CN103381602B - A kind of full decoupled two move one turn of three-freedom degree spatial parallel structure - Google Patents
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Abstract
一种完全解耦的两移一转三自由度空间并联机构，其包括定平台、动平台以及连接定平台和动平台的三个分支，其中，分支一由一个移动副和三个转动副以及连接它们的三个连杆组成；分支二由四个转动副和连接它们的三个连杆组成；分支三由五个转动副与连接它们的四个连杆组成，分支一通过移动副和转动副分别与定平台和动平台连接；分支二分别通过两个转动副与定平台和动平台连接；分支三分别通过两个转动副与定平台和动平台连接。本发明结构简单，制造成本低，能够实现动平台两个移动和一个转动完全解耦，具有易于控制、反应速度快和承载力强的优点，可用于快速分拣机、医疗器械、振动筛分机、喷涂机器人和虚轴数控机床中。
A completely decoupled two-movement-one-rotation three-degree-of-freedom space parallel mechanism, which includes a fixed platform, a moving platform, and three branches connecting the fixed platform and the moving platform, wherein branch one consists of a moving pair, three rotating pairs and It is composed of three connecting rods connecting them; branch two is composed of four rotating pairs and three connecting rods connecting them; branch three is composed of five rotating pairs and four connecting rods connecting them; branch one is composed of moving pairs and rotating The pair is connected with the fixed platform and the moving platform respectively; the second branch is connected with the fixed platform and the moving platform through two rotating pairs respectively; the third branch is connected with the fixed platform and the moving platform through two rotating pairs respectively. The present invention has simple structure, low manufacturing cost, can completely decouple the two movements and one rotation of the moving platform, has the advantages of easy control, fast response speed and strong bearing capacity, and can be used in fast sorting machines, medical equipment, vibrating screening machines , spraying robots and virtual axis CNC machine tools.
Description
技术领域technical field
本发明属于机器人领域，特别涉及一种空间并联机构。The invention belongs to the field of robots, in particular to a space parallel mechanism.
背景技术Background technique
与串联机构在结构和性能上形成互补关系的并联机构，具有承载力大、刚度高、运动速度快、累积误差小、动力学性能好等优点，故其在运动模拟器、力传感器、卫星天线、医疗器械和食品包装中得到了广泛应用。The parallel mechanism that forms a complementary relationship with the series mechanism in terms of structure and performance has the advantages of large bearing capacity, high rigidity, fast movement speed, small cumulative error, and good dynamic performance. Therefore, it is used in motion simulators, force sensors, and satellite antennas. , medical equipment and food packaging have been widely used.
由于结构的限制，并联机构有很多问题都没有很好解决，如运动耦合性强、工作空间小、运动学正解复杂、传动特性差等问题。就目前的三自由度并联机构来说，很多都存在着强耦合性这一并联机构的突出特点。并联机构强耦合性的存在使得机构在机构设计、计算分析和运动控制等方面存在着诸多问题。因此，为简化并联机构的控制过程，提高并联机构的解耦性已经成为机构学研究领域的热点问题。Due to structural constraints, many problems in parallel mechanisms have not been well resolved, such as strong kinematic coupling, small working space, complex kinematics solutions, and poor transmission characteristics. As far as the current three-degree-of-freedom parallel mechanisms are concerned, many of them have strong coupling, which is a prominent feature of parallel mechanisms. The existence of strong coupling in parallel mechanisms causes many problems in mechanism design, calculation analysis and motion control. Therefore, in order to simplify the control process of parallel mechanisms, improving the decoupling of parallel mechanisms has become a hot issue in the field of mechanism research.
在三自由度并联机构研究中，对于两移一转三自由度并联机构的解耦性研究取得一些进展，例如，中国专利文献CN1651188A提出了一种两平移一转动虚轴数控机床及并联机器人机构，该机构具有正反解求解容易，输入-输出控制解耦的优点；中国专利文献CN102688853A提出了一种三自由度并联机构茶叶筛分机，该机构的三条振动链互不干涉，完全解耦，提高了茶叶的筛分效率。此外，中国专利文献CN102922310A也提出了一种2T1R三自由度空间并联机构。上述发明机构虽然能实现两移一转运动，但是解耦性没有很好解决。In the research of three-degree-of-freedom parallel mechanism, some progress has been made in the decoupling research of two-translation-one-rotation three-degree-of-freedom parallel mechanism. For example, Chinese patent document CN1651188A proposes a two-translation-one-rotation imaginary axis CNC machine tool and parallel robot mechanism , the mechanism has the advantages of easy positive and negative solutions and decoupling of input-output control; Chinese patent document CN102688853A proposes a three-degree-of-freedom parallel mechanism tea screening machine. The three vibration chains of the mechanism do not interfere with each other and are completely decoupled. The screening efficiency of tea is improved. In addition, the Chinese patent document CN102922310A also proposes a 2T1R three-degree-of-freedom space parallel mechanism. Although the above-mentioned inventive mechanism can realize two-shift-one-turn motion, the decoupling property is not well solved.
发明内容Contents of the invention
本发明的目的在于提供一种结构简单、易于控制、速度高的完全解耦的两移一转三自由度空间并联机构。The object of the present invention is to provide a completely decoupled two-transfer-one-rotation three-degree-of-freedom space parallel mechanism with simple structure, easy control and high speed.
本发明包括定平台、动平台以及连接这两个平台的三个分支，每个分支的结构各不相同：分支一由一个移动副和三个转动副以及连接它们的三个连杆组成；分支二由四个转动副和连接它们的三个连杆组成；分支三由五个转动副和连接它们的四个连杆组成。The invention includes a fixed platform, a moving platform and three branches connecting the two platforms, each branch has a different structure: the branch one is composed of a moving pair, three rotating pairs and three connecting rods connecting them; Branch two consists of four revolving pairs and three connecting rods connecting them; branch three consists of five revolving pairs and four connecting rods connecting them.
其中，分支一中的第一连杆的一端通过移动副与定平台连接，该第一连杆的另一端通过转动副与第二连杆的一端连接，该第二连杆的另一端通过转动副与第三连杆的一端连接，该第三连杆的另一端通过转动副与动平台连接；分支二中的第一连杆通过转动副与定平台连接，该第一连杆的另一端通过转动副与第二连杆的一端连接，该第二连杆的另一端通过转动副与第三连杆的一端连接，该第三连杆的另一端通过转动副与动平台连接；分支三中的第一连杆的一端通过转动副与定平台连接，该第一连杆的另一端通过转动副与第二连杆的一端连接，该第二连杆的另一端通过转动副与第三连杆的一端连接，该第三连杆的另一端通过转动副与第四连杆的一端连接，该第四连杆的另一端通过转动副与动平台连接。Wherein, one end of the first connecting rod in branch one is connected with the fixed platform through a moving pair, the other end of the first connecting rod is connected with one end of the second connecting rod through a rotating pair, and the other end of the second connecting rod is rotated The pair is connected with one end of the third connecting rod, and the other end of the third connecting rod is connected with the moving platform through the rotating joint; the first connecting rod in branch two is connected with the fixed platform through the rotating joint, and the other end of the first connecting rod One end of the second connecting rod is connected through a rotating pair, the other end of the second connecting rod is connected with one end of the third connecting rod through a rotating pair, and the other end of the third connecting rod is connected with the moving platform through a rotating pair; branch three One end of the first connecting rod is connected with the fixed platform through the rotating joint, the other end of the first connecting rod is connected with one end of the second connecting rod through the rotating joint, and the other end of the second connecting rod is connected with the third connecting rod through the rotating joint. One end of the connecting rod is connected, the other end of the third connecting rod is connected with one end of the fourth connecting rod through the rotating joint, and the other end of the fourth connecting rod is connected with the moving platform through the rotating joint.
在分支一中，移动副的移动方向和三个转动副的轴线平行；在分支二中，除与定平台连接的转动副外，其它三个转动副的轴线平行，且与和定平台连接的转动副的轴线垂直；在分支三中，分别与定平台和动平台连接的两个转动副的轴线平行，另外的三个转动副的轴线平行，且与和定平台和动平台连接的两个转动副的轴线垂直。In branch one, the moving direction of the moving pair is parallel to the axes of the three rotating pairs; in branch two, except for the rotating pair connected to the fixed platform, the axes of the other three rotating pairs are parallel to the The axis of the rotating pair is vertical; in branch three, the axes of the two rotating pairs connected to the fixed platform and the moving platform are parallel, the axes of the other three rotating pairs are parallel, and the two connecting to the fixed platform and the moving platform are parallel. The axis of the rotating joint is vertical.
上述三个分支分别与定平台连接的一个移动副和两个转动副为各分支的输入运动副，移动副的移动方向和两个转动副的轴线平行，且均平行于定平台。分支一和分支三与动平台连接的转动副的轴线，始终与动平台平行，分支二与动平台连接的转动副的轴线垂直于动平台。One moving pair and two rotating pairs connected to the fixed platform in the above three branches are the input moving pairs of each branch, and the moving direction of the moving pair is parallel to the axis of the two rotating pairs, and both are parallel to the fixed platform. The axis of the revolving pair connected to the moving platform of branch 1 and branch 3 is always parallel to the moving platform, and the axis of the revolving pair connected to the moving platform of branch 2 is perpendicular to the moving platform.
上述分支一中，第一连杆在移动副的驱动下发生移动，并带动第二连杆发生移动，第二连杆又带动第三连杆发生移动，最终经第三连杆的移动带动动平台发生移动；分支二中，第一连杆在第一转动副驱动下发生转动，并带动第二连杆发生转动，第二连杆又带动第三连杆发生转动，最终经第三连杆的转动带动动平台发生转动；分支三中，第一连杆在第一转动副的驱动下发生转动，并带动第二连杆发生转动，最终带动第四连杆发生转动，动平台在第四连杆的带动下发生移动；且这三个方向的两个移动和一个转动运动是无条件解耦的，互不干涉。In the above-mentioned branch one, the first connecting rod moves under the drive of the moving pair, and drives the second connecting rod to move, and the second connecting rod drives the third connecting rod to move, and finally the third connecting rod drives the moving The platform moves; in the second branch, the first connecting rod rotates under the drive of the first rotating pair, and drives the second connecting rod to rotate, and the second connecting rod drives the third connecting rod to rotate, and finally passes through the third connecting rod The rotation of the moving platform drives the rotation of the moving platform; in the third branch, the first connecting rod rotates under the drive of the first rotating pair, and drives the second connecting rod to rotate, and finally drives the fourth connecting rod to rotate, and the moving platform rotates in the fourth The movement is driven by the connecting rod; and the two movements and one rotation in the three directions are unconditionally decoupled and do not interfere with each other.
上述分支一中与定平台连接的移动副和最近的第一个转动副能够用一个与转动副轴线平行的圆柱副代替；上述分支二中与定平台连接最近的两个转动副能够用虎克铰代替；上述分支三中与定平台连接最近的两个转动副和与动平台连接最近的两个转动副，能够分别用两个虎克铰代替。In the above-mentioned branch one, the moving pair connected with the fixed platform and the nearest first rotating pair can be replaced by a cylindrical pair parallel to the axis of the rotating pair; in the above-mentioned branch two, the two closest rotating pairs connected with the fixed platform can be replaced by Hooke Hinge instead; in the above-mentioned branch three, the two revolving pairs closest to the fixed platform and the two revolving pairs closest to the moving platform can be replaced by two Hooke hinges respectively.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、结构简单，运动副均为低副，可以降低制造成本；1. The structure is simple, and the kinematic pairs are all low, which can reduce the manufacturing cost;
2、实现了空间两个移动自由度和一个转动自由度完全解耦，不仅使机构的控制和正反解极为容易，而且降低了机构的轨迹规划的难度；2. Realize the complete decoupling of two degrees of freedom in space and one degree of freedom in rotation, which not only makes the control of the mechanism and the positive and negative solutions extremely easy, but also reduces the difficulty of the trajectory planning of the mechanism;
3、所有输入运动副全部与定平台相连，这样减少了杆件的负载，具有良好的运动性和较高的反应速度。本发明可广泛应用于快速分拣机、医疗器械、振动筛分机、喷涂机器人和虚轴数控机床中。3. All the input kinematic pairs are connected to the fixed platform, which reduces the load on the bar and has good mobility and high response speed. The invention can be widely used in fast sorting machines, medical equipment, vibrating screening machines, spraying robots and virtual axis numerical control machine tools.
附图说明Description of drawings
图1是本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
具体实施方式Detailed ways
在图1所示的完全解耦的两移一转三自由度空间并联机构示意图中，分支一1中的第一连杆3的一端通过移动副2与定平台10连接，该第一连杆的另一端通过转动副4与第二连杆5的一端连接，该第二连杆的另一端通过转动副6与第三连杆7的一端连接，该第三连杆的另一端通过转动副8与动平台9连接；分支二11中的第一连杆13通过转动副12与定平台连接，该第一连杆的另一端通过转动副14与第二连杆15的一端连接，该第二连杆的另一端通过转动副16与第三连杆17的一端连接，该第三连杆的另一端通过转动副18与动平台连接；分支三19中的第一连杆21的一端通过转动副20与定平台连接，该第一连杆的另一端通过转动副22与第二连杆23的一端连接，该第二连杆的另一端通过转动副24与第三连杆25的一端连接，该第三连杆的另一端通过转动副26与第四连杆27的一端连接，该第四连杆的另一端通过转动副28与动平台连接。In the schematic diagram of a fully decoupled two-shift-one-rotation three-degree-of-freedom space parallel mechanism shown in Figure 1, one end of the first connecting rod 3 in branch one 1 is connected to the fixed platform 10 through the moving pair 2, and the first connecting rod The other end of the second connecting rod is connected with one end of the second connecting rod 5 through the rotating joint 4, the other end of the second connecting rod is connected with one end of the third connecting rod 7 through the rotating joint 6, and the other end of the third connecting rod is connected through the rotating joint 8 is connected with the moving platform 9; the first connecting rod 13 in the branch two 11 is connected with the fixed platform through the rotating pair 12, and the other end of the first connecting rod is connected with one end of the second connecting rod 15 through the rotating pair 14. The other end of the two connecting rods is connected with an end of the third connecting rod 17 through the rotating pair 16, and the other end of the third connecting rod is connected with the moving platform through the rotating pair 18; one end of the first connecting rod 21 in the branch three 19 passes through The rotating pair 20 is connected with the fixed platform, the other end of the first connecting rod is connected with one end of the second connecting rod 23 through the rotating pair 22, and the other end of the second connecting rod is connected with one end of the third connecting rod 25 through the rotating pair 24 Connected, the other end of the third connecting rod is connected with one end of the fourth connecting rod 27 through the rotating joint 26, and the other end of the fourth connecting rod is connected with the moving platform through the rotating joint 28.
分支一中，移动副2的移动方向和第一转动副4、第二转动副6、第三转动副8的轴线平行，且与第一连杆3、第二连杆5和第三连杆7的轴线垂直；分支二中，第二转动副14、第三转动副16和第四转动副18的轴线平行，且与第一转动副12的轴线垂直。第一连杆13的轴线一端与第一转动副12的轴线垂直，另一端与第二转动副14的轴线重合。第二连杆15和第三连杆17都为直角连杆，它们的连杆轴线的一端分别与第二转动副14和第三转动副16的轴线垂直，另一端分别与第三转动副16和第四转动副18的轴线重合；分支三中，第一转动副20和第五转动副28的轴线平行，第二转动副22、第三转动副24和第四转动副26的轴线平行，并与第一转动副20和第五转动副28的轴线垂直。另外第一连杆21、第二连杆23、第三连杆25和第四连杆27的轴线与该分支中转动副的轴线垂直。三个分支中的第一个运动副为输入副，并且三个输入副中移动输入副的移动方向和两个转动输入副的的轴线平行。In branch one, the moving direction of the moving pair 2 is parallel to the axes of the first rotating pair 4, the second rotating pair 6, and the third rotating pair 8, and is parallel to the axes of the first connecting rod 3, the second connecting rod 5, and the third connecting rod. 7 is perpendicular to the axis; in branch two, the axes of the second rotating pair 14 , the third rotating pair 16 and the fourth rotating pair 18 are parallel to and perpendicular to the axis of the first rotating pair 12 . One end of the axis of the first connecting rod 13 is perpendicular to the axis of the first rotating pair 12 , and the other end coincides with the axis of the second rotating pair 14 . The second connecting rod 15 and the third connecting rod 17 are all right-angled connecting rods, and one end of their connecting rod axis is perpendicular to the axes of the second rotating pair 14 and the third rotating pair 16 respectively, and the other end is respectively connected to the third rotating pair 16. It coincides with the axis of the fourth rotating pair 18; in branch three, the axes of the first rotating pair 20 and the fifth rotating pair 28 are parallel, the axes of the second rotating pair 22, the third rotating pair 24 and the fourth rotating pair 26 are parallel, And perpendicular to the axes of the first rotary pair 20 and the fifth rotary pair 28 . In addition, the axes of the first connecting rod 21 , the second connecting rod 23 , the third connecting rod 25 and the fourth connecting rod 27 are perpendicular to the axis of the rotating pair in this branch. The first motion pair in the three branches is the input pair, and the movement direction of the movement input pair among the three input pairs is parallel to the axes of the two rotation input pairs.
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