CN106625614B - Six-degree-of-freedom parallel mechanism based on differential driving structure - Google Patents
Six-degree-of-freedom parallel mechanism based on differential driving structure Download PDFInfo
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- CN106625614B CN106625614B CN201710116943.4A CN201710116943A CN106625614B CN 106625614 B CN106625614 B CN 106625614B CN 201710116943 A CN201710116943 A CN 201710116943A CN 106625614 B CN106625614 B CN 106625614B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/12—Differential gearings without gears having orbital motion
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Abstract
The differential drive structure consists of two differential connecting rods, two hook joints, two three-dimensional translational connecting rods and an end effector, wherein the two differential connecting rods are connected through a moving pair, one three-dimensional translational connecting rod is fixedly connected with the three-dimensional translational connecting rod, one hook joint is rotatably arranged on one three-dimensional translational connecting rod, one differential connecting rod is rotatably arranged on one hook joint, the end effector is connected with one differential connecting rod through a rotating pair and is connected with the other differential connecting rod through a spiral pair, and the vertical connecting end of the hook joint is rotatably connected with the three-dimensional translational connecting rod and the horizontal connecting end of the hook joint is rotatably connected with the differential connecting rod. The invention increases the rotation range capability and has no redundant driving.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a six-degree-of-freedom parallel mechanism based on a differential driving structure.
Background
The parallel mechanism is a closed loop mechanism which is formed by connecting a movable platform and a static platform through at least two independent motion chains, has two or more degrees of freedom and is driven in a parallel mode. Compared with a serial robot, the parallel robot has the following advantages: the accumulated error is small, and the precision is high; the driving device can be arranged on the fixed platform or near the fixed platform, and the moving part has light weight, high speed and good dynamic response; compact structure, high rigidity and high bearing capacity.
The 6-degree-of-freedom parallel mechanism is a parallel mechanism with 3 translational degrees of freedom and 3 translational degrees of freedom, and can be applied to a plurality of heavy-duty operation tasks. Compared with a serial mechanism, the parallel mechanism has the advantages of strong bearing capacity, good dynamic effect and the like; and has more complex motion characteristics, and exhibits a number of special properties due to the constrained movement and rotation of the mobile platform.
Because of the limitation of singular configuration, physical interference among branched chains and other factors, the rotation capability of the parallel mechanism moving platform is always smaller, even a simpler plane parallel mechanism can reach a rotation range of not more than 180 degrees in theory, and is smaller in practice.
The partial parallel mechanism is added with a redundant driving branched chain to assist the platform to cross the singular configuration so as to obtain larger rotation capacity, but the redundant driving can cause over-constraint so as to generate internal force, so that the mechanism faces a complex control problem; still other parallel mechanisms have selected to add redundant drives in some branches, but this results in the presence of a hybrid structure, thereby altering the load transfer characteristics of the original parallel mechanism.
On an automatic production line, the existing parallel mechanism scheme mainly aims at realizing the grabbing function by adding an actuator (a gripper, a sucker or the like) at the tail end of a parallel mechanism, so that an auxiliary device is required to be added on a movable platform of the parallel mechanism, even a motor is required to be additionally arranged, the weight of a moving part of the parallel mechanism is directly increased, and the dynamic characteristic of the parallel mechanism is seriously influenced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a six-degree-of-freedom parallel mechanism based on a differential drive structure, which has the capability of increasing the rotation range, has no redundant drive and has the rotation capability of wrist joints of the traditional serial industrial robots.
In order to solve the technical problems, the invention adopts the following technical scheme:
six-degree-of-freedom parallel mechanism based on differential drive structure, characterized by comprising:
a fixed frame;
the two three-degree-of-freedom translation structures are symmetrically arranged on two sides of the fixed frame;
the differential driving structure consists of two differential connecting rods, two hook hinges, two three-dimensional translation connecting rods and an end effector, and the two differential connecting rods are connected through a moving pair;
the three-degree-of-freedom translation structure is fixedly connected with a three-dimensional translation connecting rod, a hook joint is rotatably arranged on the three-dimensional translation connecting rod, a differential connecting rod is rotatably arranged on the hook joint, and the end effector is respectively connected with the two differential connecting rods;
the Hooke's joint is provided with a horizontal connecting end and a vertical connecting end, the vertical connecting end of the Hooke's joint is rotationally connected with the three-dimensional translation connecting rod, and the horizontal connecting end is rotationally connected with the differential connecting rod.
The horizontal connecting ends and the vertical connecting ends of the two hook joints extend towards opposite directions, wherein the vertical connecting end of one hook joint extends vertically upwards, and the vertical connecting end of the other hook joint extends vertically downwards.
The end effector is connected with one differential connecting rod through a revolute pair and the other differential connecting rod through a spiral pair, and rotates by taking the central axis of the differential connecting rod as a rotation center.
The horizontal connecting end and the central axis of the Hooke hinge are perpendicular to the central axis of the vertical connecting end.
The central axes of the horizontal connecting ends of the two hook joints are parallel to each other, and the central axes of the vertical connecting ends of the two hook joints are parallel to each other.
The invention has simple structure and reasonable design, and forms a six-degree-of-freedom parallel mechanism through the differential driving structure and the three-degree-of-freedom translation structures arranged on two sides of the differential driving structure, thereby increasing the large-range rotation capacity of the parallel mechanism. The mechanism has the rotation capability of the wrist joint of the traditional serial industrial robot, has no redundant drive, meets the urgent need of practical engineering application, and has wide application prospect especially in the fields of intelligent assembly and intelligent manufacturing.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic perspective view of the differential driving structure of the present invention.
Detailed Description
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding to those skilled in the art.
As shown in fig. 1 and 2, the invention discloses a six-degree-of-freedom parallel mechanism based on a differential driving structure, which comprises a fixed frame 3, two three-degree-of-freedom translation structures 2 and a differential driving structure 1, wherein the two three-degree-of-freedom translation structures 2 are symmetrically arranged at two sides of the fixed frame 3, and the two three-degree-of-freedom translation structures 2 are symmetrically arranged by taking the middle of the fixed frame 3 as a reference point. The differential driving structure 1 consists of two differential connecting rods 6, two hook hinges 5, two three-dimensional translation connecting rods 4 and an end effector 7, wherein the two differential connecting rods 6 are connected through a moving pair; a three-dimensional translational connecting rod 4 is fixedly connected with a three-dimensional translational structure 2, a hook joint 5 is rotatably arranged on the three-dimensional translational connecting rod 4, a differential connecting rod 6 is rotatably arranged and connected with the hook joint 5, an end effector 7 is connected with one differential connecting rod through a revolute pair and the other differential connecting rod through a spiral pair, and the end effector rotates by taking the central axis of the differential connecting rod as a rotation center. The hook joint 5 has a horizontal connecting end 51 and a vertical connecting end 52, the vertical connecting end 52 of the hook joint 52 is rotationally connected with the three-dimensional translational connecting rod 4, and the horizontal connecting end 51 is rotationally connected with the differential connecting rod 6. Therefore, the differential driving structure has the rotating capacity of the wrist joint of the traditional serial industrial robot, and the whole mechanism is not provided with a driving motor on a moving part.
Specifically, the horizontal connection end 51 and the vertical connection end 52 of the two hook joints 5 extend in opposite directions, wherein the vertical connection end of one hook joint extends vertically upwards, and the vertical connection end of the other hook joint extends vertically downwards. The central axis of the horizontal connecting end of the Hooke hinge is mutually perpendicular to the central axis of the vertical connecting end.
The central axes of the horizontal connecting ends of the two Hooke hinges are parallel to each other, and the central axes of the vertical connecting ends of the two Hooke hinges are parallel to each other.
The three-degree-of-freedom translational structure in the invention includes, but is not limited to: any spatial translational series mechanism, such as a mechanism formed by three serially connected moving pairs; or any spatially translational parallel mechanism such as a Delta mechanism, a Gantry Robot mechanism, a Cartesian Robot mechanism, an orthographic mechanism, or a Tsai's mechanism.
The invention relates to a six-degree-of-freedom parallel mechanism with three planes and three rotations, which has three degrees of freedom of rotation and three degrees of freedom of translation. The differential drive structure controls three degrees of rotational freedom: the two differential driving connecting rods drive the end effector to rotate around the axis of the differential connecting rods, so that a degree of freedom of rotation is formed; the horizontal connecting end and the vertical connecting end of the Hooke hinge rotate around the central axis of the horizontal connecting end and the vertical connecting end respectively to form two rotational degrees of freedom, so that the differential driving structure has three rotational degrees of freedom in total. The three translational degrees of freedom are controlled by translational motion coupling in three directions of an X axis, a Y axis and a Z axis of the three-dimensional translational connecting rod, and are synchronously controlled by two three-degree-of-freedom translational structures; the mechanism has no redundant driving and complex internal force, and is simple to control. The differential driving structure has the rotation capacity of the wrist joint of the traditional serial industrial robot through the control of the six degrees of freedom.
It should be noted that the above description is not intended to limit the invention, and any obvious substitutions are within the scope of the invention without departing from the inventive concept thereof.
Claims (5)
1. Six-degree-of-freedom parallel mechanism based on differential drive structure, characterized by comprising:
a fixed frame;
the two three-degree-of-freedom translation structures are symmetrically arranged on two sides of the fixed frame;
the differential driving structure consists of two differential connecting rods, two hook hinges, two three-dimensional translation connecting rods and an end effector, and the two differential connecting rods are connected through a moving pair;
the three-degree-of-freedom translation structure is fixedly connected with a three-dimensional translation connecting rod, a hook joint is rotatably arranged on the three-dimensional translation connecting rod, a differential connecting rod is rotatably arranged on the hook joint, and the end effector is respectively connected with the two differential connecting rods; the other three-degree-of-freedom translation structure is fixedly connected with the other three-dimensional translation connecting rod, the other three-dimensional translation connecting rod is rotationally provided with the other Hooke hinge, and the other Hooke hinge is rotationally provided with the other differential connecting rod;
the Hooke's joint is provided with a horizontal connecting end and a vertical connecting end, the vertical connecting end of the Hooke's joint is rotationally connected with the three-dimensional translation connecting rod, and the horizontal connecting end is rotationally connected with the differential connecting rod.
2. The six-degree-of-freedom parallel mechanism based on a differential driving structure according to claim 1, wherein the horizontal connecting ends and the vertical connecting ends of the two hook joints extend towards opposite directions, wherein the vertical connecting end of one hook joint extends vertically upwards, and the vertical connecting end of the other hook joint extends vertically downwards.
3. The six degree-of-freedom parallel mechanism of claim 2 wherein the end effector is connected to one of the differential links by a revolute pair and to the other differential link by a screw pair, the end effector being rotated about a center axis of the differential link.
4. A six degree of freedom parallel mechanism based on a differential drive structure according to claim 3, wherein the central axis of the horizontal connecting end and the central axis of the vertical connecting end of the hook hinge are mutually perpendicular.
5. The six degree-of-freedom parallel mechanism of claim 4 wherein the central axes of the horizontal connecting ends of the two hook joints are parallel to each other and the central axes of the vertical connecting ends of the two hook joints are parallel to each other.
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| CN201710116943.4A CN106625614B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
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| CN201710116943.4A CN106625614B (en) | 2017-03-01 | 2017-03-01 | Six-degree-of-freedom parallel mechanism based on differential driving structure |
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| CN106625614A CN106625614A (en) | 2017-05-10 |
| CN106625614B true CN106625614B (en) | 2023-05-09 |
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| CN1269619C (en) * | 2003-11-28 | 2006-08-16 | 清华大学 | Spatial five freedom degree parallel robot mechanism |
| EP2301726B1 (en) * | 2009-09-24 | 2012-05-16 | CAMA 1 SpA | Telescopic shaft for an industrial robot according to the delta concept |
| CN103395062A (en) * | 2013-07-25 | 2013-11-20 | 天津大学 | High-speed six-degree-of-freedom parallel manipulator |
| CN206551012U (en) * | 2017-03-01 | 2017-10-13 | 东莞松山湖国际机器人研究院有限公司 | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
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Effective date of registration: 20171123 Address after: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 1 unit 17.. Applicant after: DONGGUAN SONGSHAN LAKE ROBOT INDUSTRIAL DEVELOPMENT CO.,LTD. Address before: Hsinchu Songshan Lake high tech Industrial Development Zone of Dongguan City, Guangdong province 523000 new No. 4 Building 2 unit 17.. Applicant before: DONGGUAN SONGSHAN LAKE TECHXINSTITUTE Co.,Ltd. |
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