CN102990659A - Parallel mechanism containing rrrrr and pprrr kinematic pair closed-loop sub-chains - Google Patents
Parallel mechanism containing rrrrr and pprrr kinematic pair closed-loop sub-chains Download PDFInfo
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Abstract
一种包含rrrrr和pprrr运动副闭环子链的并联机构，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。第一五杆机构闭环子链可控制第一虎克铰运动，第二五杆机构闭环子链可控制第二虎克铰运动，第一虎克铰、第二虎克铰的运动可实现动平台的空间运动。本发明通过两个五杆机构闭环子链来控制两个虎克铰在空间的运动，从而实现动平台在空间的运动，具有结构紧凑、控制简单的优点，机构运动惯量小，动力学性能好。
A parallel mechanism comprising rrrrr and pprrr motion pair closed-loop sub-chains, including 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 can control the movement of the first Hooke hinge, the closed-loop sub-chain of the second five-bar mechanism can control the movement of the second Hooke hinge, and the movement of the first Hooke hinge and the second Hooke hinge can realize dynamic Space movement of the platform. The invention controls the movement of two Hooke hinges in space through two closed-loop sub-chains of five-bar mechanism, thereby realizing the movement of the moving platform in space, and has the advantages of compact structure, simple control, small moment of inertia of the mechanism, and good dynamic performance .
Description
技术领域technical field
本发明涉及机器人领域，特别是一种含闭环子链的并联机构。The invention relates to the field of robots, in particular to a parallel mechanism with closed-loop sub-chains.
背景技术Background technique
并联机构和传统的串联机构相比较，具有以下特点：无累积误差，精度较高；驱动装置可置于定平台上或接近定平台的位置，这样运动部分重量轻，速度高，动态响应好；结构紧凑，刚度高，承载能力大。由于并联机构本身就比较复杂，如果分支再含有闭环的话，其机构将会更加复杂，所以一般来说，对称的、分支不含闭环的并联机构才会具有最典型的性质，但是如果闭环应用的恰当，并联机构的性能将会更加卓越，如著名的delta机构。另外，现有的并联机构，其支链受连接方式的限制，一般只有一个主动杆连接在固结在机架上的驱动上，这样的话多自由度并联机构为实现其运动就需要多条支链或采取支链上串联多个主动杆的方式，而多条支链的并联机构结构复杂控制困难，支链上串联多个主动杆会影响并联机构的运动性能。Compared with the traditional serial mechanism, the parallel mechanism has the following characteristics: no cumulative error and high precision; the driving device can be placed on the fixed platform or close to the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response; Compact structure, high rigidity, large bearing capacity. Since the parallel mechanism itself is relatively complex, if the branch contains closed loops, the mechanism will be more complicated. Therefore, generally speaking, the symmetrical parallel mechanism with branches without closed loops will have the most typical properties. However, if the closed-loop application Properly, the performance of the parallel mechanism will be more excellent, such as the famous delta mechanism. In addition, in the existing parallel mechanism, the branch chain is limited by the connection method. Generally, there is only one active rod connected to the drive fixed on the frame. The chain may adopt the method of connecting multiple active rods in series on the branch chain, but the structure of the parallel mechanism with multiple branch chains is complex and difficult to control. Multiple active rods connected in series on the branch chain will affect the kinematic performance of the parallel mechanism.
发明内容Contents of the invention
本发明的目的在于提供一种含闭环子链的并联机构，解决多条支链的并联机构结构复杂控制困难的缺点。The purpose of the present invention is to provide a parallel mechanism with closed-loop sub-chains, which solves the disadvantage of complex structure and difficult control of the parallel mechanism with multiple branch chains.
本发明通过以下技术方案达到上述目的：一种包含rrrrr和pprrr运动副闭环子链的并联机构，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 parallel mechanism comprising rrrrr and pprrr kinematic pair closed-loop sub-chains, 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连杆、第二连杆、第三连杆、第四连杆及第一立柱连接而成，第一立柱通过第一转动副与机架相连，第一连杆通过第二转动副连接到第一立柱上，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三连杆连接，第三连杆另一端通过第五转动副与第四连杆连接，第四连杆通过第六转动副连接到第一立柱上，The closed-loop sub-chain of the first five-bar mechanism is formed by connecting the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the first column, and the first column is connected with the frame through the first rotating pair , the first connecting rod is connected to the first column through the second rotating pair, the other end of the first connecting rod is connected to the second connecting rod through the third rotating pair, and the other end of the second connecting rod is connected to the third connecting rod through the fourth rotating pair The other end of the third connecting rod is connected to the fourth connecting rod through the fifth rotating pair, and the fourth connecting rod is connected to the first column through the sixth rotating pair.
所述五杆机构闭环子链由第一滑动杆、第一直行杆、第五连杆、第六连杆及第二立柱连接而成，第二立柱通过第七转动副与机架相连，第一滑动杆杆通过第一移动副连接到第二立柱上，第一滑动杆另一端通过第二移动副与第一直行杆连接，第一直行杆另一端通过第八转动副与第五连杆连接，第五连杆另一端通过第九转动副与第六连杆连接，第六连杆另一端通过第十转动副与第二立柱连接，The closed-loop sub-chain of the five-bar mechanism is formed by connecting the first sliding rod, the first straight rod, the fifth connecting rod, the sixth connecting rod and the second column, and the second column is connected with the frame through the seventh rotating pair, The first sliding rod is connected to the second column through the first moving pair, the other end of the first sliding rod is connected to the first straight rod through the second moving pair, and the other end of the first straight rod is connected to the first straight rod through the eighth rotating pair. Five connecting rods are connected, the other end of the fifth connecting rod is connected with the sixth connecting rod through the ninth rotating pair, and the other end of the sixth connecting rod is connected with the second column through the tenth rotating pair,
所述执行机构子链由第一虎克铰、第二虎克铰、及动平台连接而成，第一虎克铰通过第四转动副与第二连杆连接，第一虎克铰通过第十一转动副与动平台连接，第二虎克铰通过第八转动副与第五连杆连接，第二虎克铰通过第十二转动副与动平台连接，第一虎克铰、第二虎克铰在各自的运动空间的运动可实现动平台在空间的运动。The sub-chain of the actuator is connected by the first Hooke hinge, the second Hooke hinge and the moving platform, the first Hooke hinge is connected with the second connecting rod through the fourth rotating pair, and the first Hooke hinge is connected through the second The eleventh revolving pair is connected with the moving platform, the second Hooke hinge is connected with the fifth connecting rod through the eighth revolving pair, the second Hooke hinge is connected with the moving platform through the twelfth revolving pair, the first Hooke hinge, the second The movement of the Hooke hinges in their respective movement spaces can realize the movement of the moving platform in space.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、通过闭环子链控制机构的运动；1. Control the movement of the mechanism through the closed-loop sub-chain;
2、连接结构简单，杆件做成轻杆，机构运动惯量小，动力学性能好；2. The connection structure is simple, the rods are made of light rods, the movement inertia of the mechanism is small, and the dynamic performance is good;
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、切割等工作中。3. By installing various end effectors for different purposes on the moving platform, this mechanism can be applied to grasping, handling, palletizing, assembling, cutting and other work.
附图说明Description of drawings
图1为本发明所述一种包含rrrrr和pprrr运动副闭环子链的并联机构的第一结构示意图。Fig. 1 is a schematic diagram of the first structure of a parallel mechanism including rrrrr and pprrr kinematic pair closed-loop sub-chains according to the present invention.
图2为本发明所述一种包含rrrrr和pprrr运动副闭环子链的并联机构的第二结构示意图。Fig. 2 is a second structural schematic diagram of a parallel mechanism including rrrrr and pprrr kinematic pair closed-loop sub-chains according to the present invention.
图3为本发明所述一种包含rrrrr和pprrr运动副闭环子链的并联机构的第三结构示意图。Fig. 3 is a schematic diagram of the third structure of a parallel mechanism including rrrrr and pprrr kinematic pair closed-loop sub-chains according to the present invention.
图4为本发明所述一种包含rrrrr和pprrr运动副闭环子链的并联机构的第四结构示意图。Fig. 4 is a schematic diagram of the fourth structure of a parallel mechanism including rrrrr and pprrr kinematic pair closed-loop sub-chains 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、图2、图3和图4，一种包含rrrrr和pprrr运动副闭环子链的并联机构，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。Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, a parallel mechanism including closed-loop sub-chains of rrrrr and pprrr kinematic pairs, including the first five-bar mechanism closed-loop sub-chain, the second five-bar mechanism closed-loop sub-chain and the actuator sub-chain chain.
所述第一五杆机构闭环子链由第一连杆5、第二连杆7、第三连杆9、第四连杆11及第一立柱3连接而成，第一立柱3通过第一转动副2与机架1相连，第一连杆5通过第二转动副4连接到第一立柱3上，第一连杆5另一端通过第三转动副6与第二连杆7连接，第二连杆7另一端通过第四转动副8与第三连杆9连接，第三连杆9另一端通过第五转动副10与第四连杆11连接，第四连杆11通过第六移动副12连接到第一立柱3上，The closed-loop sub-chain of the first five-bar mechanism is formed by connecting the first connecting rod 5, the second connecting rod 7, the third connecting rod 9, the fourth connecting rod 11 and the first column 3, and the first column 3 passes through the first The rotating pair 2 is connected to the frame 1, the first connecting rod 5 is connected to the first column 3 through the second rotating pair 4, the other end of the first connecting rod 5 is connected to the second connecting rod 7 through the third rotating pair 6, and the second connecting rod 5 The other end of the second connecting rod 7 is connected to the third connecting rod 9 through the fourth rotating pair 8, and the other end of the third connecting rod 9 is connected to the fourth connecting rod 11 through the fifth rotating pair 10, and the fourth connecting rod 11 is moved through the sixth Vice 12 is connected to the first column 3,
所述五杆机构闭环子链由第一滑动杆16、第一直行杆18、第五连杆20、第六连杆22及第二立柱14连接而成，第二立柱14通过第七转动副13与机架1相连，第一滑动杆16通过第一移动副15连接到第二立柱14上，第一滑动杆16另一端通过第二移动副17与第一直行杆18连接，第一直行杆18另一端通过第八转动副19与第五连杆20连接，第五连杆20另一端通过第九转动副21与第六连杆22连接，第六连杆22另一端通过第十转动副23与第二立柱14连接，The closed-loop sub-chain of the five-bar mechanism is formed by connecting the first sliding rod 16, the first straight rod 18, the fifth connecting rod 20, the sixth connecting rod 22 and the second column 14, and the second column 14 is formed by the seventh rotation Auxiliary 13 links to each other with frame 1, and first slide bar 16 is connected on the second column 14 by first moving pair 15, and the other end of first sliding bar 16 is connected with first straight rod 18 by second moving pair 17, and the second The other end of a traveling rod 18 is connected to the fifth connecting rod 20 through the eighth rotating pair 19, the other end of the fifth connecting rod 20 is connected to the sixth connecting rod 22 through the ninth rotating pair 21, and the other end of the sixth connecting rod 22 is connected through The tenth rotating pair 23 is connected with the second column 14,
所述执行机构子链由第一虎克铰24、第二虎克铰26、及动平台28连接而成，第一虎克铰24通过第四转动副8与第二连杆7连接，第一虎克铰24通过第十一转动副25与动平台28连接，第二虎克铰26通过第八转动副19与第五连杆18连接，第二虎克铰26通过第十二转动副27与动平台28连接，第一虎克铰24、第二虎克铰26在各自的运动空间的运动可实现动平台28在空间的运动。The sub-chain of the actuator is formed by connecting the first Hooke hinge 24, the second Hooke hinge 26, and the moving platform 28, the first Hooke hinge 24 is connected with the second connecting rod 7 through the fourth rotating pair 8, and the second One Hooke hinge 24 is connected with the moving platform 28 through the eleventh revolving pair 25, the second Hooke hinge 26 is connected with the fifth connecting rod 18 through the eighth revolving pair 19, and the second Hooke hinge 26 is connected through the twelfth revolving pair 27 is connected with the moving platform 28, and the motion of the first Hooke hinge 24 and the second Hooke hinge 26 in their respective motion spaces can realize the motion of the moving platform 28 in space.
对照图1、图2、图3和图4，第一虎克铰24、第二虎克铰26在各自的运动空间的运动可实现动平台28的在空间的运动。Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the movement of the first Hooke hinge 24 and the second Hooke hinge 26 in their respective movement spaces can realize the movement of the moving platform 28 in space.
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