CN1769004A - Three-dimensional translational parallel robot mechanism - Google Patents

Abstract

The invention discloses a three-dimensional displacement parallel robot, which is characterized in that said invention is formed by a motion platform, a fixed platform, and three branched chains connecting said two platforms. Wherein, the first branched chain is formed by a spherical pair A1, a rod L3, a spherical pair B1, a rod L4, and a motion pair C1 from up to down; the second branched chain is formed by a rotating pair A2, a rod L1, a rotating pair B2, a rod L2, and a cylinder pair C2 from up to down; and the third branched pair is formed by a rotating pair A3, a rod L4, a rotating pair B3, a rod L6, and a cylinder pair C3 from up to down. The invention can realize three-dimensional translatory motion output, with large working space and better transmission property; and part of said invention is decoupling, while both of positive and passive explains are the analytic solution, which can simplify the track plan, control and modification.

Description

Three-dimensional translational parallel robot mechanism

【Technical field】

The invention relates to the field of advanced manufacturing, in particular to an actuator for a three-dimensional translational parallel robot, a numerically controlled machine tool, a measuring machine, and the like.

【Background technique】

The parallel robot mechanism can be defined as: the upper and lower platforms (fixed platform and moving platform) are connected by two or more kinematic branch chains, each kinematic branch chain is composed of connecting rods and kinematic pairs, and the kinematic platform has two or more A mechanism with more than two degrees of freedom driven in parallel. Parallel robot mechanisms are widely used in technical fields such as large-scale analog equipment, robots, CNC machine tools, sensors, micro-manipulators, engraving machines, and measuring machines. The Stewart platform is a typical parallel robot mechanism, which has 6 degrees of freedom. It was first used in parallel robots and CNC machine tools. parallel mechanism.

Due to structural limitations, many technical problems of the 6-DOF parallel mechanism have not been well resolved, such as strong kinematic coupling, complex kinematics solutions, small working space, and poor transmission characteristics. The three-dimensional mobile parallel robot mechanism has broad application prospects in industrial production. Many scholars have studied a variety of mechanisms of this type, such as Delta mechanism and Star Like mechanism. Chinese scholars have also achieved a lot of research results in the research of three-dimensional mobile parallel robot mechanism (such as patent application numbers: 01108297.6; 01113519.0; 03113354.1; 200410018623.8; 200510037951.7, etc.).

At present, scholars at home and abroad have studied a variety of three-dimensional mobile parallel robot mechanisms, and their performance and application occasions are different. The development and practical application of parallel robots and CNC machine tools requires the creation of new models that are superior to existing models.

【Content of invention】

The object of the present invention is to overcome the deficiencies of the prior art and provide a three-dimensional mobile parallel robot mechanism with simple structure, easy control, high motion precision, low cost and decoupled motion parts.

The present invention discloses a three-dimensional translation parallel robot mechanism to solve the above problems. It is characterized in that said mechanism is composed of a moving platform, a fixed platform and three branch chains connecting the above two platforms; wherein:

The first branch chain is composed of spherical pair A1, rod length L3, spherical pair B1, rod length L4 and moving pair C1 from top to bottom. The moving pair C1 is the driving pair and the axis of the moving pair C1 is parallel to the Z axis. ;

Said second branch chain is composed of rotating pair A2, rod length L1, rotating pair B2, rod length L2 and cylindrical pair C2 from top to bottom. The axes of each rotating pair and cylindrical pair are parallel to the Y axis, and the cylindrical pair The moving pair in C2 is the driving pair;

Said third branch chain is composed of rotating pair A3, rod length L5, rotating pair B3, rod length L6 and cylindrical pair C3 from top to bottom. The axes of each rotating pair and cylindrical pair are parallel to the X axis, and the cylindrical pair The moving pair in C3 is the driving pair;

The tops of the three branch chains are connected to the moving platform through the spherical pair A1, the rotating pairs A2 and A3, and the bottoms of the three branch chains are connected to the fixed platform through the moving pair C1, the cylinder pairs C2 and C3.

The beneficial effects of the present invention are:

1. The working platform of the mechanism can realize the output of three-dimensional translation motion.

2. The structure is simple, the manufacture and installation are easy, the transmission precision is high, and the cost is low.

3. Large working space and good transmission characteristics.

4. The movement part of the mechanism is decoupled, and the forward and reverse solutions of kinematics are analytical solutions, which simplifies a series of technical problems such as trajectory planning, control, and correction.

【Description of drawings】

Figure 1 Schematic diagram of the three-dimensional translational parallel robot mechanism.

The following will be described in detail in conjunction with the embodiments of the present invention with reference to the accompanying drawings.

【Detailed ways】

The mechanism of the present invention consists of a moving platform, a fixed platform and three branch chains connecting the above two platforms. The platform where A1, A2 and A3 are located is a moving platform. In the first branch chain, A1 and B1 are spherical pairs, C1 is a moving pair, and the axis of moving pair C1 is parallel to the Z axis; in the second branch chain, A2 and B2 are Rotating pair, C2 is a cylindrical pair; in the third branch, A3 and B3 are rotating pairs, and C3 is a cylindrical pair. The three branch chains are respectively connected to the fixed platform through kinematic pairs C1, C2 and C3. L1, L2, L3, L4, L5 and L6 are rod lengths. In the mechanism, each branch chain has a driving pair, the driving pair in the first branch chain is C1, the driving pair in the second branch chain is the moving pair in C2, and the driving pair in the third branch chain is the moving pair in C3. In the second and third branch chains, the rotation axes of each branch chain are parallel to each other, and the rotation axes of the two branch chains are perpendicular to each other. The axes of cylinder pairs C2 and C3 are perpendicular to each other. The connecting rods in each branch can be rods, plates or profiled shapes that do not affect the movement of the individual rods.

As shown in the figure, the drive can be driven by motor or hydraulic pressure. The motion platform always performs three-dimensional translational movement in the working space, and the manipulator or actuator is installed on the motion platform to realize three-dimensional mobile operation. The input quantity of the drive pair of the second branch chain determines the Y coordinate value of the motion platform in the fixed coordinate system, the input quantity of the drive pair of the third branch chain determines the X coordinate value of the motion platform in the fixed coordinate system, and the X coordinate value of the motion platform in the fixed coordinate system The Z coordinate value depends on the input of the three drives.

Claims (2)

1 one kinds of three-dimensional translating parallel robot mechanisms is characterized in that said mechanism is made up of three side chains of above-mentioned two platforms of motion platform, fixed platform and connection; Wherein:

Said first side chain is connected to form by spherical pair A1, the long L3 of bar, spherical pair B1, the long L4 of bar and moving sets C1 from top to bottom, and moving sets C1 is secondary for driving, and the axis of moving sets C1 is parallel with the Z axle;

Said second side chain is connected to form by revolute pair A2, the long L1 of bar, revolute pair B2, the long L2 of bar and cylindrical pair C2 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with Y-axis, and the moving sets among the cylindrical pair C2 is secondary for driving;

Said the 3rd side chain is connected to form by revolute pair A3, the long L5 of bar, revolute pair B3, the long L6 of bar and cylindrical pair C3 from top to bottom, and the axis of each revolute pair and cylindrical pair is parallel with X-axis, and the moving sets among the cylindrical pair C3 is secondary for driving;

The top of said three side chains is connected with motion platform with A3 by spherical pair A1, revolute pair A2, and the bottom of three side chains is connected with fixed platform with C3 by moving sets C1, cylindrical pair C2.

2 according to the described robot mechanism of claim 1, it is characterized in that the connecting rod in said each side chain is bar, plate or the special-shaped shape that does not influence each bar motion.

Images