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Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism

A technology of complete decoupling and hybrid mechanism, applied in the field of robotics, can solve the problems of complex structure and very little research on decoupled hybrid mechanism, and achieve the effect of high motion precision, high stiffness and simple control

Inactive Publication Date: 2015-05-20
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing decoupling mechanisms are parallel mechanisms with few degrees of freedom. Patent CN201310259738.5 proposes a two-rotation-one-movement complete decoupling parallel mechanism, which has a complex structure and only realizes complete decoupling of three degrees of freedom.
However, the current six-degree-of-freedom decoupling mechanism is more complicated in structure, and most of them are partially decoupled, such as a six-degree-of-freedom parallel decoupling mechanism proposed in patent CN03129994.6. The mechanism has six degrees of freedom, but it can only realize five degrees of freedom. Complete decoupling of degrees of freedom
The decoupled hybrid mechanism can overcome the above problems, but there are very few studies on the decoupled hybrid mechanism

Method used

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  • Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism
  • Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism
  • Completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism

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Experimental program
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Effect test

Embodiment 1

[0017] as attached figure 1 As shown, the fully decoupled three-rotation three-movement six-degree-of-freedom hybrid mechanism consists of a machine base 1, a middle platform 1 2, a middle platform 2 3, a moving platform 4 and the branches connecting them. The machine base 1 and the middle platform 1 and 2 are connected by three PRPU branches with the same structure, the middle platform 1 2 and the middle platform 2 3 are connected by an R pair, the middle platform 2 3 and the moving platform 4 are connected by the S branch and the RPS branch , the PSPR branch and the four branches of the SPS branch are connected.

[0018] as attached figure 1 As shown, the machine base 1 and the intermediate platform 1 are connected by three PRPU branches with the same structure, and the branches include the linear drive movement pair 5-1, the rotation pair 5-2, the linear movement pair 5-3 and the universal The hinge 5-4, the guide rails of the three linear drive moving pairs 5-1 are respe...

Embodiment 2

[0021] as attached image 3 As shown, the base 1 and the intermediate platform 1 are connected by three PRPR branches with the same structure, and the branches include a linear drive moving pair 5-1, a rotating pair 5-2, a linear moving pair 5-3 and a rotating pair 5-4', the guide rails of the three linear drive moving pairs 5-1 are respectively parallel to the three mutually perpendicular directions of the beam 1-1, the vertical beam 1-2 and the longitudinal beam 1-3 on the base 1, and the rotating pair 5-2 is parallel to the guide rail of the linear drive moving pair 5-1 and perpendicular to the linear moving pair 5-3, the rotating pair 5-4' is connected to the middle platform 12 and is parallel to the turning pair 5-2, and the middle platform 12 is on the The three revolving pairs are distributed in a circle and are orthogonal to each other. Other components and connections are the same as in Embodiment 1.

Embodiment 3

[0023] as attached Figure 4 As shown, the base 1 and the intermediate platform 1 are connected by three PRRU branches with the same structure, and the branches include a linear drive moving pair 5-1, a rotating pair 5-2, a rotating pair 5-3' and a universal The hinge 5-4, the guide rails of the three linear drive moving pairs 5-1 are respectively parallel to the three mutually perpendicular directions of the beam 1-1, the vertical beam 1-2 and the longitudinal beam 1-3 on the machine base 1, and the rotating pair 5-2 and the rotating pair 5-3' are all parallel to the guide rail of the linear drive moving pair 5-1, the two rotating pairs of the universal hinge 5-4 are orthogonal to each other, and the inner rotating pair of the universal hinge 5-4 is parallel to The rotating pair 5-3', the outer rotating pair of the universal hinge 5-4 is connected with the intermediate platform-2, and the outer rotating pairs of the universal hinge are distributed in a circle on the intermedi...

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Abstract

The invention provides a completely-decoupled three-rotating three-moving six-freedom-degree parallel-serial mechanism. A machine base of the parallel-serial mechanism is connected with a first middle platform through three branches of the same structure, each branch is composed of four movement pairs which are a linear drive movement pair, a rotating pair, a linear movement pair or rotating pair and an universal hinge or rotating pair. The first middle platform and a second middle platform are connected through the rotating pairs. The second middle platform is connected with a movable platform through an RPS branch, a PSPR branch, a PS branch and an SPS branch. Decoupling of three-moving of the mechanism is achieved through the connection part between the machine base and the first middle platform, the rotating pairs between the first middle platform and the second middle platform achieve one-rotating of the mechanism, and decoupling of two-rotating of the mechanism is achieved through the connection part between the second middle platform and the movable platform. The whole mechanism can achieve six-freedom-degree complete decoupling and can serve as a mechanical body of a top-grade numerically-controlled machine tool.

Description

technical field [0001] The invention relates to a robot, in particular to a hybrid mechanism of the robot. Background technique [0002] The hybrid mechanism has the advantages of both series and parallel mechanisms, and has received extensive attention in recent years. Literature [Lu Yi, Hu Bo, Sun Tao.Analyses of velocity, acceleration, statics, and workspace of a2 (3-SPR) serial-parallel manipulator. Robotica (2009) volume 27, pp.529–538.] proposed a A hybrid mechanism, which is composed of two 3-SPRs in series, has a larger working space. Patent CN201210324161.7 proposes a five-dimensional vibration isolation platform based on a hybrid mechanism, which uses the characteristics of the hybrid mechanism to realize a five-dimensional vibration isolation. The existing hybrid mechanism has complex motion, and its input and output are highly coupled, which is not conducive to the control of this type of mechanism. The decoupling mechanism can realize independent control of m...

Claims

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Application Information

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IPC IPC(8): B25J9/00
Inventor 胡波王莹王安东宋春晓于晶晶孙春婷
Owner YANSHAN UNIV
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