技术领域本发明属于机器人领域，特别涉及一种并联机构。Technical Field The present invention belongs to the field of robots, and in particular relates to a parallel mechanism.
背景技术相对于串联机构，并联机构因具有高的强度，大的承载能力，小的累积误差，紧凑的结构等优点而广泛应用于机器人、数控机床、传感器、运动模拟器、微动操作台等技术领域。少自由度机构和传统的六自由度并联机构相比，具有结构简单，设计、制造、装配和控制都相对简单，成本低等特点。而且在很多场合下，如自动化生产线的末端执行器、平台定位等，只需要两个或者三个自由度就能满足条件，此时再采用多自由度机构则显得很没必要。因此少自由度机构成为工业界所关注和青睐的对象。Background technology Compared with the series mechanism, the parallel mechanism is widely used in robots, numerical control machine tools, sensors, motion simulators, micro-motion consoles, etc. technology field. Compared with the traditional six-degree-of-freedom parallel mechanism, the less-freedom mechanism has the characteristics of simple structure, relatively simple design, manufacture, assembly and control, and low cost. Moreover, in many occasions, such as the end effector and platform positioning of an automated production line, only two or three degrees of freedom are required to meet the conditions. At this time, it is unnecessary to use a multi-degree-of-freedom mechanism. Therefore, the mechanism with few degrees of freedom has become the object of concern and favor in the industry.
相对于串联机构，并联机构工作空间小，运动之间存在强的耦合性，即并联机构输出平台沿任意方向的运动都是所有驱动单元的运动合成，并且输入和输出之间是非线性关系，因此导致机构控制复杂，标定困难，制约了精度的提高。而如果机构运动能实现解耦，则其工作空间将扩大，并且降低控制难度，达到更高的运动精度，对机构的轨迹规划及标定具有重要意义。Compared with the series mechanism, the working space of the parallel mechanism is small, and there is a strong coupling between the movements, that is, the movement of the output platform of the parallel mechanism in any direction is the motion synthesis of all drive units, and there is a nonlinear relationship between the input and output, so This leads to complex mechanism control and difficult calibration, which restricts the improvement of precision. However, if the movement of the mechanism can be decoupled, its working space will be expanded, and the difficulty of control will be reduced to achieve higher motion precision, which is of great significance to the trajectory planning and calibration of the mechanism.
现有的两自由度并联机构研究主要集中在用于平面定位的两自由度移动并联机构和用于定向的两自由度转动并联机构，目前对两自由度混合运动并联机构，尤其是对解耦两自由度混合运动并联机构的研究很少。而在一些场合，需要机构实现移动和转动两种运动，这时便需要用具有混合运动的机构来实现。The existing two-degree-of-freedom parallel mechanism research mainly focuses on the two-degree-of-freedom mobile parallel mechanism for plane positioning and the two-degree-of-freedom rotational parallel mechanism for orientation. There are few studies on two-degree-of-freedom mixed-kinematic parallel mechanisms. In some occasions, the mechanism is required to realize both movement and rotation, and then a mechanism with mixed motion is required to realize it.
发明内容本发明的目的在于提供一种具有混合运动的两自由度运动解耦并联机构。本发明主要包括动平台、定平台和连接这两个平台的两个分支。该机构的为非对称机构，其中第一分支的一端通过移动副一与定平台连接，该移动副一通过连杆一与转动副一连接，转动副一通过连杆二与另一个转动副二连接，该转动副二与动平台连接；第二个分支的一端通过移动副二与定平台连接，其另一端通过转动副与动平台连接，该移动副二通过连杆三与转动副三连接，该分支的另一端通过上述转动副三与动平台连接。上述第一个分支中的两个转动副轴线保持相互平行，且与移动副轴线垂直；第二个分支中的转动副轴线与第一个分支的转动副轴线平行，且与第二个分支中移动副轴线同样垂直。该机构的动平台可实现绕着分支转动副轴线方向的转动和沿着移动副轴线方向的移动，并且转动轴线方向和移动轴线方向相垂直，两个运动完全解耦。SUMMARY OF THE INVENTION The object of the present invention is to provide a two-degree-of-freedom motion decoupling parallel mechanism with mixed motion. The invention mainly includes a moving platform, a fixed platform and two branches connecting the two platforms. The mechanism is an asymmetrical mechanism, in which one end of the first branch is connected to the fixed platform through the first moving pair, the first moving pair is connected to the first rotating pair through the connecting rod one, and the first rotating pair is connected to the other rotating pair two through the connecting rod two. connection, the rotating pair 2 is connected with the moving platform; one end of the second branch is connected with the fixed platform through the moving pair 2, and the other end is connected with the moving platform through the rotating pair, and the moving pair 2 is connected with the rotating pair 3 through the connecting rod 3 , the other end of the branch is connected with the moving platform through the above-mentioned rotary pair three. The two rotary axes in the first branch are parallel to each other and perpendicular to the moving axis; the rotating axis in the second branch is parallel to the rotating axis of the first branch and moves with the second branch. The minor axis is likewise vertical. The moving platform of the mechanism can realize the rotation around the direction of the branch rotation axis and the movement along the direction of the movement axis, and the direction of the rotation axis is perpendicular to the direction of the movement axis, and the two movements are completely decoupled.
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、可实现一个转动和一个移动运动，转动轴线方向和移动轴线方向相垂直，且两运动完全解耦。1. One rotation and one movement can be realized, the direction of the rotation axis is perpendicular to the direction of the movement axis, and the two movements are completely decoupled.
2、其运动学正、反解十分简单，使其控制极为容易，并且具有很好的运动学性能、较大的工作空间。2. Its kinematic forward and reverse solutions are very simple, making it extremely easy to control, and it has good kinematic performance and a large working space.
3、机构中仅有两个分支构成，结构简单，加工、装配容易。3. There are only two branches in the mechanism, the structure is simple, and the processing and assembly are easy.
附图说明Description of drawings
图1是本发明实施例1的立体示意简图。Fig. 1 is a schematic perspective view of Embodiment 1 of the present invention.
具体实施方式Detailed ways
实施例1Example 1
在图1所示的具有混合运动的两自由度解耦并联机构示意图中，第一分支的一端通过移动副一10与定平台1连接，该移动副一通过连杆一9与转动副一8连接，该转动副一通过连杆二7与另一个转动副二6连接，该转动副二与动平台5连接；第二个分支的一端通过移动副二2与定平台连接，该移动副二通过连杆三3与转动副三4连接，该分支的另一端通过转动副三4与动平台连接。In the schematic diagram of a two-degree-of-freedom decoupling parallel mechanism with mixed motion shown in Figure 1, one end of the first branch is connected to the fixed platform 1 through a moving pair 10, and the moving pair 1 is connected to a rotating pair 1 8 through a connecting rod 9. Connected, the rotating pair 1 is connected with another rotating pair 6 through the connecting rod 2 7, and the rotating pair 2 is connected with the moving platform 5; one end of the second branch is connected with the fixed platform through the moving pair 2, and the moving pair 2 The third connecting rod 3 is connected with the third rotating pair 4, and the other end of the branch is connected with the moving platform through the third rotating pair 4.
上述第一个分支中的两个转动副轴线保持相互平行，且与移动副轴线垂直；第二个分支中的转动副轴线与第一个分支的转动副轴线平行，且与第二个分支中移动副轴线同样垂直。该机构的动平台可实现绕着分支转动副轴线方向的转动和沿着移动副轴线方向的移动，并且转动轴线方向和移动轴线方向相垂直，两个运动完全解耦。The two rotary axes in the first branch are parallel to each other and perpendicular to the moving axis; the rotating axis in the second branch is parallel to the rotating axis of the first branch and moves with the second branch. The minor axis is likewise vertical. The moving platform of the mechanism can realize the rotation around the direction of the branch rotation axis and the movement along the direction of the movement axis, and the direction of the rotation axis is perpendicular to the direction of the movement axis, and the two movements are completely decoupled.
| Application Number | Priority Date | Filing Date | Title |
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| CN201310012425.XACN103072134B (en) | 2013-01-14 | 2013-01-14 | There is the two freedom decoupling parallel institution of hybrid motion |
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| CN201310012425.XACN103072134B (en) | 2013-01-14 | 2013-01-14 | There is the two freedom decoupling parallel institution of hybrid motion |
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