技术领域technical field
本发明属于机器人领域，特别涉及一种并联机构。The invention belongs to the field of robots, in particular to a parallel mechanism.
背景技术Background technique
并联机器人机构具有空间多自由度多环闭链，和串联机构相比，并联机构具有刚度大、承载能力大、累积误差小、动态特性好、结构紧凑等特点。目前，并联机构被广泛应用于虚拟轴机床、微动操作台、各种运动模拟器、传感器等方面。The parallel robot mechanism has multiple degrees of freedom and multi-loop closed chain in space. Compared with the series mechanism, the parallel mechanism has the characteristics of high rigidity, large bearing capacity, small cumulative error, good dynamic characteristics, and compact structure. At present, parallel mechanisms are widely used in virtual axis machine tools, micro-motion consoles, various motion simulators, sensors, etc.
并联机构的自由度从2～6变化不等，目前，对6自由度并联机构的研究较为全面和深入，在工业中也应用的较为广泛。但少自由度并联机构结构简单，制造和控制成本较低，故在满足预期工作要求的情况下，少自由度并联机构有其独特的优势。The degrees of freedom of parallel mechanisms vary from 2 to 6. At present, the research on parallel mechanisms with 6 degrees of freedom is relatively comprehensive and in-depth, and it is also widely used in industry. However, the structure of the parallel mechanism with few degrees of freedom is simple, and the manufacturing and control costs are low. Therefore, the parallel mechanism with few degrees of freedom has its unique advantages under the condition of meeting the expected working requirements.
强耦合性是并联机构的突出特点，使并联机构具有不同于串联机构的特殊性质，比如承载能力强、累计误差小、刚度大等；也正是强耦合性使得并联机构的构型设计、分析计算、机构装配及控制系统的开发等存在很大的难度，一定程度上影响了其应用范围和使用效果。如果并联机构可实现运动完全解耦或者部分解耦，其刚度和承载能力等仍然优于串联机构，而且机构理论分析更简洁、工作空间更大、各向同性更好、装配便捷、控制容易，可达更高的运动精度。Strong coupling is a prominent feature of parallel mechanisms, which makes parallel mechanisms have special properties different from series mechanisms, such as strong bearing capacity, small cumulative error, and large rigidity; it is also strong coupling that makes the configuration design and analysis of parallel mechanisms There are great difficulties in calculation, mechanism assembly and control system development, etc., which affect its application range and use effect to a certain extent. If the parallel mechanism can achieve complete decoupling or partial decoupling of motion, its stiffness and bearing capacity are still superior to the series mechanism, and the theoretical analysis of the mechanism is simpler, the work space is larger, the isotropy is better, the assembly is convenient, and the control is easy. Higher motion precision can be achieved.
国家知识产权局授权的实用新型专利“一组两转动解耦并联机器人机构”(CN101058186A),该机构包括静平台、动平台和连接动、静平台的三条分支，第一分支具有一个运动副，第二分支具有三个运动副，第一、二分支构成平面导杆机构或者平面铰链机构，第三分支为具有空间六个自由度的支链。结构较复杂，制造成本高。The utility model patent "a group of two-rotation decoupling parallel robot mechanism" (CN101058186A) authorized by the State Intellectual Property Office, the mechanism includes a static platform, a dynamic platform and three branches connecting the dynamic and static platforms. The first branch has a kinematic pair, The second branch has three kinematic pairs, the first and second branches form a plane guide rod mechanism or a plane hinge mechanism, and the third branch is a branch chain with six degrees of freedom in space. The structure is relatively complicated and the manufacturing cost is high.
发明内容Contents of the invention
本发明的目的在于提供一种结构简单、易于加工装配、运动解耦、容易控制、动态性能好的两转动完全解耦并联机构。本发明主要包括动平台、定平台和连接这两个平台的三个分支。其中分支一和分支二的结构完全相同，均由四个转动副和三个连杆组成，该两个分支中连杆一的一端通过转动副一与定平台连接，该连杆一的另一端通过转动副二与连杆二的一端连接，该连杆二的另一端通过转动副三与连杆三的一端连接，该连杆三的另一端通过转动副四与动平台连接，该分支中与定平台相连的转动副一的轴线垂直于其它三个转动副的轴线，且该三个转动副的轴线彼此平行且垂直于动平台；分支三由两个转动副和一个移动副组成，该分支通过两个轴线垂直的转动副五和转动副六与动平台和定平台分别相连，其中与动平台相连的转动副五的轴线与分支一、二中与动平台相连的转动副四的轴线彼此平行，分支一、二中与定平台相连的转动副一的轴线共线并平行于分支三与定平台相连的转动副六的轴线。所述分支一、二中与定平台相连的的两个轴线彼此垂直的转动副一可用虎克铰替代。The object of the present invention is to provide a two-rotation complete decoupling parallel mechanism with simple structure, easy processing and assembly, motion decoupling, easy control and good dynamic performance. The present invention mainly includes a moving platform, a fixed platform and three branches connecting the two platforms. Among them, the structure of branch 1 and branch 2 is exactly the same, and they are both composed of four rotating pairs and three connecting rods. One end of connecting rod 1 in the two branches is connected to the fixed platform through rotating pair 1, and the other end of connecting rod 1 The second end of the connecting rod is connected with the second connecting rod, the other end of the second connecting rod is connected with the end of the third connecting rod through the third rotating pair, and the other end of the connecting rod three is connected with the moving platform through the fourth rotating pair. The axis of the rotating pair 1 connected to the fixed platform is perpendicular to the axes of the other three rotating pairs, and the axes of the three rotating pairs are parallel to each other and perpendicular to the moving platform; the third branch is composed of two rotating pairs and a moving pair. The branch is connected to the moving platform and the fixed platform respectively through two rotating joints 5 and 6, which are vertical to the axis. The axis of the rotating joint 5 connected to the moving platform is the axis of the rotating joint 4 connected to the moving platform in branches 1 and 2. Parallel to each other, the axes of the rotating pair 1 connected to the fixed platform in the branches 1 and 2 are collinear and parallel to the axis of the rotating pair 6 connected to the fixed platform in the branch 3. The revolving pair 1 connected to each other with two axes perpendicular to each other in the branches 1 and 2 can be replaced by a Hooke hinge.
本发明与现有技术相比具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、结构简单、加工装配性能好。1. Simple structure, good processing and assembly performance.
2、具有两个转动自由度，并且机构雅克比矩阵为对角阵，运动解耦，故动平台灵活性能高，容易控制，标定简单。2. It has two rotational degrees of freedom, and the Jacobian matrix of the mechanism is a diagonal matrix, and the motion is decoupled, so the dynamic platform has high flexibility, easy control, and simple calibration.
附图说明Description of drawings
图1为本发明实施例1的立体结构示意图。FIG. 1 is a schematic perspective view of the three-dimensional structure of Embodiment 1 of the present invention.
图2为本发明实施例2的立体结构示意图。Fig. 2 is a schematic diagram of the three-dimensional structure of Embodiment 2 of the present invention.
具体实施方式detailed description
实施例1Example 1
在图1所示的一种两转动完全解耦并联机构示意图中，分支一1和分支二15的结构完全相同，该两个分支中连杆一3的一端通过转动副一2与定平台14连接，该连杆一3的另一端通过转动副二4与连杆二5的一端连接，该连杆二5的另一端通过转动副三6与连杆三7的一端连接，该连杆三7的另一端通过转动副四8与动平台9连接，该分支中与定平台相连的转动副一2的轴线垂直于其它三个转动副的轴线，且该三个转动副的轴线彼此平行且垂直于动平台；分支三13中移动副11两端分别连接转动副五10、转动副六12，并通过两个轴线彼此垂直的转动副五和转动副六与动平台和定平台分别相连；分支三中与动平台相连的转动副五的轴线与分支一、二的转动副四轴线平行；分支一、二中与定平台相连的转动副一的轴线共线并平行于分支三与定平台相连的转动副六的轴线。In the schematic diagram of a two-rotation complete decoupling parallel mechanism shown in Figure 1, the structures of branch one 1 and branch two 15 are exactly the same, and one end of connecting rod one 3 in the two branches connects with the fixed platform 14 through the rotating pair one 2 connected, the other end of the connecting rod one 3 is connected with one end of the connecting rod two 5 through the rotating pair two 4, and the other end of the connecting rod two 5 is connected with one end of the connecting rod three 7 through the rotating pair three 6, and the connecting rod three The other end of 7 is connected with moving platform 9 by rotating pair four 8, and the axis of rotating pair one 2 that links to each other with fixed platform in this branch is perpendicular to the axis of other three rotating pairs, and the axes of these three rotating pairs are parallel to each other and Vertical to the moving platform; the two ends of the moving pair 11 in the branch three 13 are respectively connected to the rotating pair 5 10 and the rotating pair 6 12, and are respectively connected to the moving platform and the fixed platform through two rotating pairs 5 and 6 whose axes are perpendicular to each other; the branch The axis of the rotating pair 5 connected with the moving platform in the third branch is parallel to the axes of the rotating pair 4 in the branches 1 and 2; the axes of the rotating pair 1 connected with the fixed platform in the branches 1 and 2 are collinear and parallel to the branch 3 and connected with the fixed platform The axis of the revolving pair six.
实施例2Example 2
在图2所示的一种两转动完全解耦并联机构示意图中，分支一1和分支二15的结构完全相同，该两个分支中连杆一5的一端通过虎克铰一16与定平台14连接，其它杆件的连接关系与图1相同。In the schematic diagram of a two-rotation complete decoupling parallel mechanism shown in Figure 2, the structures of branch one 1 and branch two 15 are exactly the same, and one end of connecting rod one 5 in the two branches connects with the fixed platform through Hooke hinge one 16 14 connection, the connection relationship of other rods is the same as that in Fig. 1.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310600845.XACN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310600845.XACN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
| Publication Number | Publication Date |
|---|---|
| CN103624559A CN103624559A (en) | 2014-03-12 |
| CN103624559Btrue CN103624559B (en) | 2016-05-04 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310600845.XAExpired - Fee RelatedCN103624559B (en) | 2013-11-25 | 2013-11-25 | A kind of two rotate full decoupled parallel institution |
| Country | Link |
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| CN (1) | CN103624559B (en) |
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