branches of plane two-freedom-degree seven-connecting-rod mechanism |
| CN106109199A (en) * | 2016-06-23 | 2016-11-16 | 安庆市好迈网络信息技术有限公司 | A kind of based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106109199B (en) * | 2016-06-23 | 2018-03-23 | 河南科技大学第一附属医院 | One kind is based on redundant drive two-in-parallel mechanism buttocks massage robot massage machine |
| CN106562725A (en) * | 2016-11-04 | 2017-04-19 | 黄辉 | Window-cleaning robot used for municipal buildings |
| CN106562730A (en) * | 2016-11-04 | 2017-04-19 | 董昕武 | Floor cleaning machine for building decoration |
| CN106926249A (en) * | 2017-02-04 | 2017-07-07 | 仲贤辉 | A kind of construction and decoration mopping robot |
| CN107520836A (en) * | 2017-09-08 | 2017-12-29 | 燕山大学 | A kind of big plane of rotation Three-degree-of-freedom motion platform |
| CN107520836B (en) * | 2017-09-08 | 2023-06-23 | 燕山大学 | Large-rotation-plane three-degree-of-freedom motion platform |
| CN109030225A (en) * | 2018-06-29 | 2018-12-18 | 中国电建集团中南勘测设计研究院有限公司 | A kind of equipment for observing Rockmass fractures in the test of hydraulic fracturing crustal stress in real time |
| CN109812287A (en) * | 2019-03-08 | 2019-05-28 | 安徽理工大学 | A kind of freedom degree parallel connection hydraulic support of redundant drive |
| CN111331580A (en) * | 2020-03-17 | 2020-06-26 | 中国民航大学 | Six-degree-of-freedom parallel mechanism with turnable moving platform |
| CN111331580B (en) * | 2020-03-17 | 2022-12-16 | 中国民航大学 | Six-degree-of-freedom parallel mechanism with turnable moving platform |
| CN115592653A (en) * | 2022-12-16 | 2023-01-13 | 太原理工大学（Cn） | Planar three-degree-of-freedom redundant drive parallel mechanism |
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