CN2936617Y - One-dimension translation, two-dimension rotation three-freedom parallel robot mechanism - Google Patents

Abstract

The utility model discloses a three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation, which includes a static platform, a dynamic platform, a rotating shaft and four telescopic branch chains, three of which are active branch chains and one is a passive branch chain; The active branch chain includes the upper rod and the lower rod, and the upper rod and the lower rod are connected by the active branch chain moving pair; the three active branch chain moving pairs are the active input of the whole mechanism, and the one-dimensional translation and two-dimensional motion of the moving platform can be realized through its expansion and contraction. Three-dimensional rotation of the three-degree-of-freedom motion. The utility model organically combines the rotation and movement of the space, and has a clear motion form. Its rotating shaft, passive branch chain, two active branch chains and a moving platform form a single two-degree-of-freedom plane parallel mechanism, which is convenient for the installation of the mechanism. It can also simplify the kinematics calibration of the mechanism, and can be applied to the fields of medical surgical equipment, mobile robots, motion simulation, machinery manufacturing, automatic assembly, precision machining and measurement, microelectronics manufacturing, and entertainment industries.

Description

A three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation

technical field

The invention belongs to the field of robot mechanisms, in particular to a three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation.

Background technique

In the existing robot of robotization operation, there are two types of mechanisms: series mechanism and parallel mechanism. The tandem mechanism has the advantages of large working space and high flexibility. At the same time, it also has some disadvantages: not only the error accumulation of each member, the end precision is low, but also the inertia is large, the stiffness is low, and the dynamic performance is poor.

Parallel mechanism is a closed multi-loop mechanism with multiple degrees of freedom of motion and drives distributed on different loops. Compared with series robots, parallel robots have a series of advantages such as high rigidity, strong carrying capacity, no accumulation of position errors, high precision, small weight-to-load ratio, and good dynamic performance. Various equipment based on parallel mechanisms have become an important supplement to traditional series equipment and play an important role in many fields. At present, parallel robots are mainly used in medical surgical equipment, motion simulation, machinery manufacturing, automated assembly, precision machining and measurement, microelectronics manufacturing, and entertainment industries.

At present, more than one hundred kinds of parallel mechanisms have been proposed, but there are still not many practical three-degree-of-freedom parallel mechanisms with one-dimensional translation and two-dimensional rotation. The calibration of a parallel mechanism is closely related to the positive solution of the position, and its solution and result have a great influence on the calibration accuracy of the mechanism. Most of the positive solutions of parallel mechanisms with few degrees of freedom, such as two, three, and four degrees of freedom, can obtain their closed solutions, so mechanisms with few degrees of freedom are very popular in industrial applications.

Utility model content

The purpose of this utility model is to provide a three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation, which organically combines space movement and rotation, and has high precision and rigidity, small inertia, high dynamic performance, and a large working space , Kinematics forward solution and reverse solution are simple and so on.

The three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation of the utility model includes a static platform, a dynamic platform, a rotating shaft and four telescopic branch chains. Among the four telescopic branch chains, three are active branch chains and one is passive. Branch chains; the upper ends of the two active branch chains are connected to the moving platform through rotating pairs, the lower ends are respectively connected to both ends of the rotating shaft through rotating pairs, and the rotating shaft is connected to the static platform through the rotating shaft rotating pairs sleeved on them; the passive supporting The upper end of the chain is fixedly connected to the moving platform, and the lower end is connected to the rotating shaft through a passive branch chain rotation pair; the upper end of the other active branch chain is connected to the moving platform through a ball joint, and the lower end is connected to the static platform through a Hooke hinge.

The two active branch chains include an upper rod and a lower rod. The upper end of the upper rod is connected to the moving platform through a rotating pair, and the lower end of the lower rod is connected to the two ends of the rotating shaft through a rotating pair respectively. The lower end of the upper rod and the upper end of the lower rod The active branch chain is connected by the moving pair; the other active branch chain also includes an upper rod and a lower rod. The lower end of the rod is connected with the upper end of the lower rod through an active branch chain moving pair.

The three active branch chain moving pairs are the active input of the whole mechanism, and the three-degree-of-freedom movement of the moving platform can be realized by one-dimensional translation and two-dimensional rotation through its expansion and contraction.

The passive branch chain includes the upper rod of the passive branch chain and the lower rod of the passive branch chain. The lower end of the upper chain rod and the upper end of the lower rod of the passive branch chain are connected through a passive branch chain moving pair, and the passive branch chain moving pair is used to provide constraints on the moving platform, limiting the rotation of the moving platform around the motion centerline of the passive branch chain moving pair.

The three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation of the utility model can install a series-connected two-degree-of-freedom working head on the moving platform to form a hybrid mechanism for completing five-degree-of-freedom space operations.

The utility model can be applied to fields such as medical surgical equipment, mobile robots, motion simulation, machine manufacturing, automatic assembly, precision machining and measurement, microelectronics manufacturing, and entertainment industries.

The present invention has following advantage and beneficial effect:

(1) The utility model adopts a multi-loop closed-chain structure, which has the advantages of high precision, high stiffness, low inertia and high dynamic performance compared with the traditional series mechanism;

(2) The forward and reverse kinematic solutions of the utility model are simple, and the forward solution has a concise analytical solution, which is beneficial to the kinematic calibration of the mechanism;

(3) The utility model organically combines the rotation and movement of the space, and has a clear movement form, that is, one movement and two rotations;

(4) The utility model adopts the telescopic rod structure driven by the inner pair, the working space and the mechanism volume are relatively large, the mechanical structure is simple, the standardization is strong, and the manufacturability is relatively good;

(5) The rotating shaft, passive branch chain, two active branch chains, and moving platform of the utility model can form a single two-degree-of-freedom planar parallel mechanism, which not only facilitates the installation of the mechanism, but also simplifies the kinematic calibration of the mechanism.

Description of drawings

Fig. 1 is a structural schematic diagram of a three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation of the present invention.

In the figure: 1-moving platform 2-rotating pair 3, 4, 5-active branch chain 6-passive branch chain 7-rotating shaft 8-static platform 9-rotating shaft rotating pair 10-passive branch chain rotating pair 11-Hooke hinge 12 - Ball hinge 13-upper rod 14-lower rod 15-active branch chain moving pair 16-passive branch chain upper rod 17-passive branch chain lower rod 18-passive branch chain moving pair

Detailed ways

In order to better understand the utility model, the utility model will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, the three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation of the present invention includes a static platform 8, a dynamic platform 1, a rotating shaft 7 and four telescopic branch chains. Among the four telescopic branch chains, Three are active branch chains, and one is passive branch chain; the upper ends of the two active branch chains 3 and 4 are connected to the moving platform 1 through the rotating pair 2, and the lower ends are respectively connected to the two ends of the rotating shaft 7 through the rotating pair 2, and the rotating shaft 7 passes through The rotating shaft rotating pair 9 set on it is connected with the static platform 8; the upper end of the passive branch chain is fixedly connected with the moving platform 1, and the lower end is connected with the rotating shaft 7 through the passive branch chain rotating pair 10; the upper end of the other active branch chain 5 passes through the ball joint 12 It is connected with the moving platform 1, and the lower end is connected with the static platform 8 through the Hooke hinge 11.

The two active branch chains 3 and 4 include an upper rod 13 and a lower rod 14. The upper end of the upper rod 13 is connected to the moving platform 1 through the rotating pair 2, and the lower end of the lower rod 14 is connected to the two ends of the rotating shaft 7 through the rotating pair 2 respectively. The lower end of the upper rod 13 and the upper end of the lower rod 14 are connected through the active branch chain moving pair 15; the other active branch chain 5 includes the upper rod 13 and the lower rod 14, and the upper end of the upper rod 13 is connected with the moving platform 1 through the ball joint 12, The lower end of the lower rod 14 is connected to the static platform 8 through the Hooke hinge 11, and the lower end of the upper rod 13 and the upper end of the lower rod 14 are connected through the active branch chain moving pair 15; the three active branch chain moving pairs 15 are the active parts of the whole mechanism. Input, through its expansion and contraction, the three-degree-of-freedom movement of one-dimensional translation and two-dimensional rotation of the moving platform can be realized.

The passive branch chain includes the upper rod 16 of the passive branch chain and the lower rod 17 of the passive branch chain. The upper end of the upper rod 16 of the passive branch chain is fixedly connected with the moving platform 1. 7 are connected, the lower end of the upper rod 16 of the passive branch chain is connected with the upper end of the lower rod 17 of the passive branch chain through the moving pair 18 of the passive branch chain, and the moving pair 18 of the passive branch chain is used to provide constraints on the moving platform 1 and limit the rotation of the moving platform 1. The center line of motion of the passive branch chain moving pair 18 rotates.

The present invention can be better realized through the above embodiments.

In addition, a serial two-degree-of-freedom working head is installed on the moving platform 1 to form a hybrid mechanism, which can be used to complete five-degree-of-freedom space operations.

Claims (4)

1. A three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation, including a static platform and a dynamic platform, is characterized in that it also includes a rotating shaft and four telescopic branch chains, and among the four telescopic branch chains, three are active branch chains. One is a passive branch chain; the upper end of the two active branch chains is connected to the moving platform through a rotating pair, and the lower end is connected to both ends of the rotating shaft through a rotating pair, and the rotating shaft is connected to the static platform through a rotating pair on the rotating shaft; The upper end of the passive branch chain is fixedly connected with the moving platform, and the lower end is connected with the rotating shaft through the rotating pair of the passive branch chain; the upper end of the other active branch chain is connected with the moving platform through a ball joint, and the lower end is connected with the static platform through a Hooke hinge. 2. The three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation according to claim 1, characterized in that the two active branch chains include an upper rod and a lower rod, and the upper end of the upper rod passes through the rotating pair and the dynamic The platform is connected, the lower end of the lower rod is connected to the two ends of the rotating shaft respectively through the rotating pair, the lower end of the upper rod and the upper end of the lower rod are connected through the active branch chain moving pair; the other active branch chain also includes the upper rod and the lower rod, The upper end of the upper rod is connected with the moving platform through a ball hinge, the lower end of the lower rod is connected with the static platform through a Hooke hinge, and the lower end of the upper rod is connected with the upper end of the lower rod through an active branch chain moving pair. 3. The three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation according to claim 2, characterized in that the three active branch chain moving pairs are active inputs of the entire mechanism. 4. The three-degree-of-freedom parallel robot mechanism with one-dimensional translation and two-dimensional rotation according to claim 1, wherein the passive branch chain includes a passive branch chain upper rod, a passive branch chain lower rod, and a passive branch chain upper rod. The upper end is fixedly connected with the moving platform, the lower end of the lower rod of the passive branch chain is connected with the rotating shaft through the rotating pair of the passive branch chain, and the lower end of the upper rod of the passive branch chain is connected with the upper end of the lower rod of the passive branch chain through the moving pair of the passive branch chain.