CN102357881A - Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains - Google Patents
Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains Download PDFInfo
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Abstract
一种含5R闭环子链的三维平动一维转动并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链以及执行机构子链。所述第一五杆机构闭环子链和第二五杆机构闭环子链在同一平面内，第一五杆机构闭环子链可控制第一转台在所在平面内运动，第二五杆机构闭环子链可控制第二转台在所在平面内运动，第一转台和第二转台的运动可实现动平台的空间三维平动和一维转动。本发明通过两个对称结构的闭环子链控制动平台三维平动和一维转动的空间四自由度运动输出，机构运动学正、逆问题求解容易，控制方便，且驱动电机均安装在机架上，杆件都可以做成轻杆，有效降低机构重量，机构刚性好、惯量小，动力学性能好。
A three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain, comprising a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain. The closed-loop sub-chain of the first five-bar mechanism and the closed-loop sub-chain of the second five-bar mechanism are in the same plane, the closed-loop sub-chain of the first five-bar mechanism can control the movement of the first turntable in the plane, and the closed-loop sub-chain of the second five-bar mechanism The chain can control the movement of the second turntable in the same plane, and the movement of the first turntable and the second turntable can realize three-dimensional translation and one-dimensional rotation of the movable platform. The present invention uses two closed-loop sub-chains of symmetrical structure to control the three-dimensional translation and one-dimensional rotation of the three-dimensional translation and four-degree-of-freedom motion output of the braking platform. The forward and inverse problems of the mechanism kinematics are easy to solve and the control is convenient, and the drive motors are installed on the frame. Above all, the rods can be made into light rods, which effectively reduces the weight of the mechanism, has good rigidity, small inertia, and good dynamic performance.
Description
技术领域 technical field
本发明涉及机器人领域，特别是一种含5R闭环子链的三维平动一维转动并联机构。The invention relates to the field of robots, in particular to a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain.
背景技术 Background technique
并联机构是一种动平台和定平台通过至少两个独立的运动链相连接，有两个或两个以上自由度，且以并联方式驱动的机构，具有精度较高、结构紧凑、刚度高、承载能力大强等优点，在运动模拟器、并联机床、微操作机器人、抓取机器人等方面取得了较好的应用。但现有的并联机构基本都是分支不含闭环的，对于自由度数大于支链数的并联机构，有些支链必须设置两个或两个以上的原动件，这就不得不将电机安装在支链的关节处，从而导致机构刚性差、惯量大、关节误差累积等问题，机构动力学性能较差，控制困难。The parallel mechanism is a mechanism that connects the moving platform and the fixed platform through at least two independent kinematic chains, has two or more degrees of freedom, and is driven in parallel. It has high precision, compact structure, high rigidity, With the advantages of strong carrying capacity and other advantages, it has achieved good applications in motion simulators, parallel machine tools, micro-manipulation robots, and grasping robots. However, the existing parallel mechanisms basically have branches without closed loops. For parallel mechanisms with degrees of freedom greater than the number of branch chains, some branch chains must be equipped with two or more driving parts, which requires the motor to be installed in the Joints of branch chains, resulting in problems such as poor rigidity of the mechanism, large inertia, accumulation of joint errors, poor dynamic performance of the mechanism, and difficult control.
发明内容 Contents of the invention
本发明的目的在于提供一种含5R闭环子链的三维平动一维转动并联机构，解决传统自由度数大于支链数的并联机构刚性差、惯量大、关节误差累积等问题。The purpose of the present invention is to provide a three-dimensional translation and one-dimensional rotation parallel mechanism with 5R closed-loop sub-chains, which solves the problems of poor rigidity, large inertia, and accumulation of joint errors in traditional parallel mechanisms with more degrees of freedom than branch chains.
本发明通过以下技术方案达到上述目的：一种含5R闭环子链的三维平动一维转动并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链和执行机构子链。The present invention achieves the above object through the following technical solutions: a three-dimensional translation and one-dimensional rotation parallel mechanism containing a 5R closed-loop sub-chain, including a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain .
所述第一五杆机构闭环子链由第一主动杆、第二主动杆、第一连杆、第二连杆及机架连接而成。第一主动杆一端通过第一转动副连接到机架上，第一主动杆另一端通过第二转动副与第一连杆连接，第一连杆另一端通过第三转动副与第二连杆连接，第二连杆另一端通过第四转动副与第二主动杆连接，第二主动杆另一端通过第五转动副与机架连接，第一主动杆和第二主动杆运动带动第一连杆和第二连杆运动可控制第一转台在第一五杆机构闭环子链所在平面内的运动。The closed-loop sub-chain of the first five-bar mechanism is formed by connecting the first active rod, the second active rod, the first connecting rod, the second connecting rod and the frame. One end of the first active rod is connected to the frame through the first rotating pair, the other end of the first active rod is connected to the first connecting rod through the second rotating pair, and the other end of the first connecting rod is connected to the second connecting rod through the third rotating pair The other end of the second connecting rod is connected with the second active rod through the fourth rotating pair, the other end of the second active rod is connected with the frame through the fifth rotating pair, the movement of the first active rod and the second active rod drives the first connecting rod The movement of the rod and the second connecting rod can control the movement of the first turntable in the plane where the closed-loop sub-chain of the first five-bar mechanism is located.
所述第二五杆机构闭环子链由第三主动杆、第四主动杆、第三连杆、第四连杆及机架连接而成。第三主动杆一端通过第六转动副连接到机架上，第三主动杆另一端通过第七转动副与第三连杆连接，第三连杆另一端通过第八转动副与第四连杆连接，第四连杆另一端通过第九转动副与第四主动杆连接，第四主动杆另一端通过第十转动副与机架连接，第三主动杆和第四主动杆运动带动第三连杆和第四连杆运动可控制第二转台在第二五杆机构闭环子链所在平面内的运动。The closed-loop sub-chain of the second five-bar mechanism is formed by connecting the third active rod, the fourth active rod, the third connecting rod, the fourth connecting rod and the frame. One end of the third active rod is connected to the frame through the sixth rotating pair, the other end of the third active rod is connected to the third connecting rod through the seventh rotating pair, and the other end of the third connecting rod is connected to the fourth connecting rod through the eighth rotating pair The other end of the fourth connecting rod is connected with the fourth active rod through the ninth rotating pair, the other end of the fourth active rod is connected with the frame through the tenth rotating pair, the movement of the third active rod and the fourth active rod drives the third connecting rod The movement of the rod and the fourth connecting rod can control the movement of the second turntable in the plane where the closed-loop sub-chain of the second five-bar mechanism is located.
所述执行机构子链由第一转台、第二转台、第五连杆、第六连杆、第七连杆、第八连杆及动平台连接而成。第一转台通过第三转动副与第一连杆连接，第一转台通过第十一转动副与第五连杆连接，第一转台通过第十二转动副与第六连杆连接，第五连杆另一端通过第十三转动副与动平台和第七连杆连接，第六连杆另一端通过第十四转动副与动平台连接，动平台通过第十五转动副与第八连杆连接，第七连杆另一端通过第十六转动副与第二转台连接，第八连杆另一端通过第十七转动副与第二转台连接，第二转台通过第八转动副与第三连杆连接，第一转台和第二转台在各自的运动空间的运动可实现动平台在空间运动空间的三维平动和一维转动。The sub-chain of the actuator is formed by connecting the first turntable, the second turntable, the fifth connecting rod, the sixth connecting rod, the seventh connecting rod, the eighth connecting rod and the moving platform. The first turntable is connected with the first connecting rod through the third turning pair, the first turntable is connected with the fifth connecting rod through the eleventh turning pair, the first turntable is connected with the sixth connecting rod through the twelfth turning pair, and the fifth connecting rod The other end of the rod is connected with the moving platform and the seventh connecting rod through the thirteenth turning pair, the other end of the sixth connecting rod is connected with the moving platform through the fourteenth turning pair, and the moving platform is connected with the eighth connecting rod through the fifteenth turning pair , the other end of the seventh connecting rod is connected with the second turntable through the sixteenth turning pair, the other end of the eighth connecting rod is connected with the second turntable through the seventeenth turning pair, and the second turntable is connected with the third connecting rod through the eighth turning pair The connection, the movement of the first turntable and the second turntable in their respective movement spaces can realize the three-dimensional translation and one-dimensional rotation of the moving platform in the space movement space.
所述第一转动副、第二转动副、第三转动副、第四转动副、第五转动副，第六转动副、第七转动副、第八转动副、第九转动副和第十转动副的旋转轴线相互平行，第十一转动副、第十二转动副、第十三转动副、第十四转动副、第十五转动副、第十六转动副和第十七转动副的旋转轴线相互平行，第十一转动副的轴线到第十二转动副轴线的距离与第十三转动副的轴线到第十四转动副的轴线的距离相等，第十一转动副的轴线到第十三转动副轴线的距离与第十二转动副的轴线到第十四转动副的轴线的距离相等，第十三转动副的轴线到第十五转动副轴线的距离与第十六转动副的轴线到第十七转动副的轴线的距离相等，第十三转动副的轴线到第十六转动副轴线的距离与第十五转动副的轴线到第十七转动副的轴线的距离相等。The first turning pair, the second turning pair, the third turning pair, the fourth turning pair, the fifth turning pair, the sixth turning pair, the seventh turning pair, the eighth turning pair, the ninth turning pair and the tenth turning pair The rotation axes of the pairs are parallel to each other, and the rotations of the eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth and seventeenth revolving pairs The axes are parallel to each other, the distance from the axis of the eleventh rotating pair to the axis of the twelfth rotating pair is equal to the distance from the axis of the thirteenth rotating pair to the axis of the fourteenth rotating pair, and the distance from the axis of the eleventh rotating pair to the axis of the tenth rotating pair The distance from the axes of the three rotating pairs is equal to the distance from the axis of the twelfth rotating pair to the axis of the fourteenth rotating pair, and the distance from the axis of the thirteenth rotating pair to the axis of the fifteenth rotating pair is equal to the axis of the sixteenth rotating pair The distance from the axis of the seventeenth revolving pair is equal, the distance from the axis of the thirteenth revolving pair to the axis of the sixteenth revolving pair is equal to the distance from the axis of the fifteenth revolving pair to the axis of the seventeenth revolving pair.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、驱动电机均安装在机架上，杆件都可以做成轻杆，有效降低机构重量，机构刚性好、惯量小，动力学性能好；1. The driving motors are all installed on the frame, and the rods can be made into light rods, which can effectively reduce the weight of the mechanism, with good rigidity, small inertia and good dynamic performance;
2、通过两个对称结构的闭环子链控制动平台运动输出，机构运动学正、逆问题求解容易，控制方便；2. The motion output of the braking platform is controlled by two closed-loop sub-chains of symmetrical structure, so that the forward and inverse problems of mechanism kinematics are easy to solve and the control is convenient;
3、通过在动平台上安装各种不同用途的末端执行器，本机构可应用到抓取、搬运、码垛、装配等领域。3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to fields such as grabbing, handling, palletizing, and assembly.
附图说明 Description of drawings
图1为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第一结构示意图。Fig. 1 is a schematic diagram of the first structure of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图2为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第二结构示意图。Fig. 2 is a second structural schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图3为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第一工作示意图。Fig. 3 is a first working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism with 5R closed-loop sub-chains according to the present invention.
图4为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第二工作示意图。Fig. 4 is a second working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图5为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第三工作示意图。Fig. 5 is a third working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图6为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第四工作示意图。Fig. 6 is a fourth working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图7为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第五工作示意图。Fig. 7 is a fifth working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
图8为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第六工作示意图。Fig. 8 is a sixth working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism with 5R closed-loop sub-chains according to the present invention.
图9为本发明所述一种含5R闭环子链的三维平动一维转动并联机构的第七工作示意图。Fig. 9 is a seventh working schematic diagram of a three-dimensional translation and one-dimensional rotation parallel mechanism including a 5R closed-loop sub-chain according to the present invention.
具体实施方式Detailed ways
下面结合附图及实施例对本发明的技术方案作进一步说明。The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
对照图1和图2，一种含5R闭环子链的三维平动一维转动并联机构，包括第一五杆机构闭环子链、第二五杆机构闭环子链和执行机构子链。Comparing Figures 1 and 2, a three-dimensional translation and one-dimensional rotation parallel mechanism with a 5R closed-loop sub-chain includes a first five-bar mechanism closed-loop sub-chain, a second five-bar mechanism closed-loop sub-chain and an actuator sub-chain.
所述第一五杆机构闭环子链由第一主动杆7、第二主动杆2、第一连杆9、第二连杆4及机架1连接而成。第一主动杆7一端通过第一转动副6连接到机架1上，第一主动杆7另一端通过第二转动副8与第一连杆9连接，第一连杆9另一端通过第三转动副33与第二连杆4连接，第二连杆4另一端通过第四转动副3与第二主动杆2连接，第二主动杆2另一端通过第五转动副5与机架1连接，第一主动杆7和第二主动杆2运动带动第一连杆9和第二连杆4运动可控制第一转台10在第一五杆机构闭环子链所在平面内的运动。The closed-loop sub-chain of the first five-bar mechanism is formed by connecting the first active rod 7 , the second active rod 2 , the first connecting rod 9 , the second connecting rod 4 and the frame 1 . One end of the first active rod 7 is connected to the frame 1 through the first rotating pair 6, the other end of the first active rod 7 is connected with the first connecting rod 9 through the second rotating pair 8, and the other end of the first connecting rod 9 is connected through the third connecting rod 9. The rotating pair 33 is connected with the second connecting rod 4, the other end of the second connecting rod 4 is connected with the second active lever 2 through the fourth rotating pair 3, and the other end of the second active rod 2 is connected with the frame 1 through the fifth rotating pair 5 The movement of the first active rod 7 and the second active rod 2 drives the movement of the first connecting rod 9 and the second connecting rod 4 to control the movement of the first turntable 10 in the plane where the closed-loop sub-chain of the first five-bar mechanism is located.
所述第二五杆机构闭环子链由第三主动杆30、第四主动杆26、第三连杆28、第四连杆24及机架1连接而成。第三主动杆30一端通过第六转动副31连接到机架1上，第三主动杆30另一端通过第七转动副29与第三连杆28连接，第三连杆28另一端通过第八转动副32与第四连杆24连接，第四连杆24另一端通过第九转动副25与第四主动杆26连接，第四主动杆26另一端通过第十转动副27与机架1连接，第三主动杆30和第四主动杆26运动带动第三连杆28和第四连杆24运动可控制第二转台21在第二五杆机构闭环子链所在平面内的运动。The closed-loop sub-chain of the second five-bar mechanism is formed by connecting the third active rod 30 , the fourth active rod 26 , the third connecting rod 28 , the fourth connecting rod 24 and the frame 1 . One end of the third active lever 30 is connected to the frame 1 through the sixth rotating pair 31, the other end of the third active lever 30 is connected with the third connecting rod 28 through the seventh rotating pair 29, and the other end of the third connecting rod 28 is connected through the eighth rotating pair. The rotating pair 32 is connected to the fourth connecting rod 24, the other end of the fourth connecting rod 24 is connected to the fourth active lever 26 through the ninth rotating pair 25, and the other end of the fourth active rod 26 is connected to the frame 1 through the tenth rotating pair 27 The movement of the third active rod 30 and the fourth active rod 26 drives the movement of the third connecting rod 28 and the fourth connecting rod 24 to control the movement of the second turntable 21 in the plane where the closed-loop sub-chain of the second five-bar mechanism is located.
所述执行机构子链由第一转台10、第二转台21、第五连杆19、第六连杆20、第七连杆14、第八连杆13及动平台17连接而成。第一转台10通过第三转动副33与第一连杆9连接，第一转台10通过第十一转动副23与第五连杆19连接，第一转台10通过第十二转动副22与第六连杆20连接，第五连杆19另一端通过第十三转动副15与动平台17和第七连杆14连接，第六连杆20另一端通过第十四转动副18与动平台17连接，动平台17通过第十五转动副16与第八连杆13连接，第七连杆14另一端通过第十六转动副12与第二转台21连接，第八连杆13另一端通过第十七转动副11与第二转台21连接，第二转台21通过第八转动副32与第三连杆28连接，第一转台10和第二转台21在各自的运动空间的运动可实现动平台17在空间运动空间的三维平动和一维转动。The sub-chain of the actuator is formed by connecting the first turntable 10 , the second turntable 21 , the fifth connecting rod 19 , the sixth connecting rod 20 , the seventh connecting rod 14 , the eighth connecting rod 13 and the moving platform 17 . The first turntable 10 is connected with the first connecting rod 9 through the third turning pair 33, the first turntable 10 is connected with the fifth connecting rod 19 through the eleventh turning pair 23, and the first turntable 10 is connected with the second connecting rod through the twelfth turning pair 22. The six connecting rods 20 are connected, the other end of the fifth connecting rod 19 is connected to the moving platform 17 and the seventh connecting rod 14 through the thirteenth rotating pair 15, and the other end of the sixth connecting rod 20 is connected to the moving platform 17 through the fourteenth rotating pair 18 connection, the moving platform 17 is connected with the eighth connecting rod 13 through the fifteenth rotating pair 16, the other end of the seventh connecting rod 14 is connected with the second turntable 21 through the sixteenth rotating pair 12, and the other end of the eighth connecting rod 13 is connected through the The seventeenth turning pair 11 is connected to the second turntable 21, and the second turntable 21 is connected to the third connecting rod 28 through the eighth turning pair 32. The movement of the first turntable 10 and the second turntable 21 in their respective movement spaces can realize the moving platform 17 Three-dimensional translation and one-dimensional rotation in the spatial motion space.
所述第一转动副6、第二转动副8、第三转动副33、第四转动副3、第五转动副5，第六转动副31、第七转动副29、第八转动副32、第九转动副25和第十转动副27的旋转轴线相互平行，第十一转动副23、第十二转动副22、第十三转动副15、第十四转动副18、第十五转动副16、第十六转动副12和第十七转动副11的旋转轴线相互平行，第十一转动副23的轴线到第十二转动副22轴线的距离与第十三转动副15的轴线到第十四转动副18的轴线的距离相等，第十一转动副23的轴线到第十三转动副15轴线的距离与第十二转动副22的轴线到第十四转动副18的轴线的距离相等，第十三转动副15的轴线到第十五转动副16轴线的距离与第十六转动副12的轴线到第十七转动副11的轴线的距离相等，第十三转动副15的轴线到第十六转动副12轴线的距离与第十五转动副16的轴线到第十七转动副11的轴线的距离相等。The first turning pair 6, the second turning pair 8, the third turning pair 33, the fourth turning pair 3, the fifth turning pair 5, the sixth turning pair 31, the seventh turning pair 29, the eighth turning pair 32, The rotation axes of the ninth turning pair 25 and the tenth turning pair 27 are parallel to each other, the eleventh turning pair 23, the twelfth turning pair 22, the thirteenth turning pair 15, the fourteenth turning pair 18, the fifteenth turning pair 16. The rotation axes of the sixteenth revolving pair 12 and the seventeenth revolving pair 11 are parallel to each other, and the distance from the axis of the eleventh revolving pair 23 to the axis of the twelfth revolving pair 22 is the same as the distance from the axis of the thirteenth revolving pair 15 to the axis of the 13th revolving pair 15. The distances between the axes of the fourteenth revolving pair 18 are equal, and the distance from the axis of the eleventh revolving pair 23 to the axis of the thirteenth revolving pair 15 is equal to the distance from the axis of the twelfth revolving pair 22 to the axis of the fourteenth revolving pair 18 , the distance from the axis of the thirteenth revolving pair 15 to the axis of the fifteenth revolving pair 16 is equal to the distance from the axis of the sixteenth revolving pair 12 to the axis of the seventeenth revolving pair 11, and the axis of the thirteenth revolving pair 15 to The distance from the axis of the sixteenth revolving pair 12 is equal to the distance from the axis of the fifteenth revolving pair 16 to the axis of the seventeenth revolving pair 11 .
对照图3和图4，第一转台10和第二转台21在运动空间内运动可实现动平台17在第十三转动副15轴线方向上的平移。Referring to FIG. 3 and FIG. 4 , the movement of the first turntable 10 and the second turntable 21 in the movement space can realize the translation of the moving platform 17 in the axial direction of the thirteenth rotating pair 15 .
对照图5，第一转台10和第二转台21在运动空间内运动可实现动平台17绕垂直于第十三转动副15的轴线和第十五转动副16的轴线构成的平面且相交于第十三转动副15的轴线的轴线的一维转动。Referring to Fig. 5, the movement of the first turntable 10 and the second turntable 21 in the movement space can realize that the moving platform 17 can revolve around the plane perpendicular to the axis of the thirteenth turning pair 15 and the axis of the fifteenth turning pair 16 and intersect at the One-dimensional rotation of the axis of the axis of the thirteen rotating pairs 15 .
对照图6和图7，第一转台10和第二转台21在运动空间内运动可实现动平台17在第十三转动副15的轴线和第十五转动副16的轴线构成的平面上沿垂直于第十三转动副15的轴线方向的平移。6 and 7, the movement of the first turntable 10 and the second turntable 21 in the movement space can realize that the moving platform 17 can move vertically on the plane formed by the axis of the thirteenth turning pair 15 and the axis of the fifteenth turning pair 16. The translation in the axial direction of the thirteenth rotary pair 15.
对照图3和图4，第一转台10和第二转台21在运动空间内运动可实现动平台17在第一转动副15轴线方向上的平移。Referring to FIG. 3 and FIG. 4 , the movement of the first turntable 10 and the second turntable 21 in the movement space can realize the translation of the moving platform 17 in the axial direction of the first rotating pair 15 .
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