CN103223666B - Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain - Google Patents
Parallel mechanism containing kinematic pair prr open-loop subchain and rprpr kinematic pair closed-loop subchain Download PDFInfo
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Abstract
含prr运动副开环子链和rprpr运动副闭环子链的并联机构，包括开环子链、五杆机构闭环子链以及执行机构子链。开环子链可控制第一虎克铰运动，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。本发明通过一个开环子链和一个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。
The parallel mechanism including the open-loop sub-chain of the prr motion pair and the closed-loop sub-chain of the rprpr motion pair includes the open-loop sub-chain, the closed-loop sub-chain of the five-bar mechanism and the sub-chain of the actuator. The open-loop sub-chain can control the movement of the first Hooke hinge, the closed-loop sub-chain of the 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 the spatial movement of the moving platform. The present invention controls the movement of two Hooke hinges in space through an open-loop sub-chain and a closed-loop sub-chain, thereby realizing the movement of the moving platform in space. good.
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：含prr运动副开环子链和rprpr运动副闭环子链的并联机构，包括开环子链、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 a prr motion pair open-loop sub-chain and an rprpr motion pair closed-loop sub-chain, including an open-loop sub-chain, a five-bar mechanism closed-loop sub-chain and an actuator sub-chain.
所述开环子链由第一连杆、第一滑块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，第一滑块通过第一移动副连接到第一立柱上，第一连杆一端通过第二转动副与第一滑块连接，The open-loop sub-chain is connected by the first connecting rod, the first slider and the first column, the first column is connected with the frame through the first rotating pair, and the first slider is connected to the first frame through the first moving pair. On the column, one end of the first connecting rod is connected with the first slider through the second rotating pair,
所述五杆机构闭环子链由第二连杆、第一直行杆、第二直行杆、第三连杆及第二立柱连接而成，第二立柱通过第三转动副与机架相连，第二连杆一端通过第四转动副连接到第二立柱上，第二连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五转动副与第二直行杆连接，第二直行杆另一端通过第三移动副与第三连杆连接，第三连杆另一端通过第六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 second connecting rod, the first straight rod, the second straight rod, the third connecting rod and the second column, and the second column is connected with the frame through the third rotating pair, One end of the second connecting rod is connected to the second column through the fourth rotating pair, the other end of the second connecting 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 fifth rotating pair. The two straight rods are connected, the other end of the second straight rod is connected to the third connecting rod through the third moving pair, and the other end of the third connecting rod is connected to the second column through the sixth 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，第一虎克铰通过第七转动副与第一连杆连接，第一虎克铰通过第八转动副与动平台连接，第二虎克铰通过第五转动副与第一直行杆连接，第二虎克铰通过第九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 first connecting rod through the seventh rotating pair, and the first Hooke hinge is connected through the second The eight revolving pairs are connected with the moving platform, the second Hooke hinge is connected with the first straight rod through the fifth revolving pair, the second Hooke hinge is connected with the moving platform through the ninth revolving pair, the first Hooke hinge, the second Huoke hinge The movement of the gram 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、通过闭环子链和开环子链控制机构的运动；1. Control the movement of the mechanism through the closed-loop sub-chain and the open-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为本发明所述含prr运动副开环子链和rprpr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 the parallel mechanism including the prr motion pair open-loop sub-chain and the rprpr motion pair closed-loop sub-chain according to the present invention.
图2为本发明所述含prr运动副开环子链和rprpr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 the parallel mechanism including the prr motion pair open-loop sub-chain and the rprpr motion pair closed-loop sub-chain according to the present invention.
图3为本发明所述含prr运动副开环子链和rprpr运动副闭环子链的并联机构的第三结构示意图。Fig. 3 is a third structural schematic diagram of the parallel mechanism including the prr motion pair open-loop sub-chain and the rprpr motion pair closed-loop sub-chain according to the present invention.
图4为本发明所述含prr运动副开环子链和rprpr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 the parallel mechanism including the prr motion pair open-loop sub-chain and the rprpr motion pair 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、图2、图3和图4，含prr运动副开环子链和rprpr运动副闭环子链的并联机构，包括开环子链、五杆机构闭环子链和执行机构子链。Comparing Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the parallel mechanism including the open-loop sub-chain of the prr movement pair and the closed-loop sub-chain of the rprpr movement pair includes the open-loop sub-chain, the closed-loop sub-chain of the five-bar mechanism and the sub-chain of the actuator.
所述开环子链由第一连杆7、第一滑块5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，第一滑块5通过第一移动副4连接到第一立柱3上，第一连杆7一端通过第二转动副6与第一滑块5连接，The open-loop sub-chain is formed by connecting the first connecting rod 7, the first slider 5 and the first column 3, the first column 3 is connected with the frame 1 through the first rotating pair 2, and the first slider 5 is connected through the first A moving pair 4 is connected to the first column 3, and one end of the first connecting rod 7 is connected to the first slider 5 through the second rotating pair 6,
所述五杆机构闭环子链由第二连杆14、第一直行杆16、第二直行杆18、第三连杆20及第二立柱12连接而成，第二立柱12通过第三转动副11与机架1相连，第二连杆14一端通过第四转动副13连接到第二立柱12上，第二连杆14另一端通过第二移动副15与第一直行杆16连接，第一直行杆16另一端通过第五转动副17与第二直行杆18连接，第二直行杆18另一端通过第三移动副19与第三连杆20连接，第三连杆20另一端通过第六转动副21与第二立柱12连接，The closed-loop sub-chain of the five-bar mechanism is formed by connecting the second connecting rod 14, the first straight rod 16, the second straight rod 18, the third connecting rod 20 and the second column 12, and the second column 12 is formed by the third rotation The pair 11 is connected to the frame 1, one end of the second connecting rod 14 is connected to the second column 12 through the fourth rotating pair 13, and the other end of the second connecting rod 14 is connected to the first straight rod 16 through the second moving pair 15, The other end of the first straight rod 16 is connected with the second straight rod 18 through the fifth rotating pair 17, the other end of the second straight rod 18 is connected with the third connecting rod 20 through the third moving pair 19, and the other end of the third connecting rod 20 Connected with the second column 12 through the sixth rotating pair 21,
所述执行机构子链由第一虎克铰9、第二虎克铰22、及动平台24连接而成，第一虎克铰通过第七转动副8与第一连杆7连接，第一虎克铰9通过第八转动副10与动平台24连接，第二虎克铰22通过第五转动副17与第一直行杆18连接，第二虎克铰22通过第九转动副23与动平台24连接，第一虎克铰9、第二虎克铰22在各自的运动空间的运动可实现动平台的在空间的运动。The sub-chain of the actuator is connected by the first Hooke hinge 9, the second Hooke hinge 22, and the moving platform 24. The first Hooke hinge is connected with the first connecting rod 7 through the seventh revolving pair 8, and the first The Hooke hinge 9 is connected to the moving platform 24 through the eighth revolving pair 10, the second Hooke hinge 22 is connected to the first straight rod 18 through the fifth revolving pair 17, and the second Hooke hinge 22 is connected to the moving platform 24 through the ninth revolving pair 23. The moving platform 24 is connected, and the movement of the first Hooke hinge 9 and the second Hooke hinge 22 in their respective movement spaces can realize the movement of the moving platform in space.
对照图1、图2、图3和图4，第一虎克铰9、第二虎克铰22在各自的运动空间的运动可实现动平台24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 9 and the second Hooke hinge 22 in their respective movement spaces can realize the movement of the moving platform 24 in space.
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| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN203003876U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1381338A (en) * | 2002-03-09 | 2002-11-27 | 燕山大学 | Symmetrical and parallel robot mechanism with cross set and 4 or 5 freedoms |
| US7673537B2 (en) * | 2007-06-01 | 2010-03-09 | Socovar, Société En Commandite | Parallel manipulator |
| CN101590650A (en) * | 2009-07-03 | 2009-12-02 | 东华大学 | Decoupled Three Rotational Degrees of Freedom Parallel Mechanism |
| CN202162805U (en) * | 2011-05-18 | 2012-03-14 | 上海工程技术大学 | Spherical surface rotation parallel mechanism having three degrees of freedom of decoupling |
| CN203003876U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Parallel mechanism provided with prr kinematic pair open-loop subchain and rprpr kinematic pair closed-loop subchain |
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