CN105619383A - Three-translation and one-rotation parallel robot platform with low-coupling degree and two-kinematic pair moving platform - Google Patents

Abstract

A three-translation and one-rotation parallel robot platform with a low-coupling degree and two-kinematic pair moving platform comprises the moving platform (1), a fixed platform (0) and two spatial complex branch chains; on a main chain of each spatial complex branch chain, one end of a drive rod I (2) is connected with the fixed platform (0) by a revolute pair I (R11); the other end of the drive rod I (2) is fixedly connected with a short side rod I at one end of a sphere pair parallelogram I, and a short side rod II (4) at the other end is connected with the moving platform (1) by a revolute pair II (R12); a secondary chain is same as the main chain in structure, but one end of a drive rod II (5) is connected with the fixed platform (0) by a revolute pair V (R21), and the axis of the revolute pair V (R21) and the axis of the revolute pair I (R11) are not parallel; a short side rod III (7) at the other end of a sphere pair parallelogram II is connected with the short side rod II (4) by a revolute pair VI (R22); the axis of the revolute pair VI (R22) is superposed with that of the revolute pair II (R12); and the revolute pair II (R12) and a revolute pair IX (R32) which are connected with the moving platform (1) are necessary to be parallel in axis. The parallel mechanism is simple in structure, easy to manufacture and low in coupling degree (k=1).

Description

Three translation one rotating parallel device people's platforms of a kind of weak coupling two kinematic pair moving platform

Technical field

The present invention relates to the three of a kind of weak coupling two kinematic pair moving platform and translate rotating parallel device people's platform, for robot manipulator etc. provides three novel translation one rotating parallel device people's platforms.

Background technology

The platform of parallel-connection structure, particularly the Delta operator of implementation space three translation functions, put, orientation assemble, carrying, sorting, played good effect in the technique such as loading and unloading having grabbed at a high speed; And there is the parallel operation hand of three translation one rotating functions, and needing under the occasion adjusting workpiece posture, indispensable especially. For this reason, R.Clavel in 1988 is on the basis of three translation Delta operators, then connect a R-U-P-U-R side chain or S-P-S side chain, constitutes the series-parallel connection operator that has three translation one rotating functions; The patent 200310106012.4 of Yang Ting power application in 2003, it is proposed that one group of 5 three-translation and one-rotation parallel mechanism, but there is no Development Prototype; After 2000, Pierrot etc. have invented four-degree-of-freedom SCARA type (the i.e. three translation one rotations) operator of H4, I4, Par4 series in succession, and professor Huang Tian develops the Cross-IV type high speed conveying robot people that four-degree-of-freedom three translates a rotation; And patent 201210435375.1 proposes the parallel institution that a kind of single platform realizes three translations one and rotates, and have developed model machine. But these mechanism structure above-mentioned are complicated, mechanism degree of coupling k all relatively big (k=2), this makes the forward kinematics solution of mechanism and Dynamic solving very difficult, thus have impact on development & application; Therefore, it is achieved novel texture and the application of three translation one rotating functions all need development, it is necessary to create the new architecture being better than existing mechanism.

Summary of the invention

The three translation one rotating parallel device people's platforms that it is an object of the invention to be overcome the deficiencies in the prior art and provide a class new, they have good rigidly, structure relatively simple, be easy to precision sizing; The advantages such as degree of coupling k low (k=1), forward kinematics solution and Dynamic solving ratio are easier to.

Three translation one rotating parallel device people's platforms of a kind of weak coupling two kinematic pair moving platform provided by the invention, comprise moving platform (1), silent flatform (0), and connect 2 spatial complex side chains of moving platform (1), silent flatform (0), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of driving stem one (2) and silent flatform (0) are to rotate a secondary (R₁₁) connect, the other end of driving stem (2) is fixedly connected with short limit, one end bar one of the secondary parallelogram one of ball being made up of with four bars four ball pairs, and the other end short limit bar two (4) of the secondary parallelogram one of ball and moving platform (1) are with rotating secondary two (R₁₂) connect; Further, the spacing at two long limit bars of the secondary parallelogram of two balls equals any two points part of its short limit bar, must rotate secondary three (R with a connecting rod (3) band_a), rotate secondary four (R_b) connect, these two are rotated pair and are positioned at this 2 parts; The same main chain of structure of secondary chain, but one end of driving stem two (5) and silent flatform (0) are to rotate secondary five (R₂₁) connect, and rotate secondary five (R₂₁) (a R secondary with rotation₁₁) axes normal, the other end of driving stem two (5) is fixedly connected with short limit, one end bar one of the secondary parallelogram two of ball being made up of with four bars four ball pairs, and the other end short limit bar three (7) of the secondary parallelogram two of ball and the short limit bar two (4) of the secondary parallelogram one of ball are with rotating secondary six (R₂₂) connect, and rotate secondary six (R₂₂) two (Rs secondary with rotation₁₂) axis overlap; The rotation pair two (R that moving platform (1) connects₁₂), rotate secondary nine (R₃₂) axis must be parallel.

Further, four every bar side chain connected with silent flatform (0) rotate secondary secondary for driving, it is possible to substitute with moving sets; And when fixing one, two, three successively and drive secondary, this device just becomes three translation one rotating parallel device people of three degree of freedom, two degrees of freedom, single degree of freedom respectively, it independently exports motion number and is respectively three, two, one, and other motion is for deriving from motion.

Accompanying drawing explanation

Accompanying drawing 1 is the structure diagram schematic diagram of one of embodiments of the invention.

Embodiment

Give to illustrate further to the technology of the present invention below by accompanying drawing and example.

Parallel robot device shown in accompanying drawing 1 is one of embodiments of the invention, its technical scheme is such: three translation one rotating parallel device people's platforms of a kind of weak coupling two kinematic pair moving platform, comprise moving platform 1, silent flatform 0, and connect 2 spatial complex side chains of moving platform 1, silent flatform 0, spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of driving stem 1 and silent flatform 0 are to rotate a secondary R₁₁Connecting, the other end of driving stem 1 is fixedly connected with short limit, one end bar one of the secondary parallelogram one of ball being made up of with four bars four ball pairs, and the other end short limit bar 24 of the secondary parallelogram one of ball and moving platform 1 are with rotating secondary two R₁₂Connect; Further, the spacing at two long limit bars of the secondary parallelogram of two balls equals any two points part of its short limit bar, must rotate secondary three R with connecting rod 3 band_a, rotate secondary four R_bConnecting, these two are rotated pair and are positioned at this 2 parts; The same main chain of structure of secondary chain, but one end of driving stem 25 and silent flatform 0 are to rotate secondary five R₂₁Connect, and rotate secondary five R₂₁With the secondary R of rotation₁₁Axes normal, the other end of driving stem 25 is fixedly connected with short limit, one end bar one of the secondary parallelogram two of ball being made up of with four bars four ball pairs, and the other end short limit bar 37 of the secondary parallelogram two of ball and short limit, one end bar 24 of the secondary parallelogram one of ball are with rotating secondary six R₂₂Connect, and rotate secondary six R₂₂With secondary two R of rotation₁₂Axis overlap; Secondary two R of the rotation that moving platform 1 connects₁₂, rotate secondary nine R₃₂Axis must be parallel.

This mechanism has 4 degree of freedom, when four connected with silent flatform 0 are rotated secondary R₁₁��R₂₁��R₄₁��R₃₁During for driving, so that it may make moving platform 1 realize D translation and moving platform 1 rotate secondary two R₁₂The one-dimensional rotation of axis exports; And when fixing one, two, three successively and drive secondary, this device just becomes three translation one rotating parallel device people of three degree of freedom, two degrees of freedom, single degree of freedom respectively, it independently exports motion number and is respectively three, two, one, and other motion is for deriving from motion.

Claims (2)

1. three translation one rotating parallel device people's platforms of a weak coupling two kinematic pair moving platform, comprise moving platform (1), silent flatform (0), and connect 2 spatial complex side chains of moving platform (1), silent flatform (0), it is characterized in that: spatial complex side chain comprises 1 main chain and 1 secondary chain, on main chain, one end of driving stem one (2) and silent flatform (0) are to rotate a secondary (R₁₁) connect, the other end of driving stem (2) is fixedly connected with short limit, one end bar one of the secondary parallelogram one of ball being made up of with four bars four ball pairs, and the other end short limit bar two (4) of the secondary parallelogram one of ball and moving platform (1) are with rotating secondary two (R₁₂) connect; Further, the spacing at two long limit bars of the secondary parallelogram of two balls equals any two points part of its short limit bar, must rotate secondary three (R with a connecting rod (3) band_a), rotate secondary four (R_b) connect, these two are rotated pair and are positioned at this 2 parts; The same main chain of structure of secondary chain, but one end of driving stem two (5) and silent flatform (0) are to rotate secondary five (R₂₁) connect, and rotate secondary five (R₂₁) (a R secondary with rotation₁₁) axes normal, the other end of driving stem two (5) is fixedly connected with short limit, one end bar one of the secondary parallelogram two of ball being made up of with four bars four ball pairs, and the other end short limit bar three (7) of the secondary parallelogram two of ball and the short limit bar two (4) of the secondary parallelogram one of ball are with rotating secondary six (R₂₂) connect, and rotate secondary six (R₂₂) two (Rs secondary with rotation₁₂) axis overlap; The rotation pair two (R that moving platform (1) connects₁₂), rotate secondary nine (R₃₂) axis must be parallel.

2. by three translation one rotating parallel device people's platforms of weak coupling two kinematic pair moving platform according to claim 1, it is characterised in that: four connected with silent flatform (0) on every bar side chain rotate secondary secondary for driving, it is possible to substitute with moving sets; And when fixing one, two, three successively and drive secondary, this device just becomes three translation one rotating parallel device people of three degree of freedom, two degrees of freedom, single degree of freedom respectively, it independently exports motion number and is respectively three, two, one, and other motion is for deriving from motion.