CN104875186A - Completely-decoupled 3T1R (three-transfer one-rotate) parallel robot mechanism - Google Patents

Abstract

The invention discloses a completely decoupled three-shift-one-turn parallel robot mechanism. The mechanism is composed of four branch chains connecting the moving platform 7 and the fixed platform 1. The first branch chain is composed of cylindrical pair 2, rotating pair 3, rotating pair 4, rotating pair 5, and rotating pair 6; the second branch chain is composed of rotating pair 8, rotating pair 9, cylindrical pair 10, rotating pair 11, rotating pair Composed of 12 pairs; the third branch chain is composed of cylindrical pair 13, moving pair 14, and moving pair 15; the fourth branch chain is composed of rotating pair 16, rotating pair 17, moving pair 18, and moving pair 19; wherein cylindrical pair 2 The moving direction, the rotating pair 12, the moving pair 15, and the moving pair 19 are input drives, and they are directly connected to the fixed base. The invention belongs to a completely decoupled four-degree-of-freedom parallel mechanism, can be used in the fields of parallel mechanisms, industrial robots, micro-operations, etc., has the characteristics of compact structure, simple control, good rigidity, etc., and has good application prospects.

Description

A fully decoupled three-shift-one-rotation parallel robot mechanism

Technical field

The invention belongs to the field of parallel robots, and in particular relates to a completely decoupled three-shift-one-rotation parallel robot mechanism.

Background technique

The parallel mechanism refers to a type of mechanism that connects the fixed platform and the moving platform by several branch chains. Compared with the traditional series mechanism, the parallel mechanism has some unique advantages, such as high bearing capacity, relatively strong rigidity, and relatively small inertia. , with high dynamics, etc. Therefore, the parallel mechanism is widely used in the fields of industry, aerospace, agriculture, etc., among which the Delta mechanism has been widely used in industry.

The positive solution of the series mechanism is easy, the control of the series mechanism is simple, and it is widely used in industry. The structure of the parallel mechanism is more complicated, and its positive solution is relatively difficult, so the control problem of the parallel mechanism hinders the application and development of the parallel mechanism.

The parallel mechanism is composed of several branch chains connecting the fixed platform and the moving platform, so its mechanism will be more complicated than the series mechanism, and it will also bring problems of low rigidity and unstable structure.

Contents of the invention

The purpose of the present invention is to provide a fully decoupled three-shift-one-rotation parallel robot mechanism to solve the problems of difficult decoupling, unstable structure and poor rigidity existing in the current parallel mechanism.

The present invention is made up of fixed platform 1, moving platform 7, four branch chains; In the same direction, the direction of the axis of rotation of the rotating pair 5 is the same as the direction of the axis of rotation of the rotating pair 6, and perpendicular to the direction of the axis of rotation of the cylinder pair 2; The direction of rotation of the moving platform 7, the direction of the axis of rotation of the cylindrical pair 10, the rotating pair 11 and the rotating pair 12 is the same, and the direction of the axis of rotation of the moving platform 7 is the same; Identical, the moving directions of moving pair 14 and moving pair 15 are not collinear, and are all perpendicular to the axis direction of cylinder pair 13; The moving direction of pair 18 is identical with the moving direction of moving platform, and the moving axis direction of moving pair 19 is vertical to the rotating axis direction of turning pair 16,17, and is perpendicular to the moving axis direction of moving pair 15.

Compared with other technologies, the present invention has the following advantages: (1) The patent of the present invention discloses a completely decoupled four-degree-of-freedom parallel robot mechanism, which realizes three-movement, one-rotation four-degree-of-freedom movement, and the mechanism adopts the independent drive branch chain theory, It has the characteristics of complete decoupling, and at the same time, the four branch chains of the mechanism respectively control the four output degrees of freedom of the mechanism, which simplifies the complexity of the mechanism and increases the stability of the mechanism. (2) The mechanism adopts 2R parallel sub-chains to replace the mobile drive of the general mechanism, and the hinge connection is used as far as possible in the branch chains of the mechanism, so that the mechanism has the characteristics of simple and compact structure and good rigidity. (3) The drives provided for the four branches in the present invention are directly installed on the frame, which can increase the stability of the mechanism movement, improve the speed and precision of the mechanism movement, and greatly enhance the operability and realizability of the mechanism.

Description of drawings:

Fig. 1 is a structural representation of the present invention

Detailed ways:

As shown in Figure 1, a fully decoupled three-shift-one-rotation parallel robot mechanism is composed of a fixed platform 1, a moving platform 7, and four branch chains; The direction of the axis of rotation of the rotating pair 4 is the same as that of the moving platform 7, the direction of the axis of rotation of the rotating pair 5 is the same as the direction of the axis of rotation of the rotating pair 6, and is perpendicular to the direction of the axis of rotation of the cylindrical pair 2; The directions of the rotation axes of the rotating pair 8 and the rotating pair 9 are the same, perpendicular to the direction of rotation of the moving platform 7, and the directions of the rotating axes of the cylindrical pair 10, the rotating pair 11 and the rotating pair 12 are the same, and the directions of the rotating axes of the moving platform 7 are the same. The axis direction of the cylinder pair 13 in the third branch chain is the same as the rotation direction of the moving platform, and the moving directions of the moving pair 14 and the moving pair 15 are not collinear, and are all perpendicular to the axis direction of the cylinder pair 13; the rotation pair in the fourth branch chain The direction of the axis of rotation of 16,17 is the same as the direction of the axis of rotation of the moving platform, the direction of movement of the moving pair 18 is the same as that of the moving platform, the direction of the moving axis of the moving pair 19 is perpendicular to the direction of the axis of rotation of the rotating pair 16,17, and The directions of the moving axes of the moving pair 15 are vertical. By the swivel pair 3 and the swivel pair 4, the swivel pair 5 and the swivel pair 6, the swivel pair 8 and the swivel pair 9, the swivel pair 11 and the swivel pair 12, the swivel pair 16 and the swivel pair 17 are all formed by a 2R parallel Sub-chains, such 2R sub-chains cannot contain other kinematic pairs. Among them, the moving direction of the cylinder pair 2, the rotating pair 12, the moving pair 15, and the moving pair 19 are input drives, and they are directly connected with the fixed base to realize the three-dimensional movement and one-dimensional rotational movement of the mechanism.

Claims (4)

1. A completely decoupled three-shift-one-turn parallel robot mechanism, which includes a fixed platform 1, a moving platform 7 and four branch chains; the first branch chain consists of a cylindrical pair 2, a rotating pair 3, a rotating pair 4, and a rotating pair 5. Composed of rotating pair 6; the second branch chain is composed of rotating pair 8, rotating pair 9, cylindrical pair 10, rotating pair 11, and rotating pair 12; the third branch chain is composed of cylindrical pair 13, moving pair 14, moving pair 15; the fourth branch chain is made up of rotating pair 16, rotating pair 17, moving pair 18, and moving pair 19; this parallel mechanism has compact structure, simple control and good rigidity. 2. A fully decoupled three-shift-one-rotation parallel robot mechanism according to claim 1. It is characterized in that the rotation axis direction of the cylinder pair 2 of the branch chain 1 is the same as the rotation axis direction of the rotation pair 3 and the rotation axis direction of the rotation pair 4, and is the same as the rotation axis direction of the moving platform 7, and the rotation axis direction of the rotation pair 5 is the same as that of the rotation pair The direction of the rotation axis of 6 is the same, and perpendicular to the direction of the rotation axis of the cylinder pair 2; 11 and the rotating axis direction of rotating pair 12 are identical, and are identical with the rotating axis direction of moving platform 7; Collinear, and all perpendicular to the axis direction of cylinder pair 13; The direction of rotation axis of rotation pair 16,17 in branch chain 4 is the same as the rotation axis direction of moving platform, and the moving direction of moving pair 18 is the same as the moving direction of moving platform, The direction of the moving axis of the moving pair 19 is perpendicular to the direction of the rotating axes of the rotating pairs 16 and 17 , and is perpendicular to the direction of the moving axis of the moving pair 15 . 3. A kind of fully decoupling three-shift-one-turn parallel robot mechanism as claimed in claim 1 is characterized in that it adopts the independent drive branch chain theory, that is, a branch chain controls an output degree of freedom of the braking platform; and its drive They are all directly installed close to the base. This mechanism has the characteristics of compact structure, simple control and good rigidity. 4. A completely decoupled three-shift-one-turn spatial parallel robot mechanism as described in claim 1, the revolving pair 3 and the revolving pair 4, the revolving pair 5 and the revolving pair 6, the revolving pair 8 and the revolving pair 9, the revolving pair 11 and revolving pair 12, revolving pair 16 and revolving pair 17 are all a 2R parallel sub-chain that is formed by revolving pair, can not contain other kinematic pairs between this 2R sub-chain.