CN112917458B - Plane parallel manipulator - Google Patents
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- CN112917458B CN112917458B CN202110137966.XA CN202110137966A CN112917458B CN 112917458 B CN112917458 B CN 112917458B CN 202110137966 A CN202110137966 A CN 202110137966A CN 112917458 B CN112917458 B CN 112917458B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
本发明公开了一种平面并联机械手，包括固定平台和运动平台，所述固定平台位于运动平台的上方，所述固定平台和运动平台通过三条均布的运动支链相连，三条所述运动支链的结构相异，分别为恰约束主动支链、无约束主动支链和结构冗余主动支链。本发明构思巧妙，该平面并联机械手额外增加了一个输入，因此在相同系统参数的情况下，具有更高的速度和加速度特性，具有更好的刚度和承载能力特性；增加了一条结构冗余主动支链，该平面并联机械手为结构冗余机构，在显著提高机械手操作性能的前提下，可有效避免由于冗余所带来的运动干涉和内部应力，降低控制难度。
The invention discloses a plane parallel manipulator, comprising a fixed platform and a moving platform, the fixed platform is located above the moving platform, the fixed platform and the moving platform are connected by three evenly distributed moving branch chains, and the three moving branch chains The structures are different, namely, just constrained active branches, unconstrained active branches, and structurally redundant active branches. The invention is cleverly conceived, the plane parallel manipulator adds an additional input, so in the case of the same system parameters, it has higher speed and acceleration characteristics, better stiffness and bearing capacity characteristics; an additional structural redundancy active Branch chain, the plane parallel manipulator is a structural redundancy mechanism, which can effectively avoid the movement interference and internal stress caused by redundancy, and reduce the control difficulty on the premise of significantly improving the manipulator's operating performance.
Description
Technical Field
The invention relates to the technical field of robots and mechanics, in particular to a plane parallel manipulator.
Background
In the industries of electronics, light industry, food, medicine and the like, in the processes of inserting, sorting and the like, a mechanical hand is required to complete operations of extraction, movement, insertion and the like at high speed and acceleration. However, since the conventional industrial robot has an open-loop tandem structure, a relatively thick boom is required to provide sufficient rigidity even when a few grams of material is gripped, and it is difficult to realize high-speed movement of the end effector.
Disclosure of Invention
The invention aims to provide a plane parallel manipulator which can realize high-speed and high-acceleration operation in a plane.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a plane parallel manipulator which comprises a fixed platform and a moving platform, wherein the fixed platform is positioned above the moving platform, the fixed platform and the moving platform are connected through three uniformly distributed moving branched chains, and the three moving branched chains are different in structure and respectively are a right-constrained driving branched chain, an unconstrained driving branched chain and a structure redundancy driving branched chain;
the right-constrained active branched chain comprises a first parallelogram mechanism and a second parallelogram mechanism, wherein the first parallelogram mechanism is connected with the fixed platform, and the second parallelogram mechanism is connected with the moving platform; the first parallelogram mechanism and the second parallelogram mechanism share one middle platform;
the unconstrained driving branched chain comprises a fifth connecting rod and a sixth connecting rod, one end of the fifth connecting rod is connected with one end of the sixth connecting rod through a revolute pair, the other end of the fifth connecting rod is connected with the fixed platform through a revolute pair, and the other end of the sixth connecting rod is connected to the moving platform through a revolute pair;
the structurally redundant active branched chain comprises a seventh connecting rod, an eighth connecting rod and a ninth connecting rod, one end of the seventh connecting rod is connected with the fixed platform through a revolute pair, the other end of the seventh connecting rod is connected with one end of the eighth connecting rod through a revolute pair, the other end of the eighth connecting rod is connected with one end of the ninth connecting rod through a revolute pair, and the other end of the ninth connecting rod is connected to the moving platform through a revolute pair.
Still further, the first parallelogram mechanism is composed of a first connecting rod, a second connecting rod, a fixed platform and a middle platform, the first connecting rod and the second connecting rod are arranged in parallel, and two ends of the first parallelogram mechanism are respectively connected with the fixed platform and the middle platform through revolute pairs; the second parallelogram mechanism is composed of a third connecting rod, a fourth connecting rod, a middle platform and a motion platform, wherein the third connecting rod and the fourth connecting rod are arranged in parallel, and two ends of the third connecting rod and the fourth connecting rod are respectively connected with the middle platform and the motion platform through revolute pairs.
Furthermore, the fixed platform and the moving platform are both set to be equilateral triangles, and the side lengths of the fixed platform and the moving platform are equal.
Furthermore, the middle platform is set to be an isosceles triangle and comprises two short sides and a long side which are equal in length, the short sides are equal to the fixed platform and the moving platform in length, and the long side is equal to the rod length of the eighth connecting rod of the structural redundancy branched chain; the distance between the two revolute pairs connected with the middle platform through the first connecting rod and the second connecting rod is the same as the distance between the two revolute pairs connected with the middle platform through the third connecting rod and the fourth connecting rod.
Still further, the first link, the fifth link, and the seventh link serve as input members.
Still further, the initial rotation angle and the input rotation angle of the seventh link and the fifth link are the same.
Still further, the rod lengths of the first connecting rod, the second connecting rod, the fifth connecting rod and the seventh connecting rod are equal; and the third connecting rod, the fourth connecting rod, the sixth connecting rod and the ninth connecting rod are equal in length.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention relates to a plane parallel manipulator which comprises a fixed platform and a moving platform, wherein the fixed platform is positioned above the moving platform, the fixed platform is connected with the moving platform through three uniformly distributed moving branched chains, and the three moving branched chains are different in structure and respectively comprise a right-constrained driving branched chain, an unconstrained driving branched chain and a structure redundancy driving branched chain. In the plane parallel manipulator motion plane, the unconstrained active branched chain and the structural redundancy active branched chain are acted on the motion platform in an unconstrained mode, and the constrained active branched chain just constrains one-dimensional rotation of the motion platform in the plane, so that the tail end output of the plane parallel manipulator is two-dimensional translation motion of the motion platform in the plane under a fixed posture, and the number of the tail end output degrees of freedom is 2.
According to the principle of mechanics, the parallelogram mechanism can be regarded as an equivalent moving pair, namely the parallelogram mechanism is a single-freedom-degree compound kinematic pair, so that the planar parallel manipulator can be equivalently regarded as containing 7 movable components and 9 low pairs in the degree of freedom analysis of the mechanism. According to the calculation principle of the degree of freedom of the plane mechanism, the number of the mechanism degrees of freedom of the plane parallel manipulator is 3.
In summary, the number of degrees of freedom of the planar two-degree-of-freedom parallel manipulator in the prior art is 2, while the number of degrees of freedom output by the end of the planar parallel manipulator in the present invention is also 2, the number of degrees of freedom of the mechanism is 3, and the output by the end of the planar parallel manipulator is a two-dimensional translational motion of the motion platform in a fixed posture. The invention has ingenious conception, and the plane parallel manipulator is additionally provided with an input, so that the plane parallel manipulator has higher speed and acceleration characteristics and better rigidity and bearing capacity characteristics under the condition of the same system parameters; the plane parallel manipulator is a structure redundancy mechanism, and can effectively avoid motion interference and internal stress caused by redundancy and reduce control difficulty on the premise of obviously improving the operation performance of the manipulator.
Drawings
The invention is further illustrated in the following description with reference to the drawings.
FIG. 1 is a schematic view of a planar parallel robot of the present invention;
description of reference numerals: 1. just constraining the active branch chain; 2. an unconstrained active branched chain; 3. a structurally redundant active branched chain; 4. a fixed platform; 5. an intermediate platform; 6. a motion platform; 7. a first parallelogram mechanism; 8. a second parallelogram mechanism;
101. a first link; 102. a second link; 103. a third link; 104. a fourth link;
201. a fifth link; 202. a sixth link;
301. a seventh connecting rod; 302. an eighth link; 303. and a ninth link.
Detailed Description
As shown in fig. 1, the planar parallel manipulator comprises a fixed platform 4 and a moving platform 6, wherein the fixed platform 4 is located above the moving platform 6, the fixed platform 4 and the moving platform 6 are connected through three uniformly distributed moving branched chains, and the three moving branched chains have different structures and are respectively a right-constrained active branched chain 1, an unconstrained active branched chain 2 and a structurally redundant active branched chain 3.
Specifically, the fixed platform 4 and the moving platform 6 are both arranged in an equilateral triangle, and the side lengths of the fixed platform and the moving platform are equal; wherein, point A1、A2、A3To fix three vertices of the platform 4, point B1、B2、B3Three vertices of the motion platform 6.
The right-constrained active branched chain 1 comprises a first parallelogram mechanism 7 and a second parallelogram mechanism 8, wherein the first parallelogram mechanism 7 is connected with the fixed platform 4, and the second parallelogram mechanism 8 is connected with the moving platform 6; the first parallelogram mechanism 7 and the second parallelogram mechanism 8 share one intermediate platform 5.
Specifically, the first parallelogram mechanism 7 is composed of a first connecting rod 101, a second connecting rod 102, a fixed platform 4 and an intermediate platform 5, and the first parallelogram mechanism is composed of a first connecting rod 101, a second connecting rod 102, a fixed platform 4 and a second connecting rod, a first connecting rod, a second connecting rod, a third connecting rod and a third connecting rod, wherein the first connecting rod is connected with the intermediate platform 5, and the second connecting rod is connected with the third connecting rodThe connecting rod 101 and the second connecting rod 102 are arranged in parallel, and two ends of the connecting rod are respectively connected with the fixed platform 4 and the middle platform 5 through revolute pairs; the second parallelogram mechanism 8 is composed of a third connecting rod 103, a fourth connecting rod 104, a middle platform 5 and a motion platform 6, wherein the third connecting rod 103 and the fourth connecting rod 104 are arranged in parallel, and two ends of the third connecting rod 103 and two ends of the fourth connecting rod 104 are respectively connected with the middle platform 5 and the motion platform 6 through revolute pairs. In particular, the first link 101 is hinged to the fixed platform 4 at point a1Second connecting rod 102 is hinged to fixed platform 4 at point A2(ii) a The first link 101 is hinged to the intermediate platform 5 at point B1The second connecting rod 102 is hinged to the intermediate platform 5 at point B2(ii) a The third link 103 is hinged to the intermediate platform 5 at point C1The fourth link 104 is hinged to the intermediate platform 5 at point B2(ii) a The third connecting rod 103 is hinged with the moving platform 6 at a point D1 Fourth link 104 is hinged to motion platform 6 at point D2。
The unconstrained driving branched chain 2 comprises a fifth connecting rod 201 and a sixth connecting rod 202, one end of the fifth connecting rod 201 is connected with one end of the sixth connecting rod 202 through a revolute pair, the other end of the fifth connecting rod 201 is connected with the fixed platform 4 through a revolute pair, and the other end of the sixth connecting rod 202 is connected with the moving platform 6 through a revolute pair; in particular, the fifth link 201 is hinged to the fixed platform 4 at point a2The sixth link 202 is hinged to the moving platform 6 at point D2The fifth link 201 and the sixth link 202 are hinged at a point C2。
The structurally redundant active branched chain comprises a seventh connecting rod, an eighth connecting rod and a ninth connecting rod, one end of the seventh connecting rod is connected with the fixed platform through a revolute pair, the other end of the seventh connecting rod is connected with one end of the eighth connecting rod through a revolute pair, the other end of the eighth connecting rod is connected with one end of the ninth connecting rod through a revolute pair, and the other end of the ninth connecting rod is connected to the moving platform through a revolute pair. In particular, the seventh link 301 is hinged to the fixed platform 4 at point a3The seventh link 301 and the eighth link 302 are hinged at a point B3The eighth link 302 and the ninth link 303 are hinged at point C3The ninth connecting rod 303 is hinged with the moving platform 6 at a point D3。
Specifically, the middle platform 5 is set to be an isosceles triangle, and three vertexes of the middle platform are B1、B2And C1Comprising two short sides of equal length and one long side, i.e. short side B of the intermediate platform 51B2Edge and C1B2The sides have equal length, the short sides have equal length with the fixed platform 4 and the moving platform 6, and the long side B1C1Is equal to the rod length of the eighth link 302 of the structurally redundant branched chain; the distance between the two revolute pairs of the first connecting rod 101 and the second connecting rod 102 connected with the middle platform 5 is the same as the distance between the two revolute pairs of the third connecting rod 103 and the fourth connecting rod 104 connected with the middle platform.
The first, fifth, and seventh links serve as input members. The initial rotation angle and the input rotation angle of the seventh connecting rod and the fifth connecting rod are the same. The rod lengths of the first connecting rod, the second connecting rod, the fifth connecting rod and the seventh connecting rod are equal; the third connecting rod, the fourth connecting rod, the sixth connecting rod and the ninth connecting rod are equal in length, and a quadrangle A2A3B3C2And quadrangle C2C3D3D2The structure of the plane parallel manipulator is approximately symmetrical due to the parallelogram.
In the motion plane of the plane parallel manipulator, the unconstrained driving branched chain 2 and the structurally redundant driving branched chain 3 are acted on the motion platform in an unconstrained mode, and the constrained driving branched chain 1 just constrains one-dimensional rotation of the motion platform 6 in the plane, so that the tail end output of the plane parallel manipulator is two-dimensional translation motion of the motion platform in the plane under a fixed posture, and the number of tail end output degrees of freedom is 2.
According to the mechanistic principle, the parallelogram mechanism can be regarded as an equivalent moving pair, namely the parallelogram mechanism is a single-degree-of-freedom composite motion pair. Therefore, in the mechanism degree of freedom analysis, the number of movable components contained in the planar parallel manipulator is equivalently considered to be 7, and the planar parallel manipulator specifically comprises an intermediate platform 5, a motion platform 6, a fifth connecting rod 201, a sixth connecting rod 202, a seventh connecting rod 301, an eighth connecting rod 302 and a ninth connecting rod 303; with low decimal fractionThe purpose is 9, specifically comprising a first parallelogram mechanism 7, a second parallelogram mechanism 8, A2Point rotating pair, C2Point rotating pair, D2Point rotating pair, A3Point rotating pair, B3Point rotating pair, C3Point rotating pair, D3And a point revolute pair. According to the calculation principle of the degree of freedom of the plane mechanism, the number of the mechanism degrees of freedom of the plane parallel manipulator is 3.
The number of degrees of freedom of the mechanism is 3 and the number of degrees of freedom of the output is 2, so the planar parallel manipulator is a structurally redundant parallel mechanism. According to the mechanistic principle, in order to make the mechanism have definite movement, the number of input members of the mechanism is equal to the number of degrees of freedom of the mechanism; according to the input selection principle, the rack pair is selected as an input pair, and only one input member is selected from one moving branched chain. In summary, the first link 101, the fifth link 201, and the seventh link 301 connected to the fixed platform 4 in the three moving branches are selected as the input members of the planar parallel robot.
Therefore, the plane parallel manipulator has higher speed and acceleration characteristics and better rigidity and bearing capacity characteristics; on the premise of obviously improving the operation performance of the manipulator, the planar parallel manipulator can effectively avoid the motion interference and the internal stress caused by redundancy, and the control difficulty is reduced; the tail end output of the plane parallel manipulator is two-dimensional translation motion of the motion platform under a fixed posture.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (6)
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013029069A1 (en) * | 2011-08-30 | 2013-03-07 | Eb-Invent Gmbh | Manipulator |
| CN103203741A (en) * | 2013-04-27 | 2013-07-17 | 安徽工业大学 | Three-degree-of-freedom parallel robot mechanism |
| JP2014111299A (en) * | 2012-10-30 | 2014-06-19 | Jtekt Corp | Transport device |
| CN107160367A (en) * | 2017-06-28 | 2017-09-15 | 华南理工大学 | plane two-freedom-degree parallel mechanism control device and method |
| CN107186699A (en) * | 2017-07-14 | 2017-09-22 | 清华大学 | A kind of parallel institution with the one-movement-freedom-degree of plane two |
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- 2021-02-01 CN CN202110137966.XA patent/CN112917458B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013029069A1 (en) * | 2011-08-30 | 2013-03-07 | Eb-Invent Gmbh | Manipulator |
| JP2014111299A (en) * | 2012-10-30 | 2014-06-19 | Jtekt Corp | Transport device |
| CN103203741A (en) * | 2013-04-27 | 2013-07-17 | 安徽工业大学 | Three-degree-of-freedom parallel robot mechanism |
| CN107160367A (en) * | 2017-06-28 | 2017-09-15 | 华南理工大学 | plane two-freedom-degree parallel mechanism control device and method |
| CN107186699A (en) * | 2017-07-14 | 2017-09-22 | 清华大学 | A kind of parallel institution with the one-movement-freedom-degree of plane two |
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